Underwater silt continuous excavation device and method and control system

Abstract

The invention belongs to the technical field of dredging, and particularly provides an underwater silt continuous excavation device and method and a control system.The underwater silt continuous excavation device comprises a driving structure, an arm frame and an excavation structure; the arm frame is a core bearing structure of the underwater silt connection excavation device; the driving structure is mounted at one end of the arm frame and is used for stably providing power; the excavating structure comprises a cutting roller and a chain cutter; the chain cutter is mounted at one end, far away from the driving structure, of the arm frame, and is driven by the driving structure to circularly transmit along a preset track; the two cutting rollers are symmetrically arranged along the chain cutter; and the two cutting rollers are rigidly connected with the chain cutter through a transmission shaft. According to the underwater mud and sand continuous excavation device, through the arrangement of a combined excavation structure of the chain cutter and the cutting roller, a covering layer can be penetrated, materials on a target layer can be synchronously cut and sucked, and excavation operation can be continuously carried out.

Description

Technical Field

[0001] This invention belongs to the field of dredging technology and relates to an underwater continuous dredging device, method and control system. Background Technology

[0002] Dredging is a crucial engineering measure for maintaining the ecological health of aquatic bodies and ensuring the smooth flow of waterways. Currently, traditional mechanical dredging methods remain the mainstream, but with technological advancements, environmentally friendly dredging technologies such as cutter suction dredging and pneumatic dredging are gradually being promoted and applied. In terms of scope, dredging projects have gradually expanded from traditional areas such as inland waterways and ports to emerging fields such as urban lakes and landscape water bodies, aiming to improve water quality and enhance the quality of the urban environment. This has also made the working conditions faced by dredging operations increasingly complex.

[0003] For underwater excavation projects with complex, multi-layered geological structures, two main methods are currently used for material extraction from the target layer: First, using equipment such as grab bucket, cutter suction, or chain bucket dredging vessels. This requires additional procedures to remove the overlying strata before excavating the target layer. This method is cumbersome, has high equipment costs, and a long construction period. Second, using drilling excavation devices that integrate drilling and suction functions on the same vertical axis. This allows direct drilling through the overlying layer to reach the target layer for continuous suction, achieving "drilling to the bottom" and completing the hole in one go. However, this method operates hole-by-hole, requiring the removal of the drill rod, relocation of the vessel, and repositioning after each hole is completed, resulting in low efficiency in large-area, uniform material extraction scenarios. Furthermore, limitations in drill rod strength and pumping capacity restrict material extraction per hole, often necessitating a dense network of holes to meet large-scale material supply demands, leading to low overall economic efficiency and construction efficiency. Summary of the Invention

[0004] The present invention aims to provide an underwater continuous excavation device, method and control system capable of connecting and excavating underwater target layers.

[0005] This invention provides an underwater continuous sludge excavation device, including a drive structure, a boom, and an excavation structure; The boom is the core load-bearing structure of this underwater mud and sand connection excavation device; The drive structure is mounted on one end of the boom to provide stable power; The excavation structure includes a cutting roller and a chain cutter; The chain cutter is installed on the end of the boom away from the drive structure, and the chain cutter is driven by the drive structure to circulate along a preset trajectory. The cutting roller has two parts arranged symmetrically along the chain cutter, and the two cutting rollers and the chain cutter are rigidly connected to each other through a drive shaft.

[0006] Furthermore, several cutting teeth are provided on the outer surfaces of the chain cutter and the two cutting rollers.

[0007] Furthermore, two suction pipes are installed on both sides of the boom; One end of the suction pipe extends to penetrate the cutting roller, and the other end of the suction pipe extends outwards.

[0008] Furthermore, a high-pressure flushing pipe and a pump suction pipe are also provided inside the suction pipe of the single piece; One end of the high-pressure water pipe is connected to an external high-pressure water pump, and the other end is connected to the cutting drum. One end of the pump suction pipe is connected to an external negative pressure water pump, and the other end is connected to the cutting drum.

[0009] Furthermore, the boom is fixed to the cable tray.

[0010] As a further aspect of the present invention, the present invention also provides a method for continuous underwater mud and sand excavation, comprising the following steps: Step 1: Preparation; Assemble the underwater continuous silt excavation device as described above, and connect the underwater continuous silt excavation device to the bridge frame. Using the hoisting equipment on the water platform, the underwater continuous dredging device was placed on the silt at the bottom of the water to prepare for the work. Step 2: Dredging and excavation; S2.1 Start the drive structure to drive the chain cutter to rotate the cutting drum; at the same time, the suction pipe starts to spray high-pressure water and start the pump suction function, the high-pressure flushing pipe starts to spray water, and the pump suction pipe starts synchronously to form negative pressure suction. During this process, the chain cutter continuously cuts the covering layer to ensure the equipment moves forward smoothly; the target layer material is directly stripped off, and is simultaneously sucked up and transported to the designated area through the suction pipe. S2.2 Adjust the boom angle through the bridge frame so that the excavation equipment slowly cuts downwards under the action of gravity until the cutting drum cuts into the target layer; S2.3 Start the water platform to begin moving. The device moves under the towing of the water platform to carry out excavation operations. The material is transported to the designated area through the suction pipe.

[0011] As a further aspect of the present invention, the present invention also provides an underwater continuous sludge excavation control system for controlling the underwater continuous sludge excavation device as described above, including a controller and a drive structure connected to the controller by a signal, a high-pressure water system, a negative pressure suction system and a detection system; The data detected by the detection system is transmitted to the controller via a signal line, and the controller performs real-time processing and decision-making based on the received data. The drive structure, high-pressure water system, negative pressure suction system, and detection system work together to dynamically adjust the excavation parameters, ensuring efficient, continuous, and safe underwater mud and sand excavation operations.

[0012] Furthermore, the controller includes an input module, a control core module, an execution module, a safety interlock module, and a closed-loop feedback module; The data detected by the detection system is input through the input module; The control core module processes the data detected by the detection system and transmits the processing results to the execution module. The execution module performs corresponding operations based on the commands from the control core module; The safety interlock module is used to monitor and judge the status of the underwater continuous mud and sand excavation device in real time, and trigger corresponding protection measures when the underwater continuous mud and sand excavation device is in an abnormal state. The closed-loop feedback module is used to feed back the excavation effect and real-time status of the underwater continuous sludge excavation device to the control core module, so as to form an adaptive dynamic adjustment cycle.

[0013] Furthermore, the core control module includes an excavation control model, an excavation parameter setting module, and a multi-mechanism coordinated adjustment module; The excavation control model is used to construct a cutting-suction coordination model, a travel-excavation depth model, and a load balancing model to control the high-pressure water system, the negative pressure suction system, and the drive system accordingly. The excavation parameter setting module is used to set the initial parameters for continuous underwater mud and sand excavation and to automatically adjust the error of the initial parameters. The multi-mechanism coordinated adjustment module includes a chain cutter and cutting drum speed linkage module, a high-pressure water and suction negative pressure linkage module, and a travel speed adaptive module.

[0014] Furthermore, the specific process for automatically adjusting the initial parameters to correct errors is as follows: ① Continuously compare monitoring data with target values; Excavation depth error ; Material concentration error ; Equipment load error ; in, To explore in depth, Dig deeper to reach the target. This represents the actual concentration of the material being pumped. For the target material concentration, This is the actual load. This is the rated load of the equipment; ② The proportional-integral-derivative control algorithm is adopted to output an adjustment signal based on the error; when At this time, the controller adjusts the lifting boom of the cable tray or reduces the travel speed; when At this time, the controller increases the high-pressure water pressure or increases the suction negative pressure to enhance the material suspension and extraction capabilities; when When this happens, the controller reduces the chain cutter speed or the cutting drum torque and triggers an early warning. ③ Simultaneously, dynamically update based on terrain changes. This ensures continuous adaptation to the fluctuations in the underlying environment.

[0015] Compared with the prior art, the present invention has the following beneficial effects: (1) The underwater continuous excavation device provided by the present invention can penetrate the overburden layer and simultaneously cut and suck up the target layer material by setting a combined excavation structure of chain cutter and cutting drum, and can continuously carry out mining operations.

[0016] (2) The material suction pipe structure integrating high-pressure flushing pipe and pump suction pipe in this invention greatly improves the mining efficiency per unit time.

[0017] (3) The underwater continuous excavation method for mud and sand provided by the present invention, by adopting a coordinated operation method of cutting the overburden layer with a chain cutter, excavating the target layer with a drum, and simultaneously carrying out hydraulic loosening and negative pressure suction, can realize the mining of target layer materials in a large area during the process, with a large amount of material taken at one time, and can more efficiently meet the needs of large-scale supply; and it directly penetrates the overburden layer and simultaneously cuts and sucks the target layer material in a single continuous operation process, integrating multiple separate processes in traditional construction methods into an integrated automatic construction, thereby effectively reducing equipment investment and comprehensive operating costs; and it can carry out mining operations continuously and without interruption, greatly improving the excavation efficiency per unit time and significantly shortening the overall construction cycle; and through the coordinated operation of the transverse cutting and suction system, it can realize the mining of target layer materials in a large area during the process, with a large amount of material taken at one time, and can more efficiently meet the needs of large-scale supply.

[0018] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1This is a schematic diagram of the overall structure of an underwater continuous mud and sand excavation device according to Embodiment 1 of the present invention; Figure 2 This is a first construction schematic diagram of an underwater mud and sand connection excavation device in Embodiment 2 of the present invention; Figure 3 This is a second construction schematic diagram of an underwater mud and sand connection excavation device in Embodiment 2 of the present invention.

[0020] in: 1. Cutting roller, 2. Boom, 3. Chain cutter, 4. Cutting teeth, 5. Suction pipe, 6. Cable tray. Detailed Implementation

[0021] To make the above-mentioned objectives, features, and advantages of the present invention clearer and easier to understand, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the accompanying drawings of the present invention are all in a simplified form and use non-precise proportions, and are only used to facilitate and clearly assist in illustrating the implementation of the present invention; the "several" mentioned in the present invention are not limited to the specific number shown in the examples in the accompanying drawings; the orientations or positional relationships indicated by terms such as "front," "middle," "rear," "left," "right," "up," "down," "top," "bottom," and "center" mentioned in the present invention are all based on the orientations or positional relationships shown in the accompanying drawings of the present invention, and do not indicate or imply that the device or component referred to must have a specific orientation, nor should they be construed as limitations on the present invention.

[0022] Example 1: See Figure 1 As shown, the underwater continuous sludge excavation device provided by the present invention includes a drive structure, a boom 2 and an excavation structure; The boom 2 is the core load-bearing structure of the underwater mud and sand connection excavation device; The drive structure is mounted on one end of the boom 2 to provide stable power; The excavation structure includes a cutting drum 1 and a chain cutter 3; The chain cutter 3 is installed on the end of the boom 2 away from the drive structure, and the chain cutter 3 is driven by the drive structure to circulate along a preset trajectory. The cutting roller 1 has two parts symmetrically arranged along the chain cutter 3. The two cutting rollers 1 and the chain cutter 3 are rigidly connected to each other through a transmission shaft so that they can rotate synchronously through the drive structure, thereby realizing excavation.

[0023] Preferably, to achieve full coverage of the working surface, a number of cutting teeth 4 are provided on the outer surfaces of the chain cutter 3 and the two cutting drums 1. The cutting teeth 4 are evenly distributed according to a specific density and angle. The cutting teeth are arranged with a longitudinal spacing of 80-150 mm, 4-8 rows in the circumference, a front angle of 15°-25°, a rear angle of 8°-15°, and a side tilt angle of 5°-10°. This achieves the comprehensive advantages of no missing cutting, anti-clogging chip removal, long service life, and high efficiency. It can supplement the excavation of the middle area between the excavation ranges of the cutting drums 1, achieve full coverage of the working surface of the device, and prevent the accumulation of mud and sand in the middle area. Moreover, when the device moves forward, the cutting teeth 4 on the chain cutter 3 can continuously cut the upper covering layer, remove the resistance to movement, and ensure that the entire device moves forward smoothly, thereby achieving uninterrupted continuous operation and greatly improving the overall excavation efficiency.

[0024] As a further embodiment of the present invention, two suction pipes 5 are also provided on both sides of the boom 2; One end of the suction pipe 5 extends to penetrate the cutting roller 1, and the other end of the suction pipe 5 extends outward.

[0025] Preferably, a high-pressure flushing pipe and a pump suction pipe are also provided inside the single suction pipe 5. One end of the high-pressure flushing pipe is connected to an external high-pressure water pump, and the other end is connected to the cutting drum 1. One end of the pump suction pipe is connected to an external negative pressure water pump, and the other end is connected to the cutting drum 1. The high-pressure flushing pipe can spray high-pressure water to impact and loosen the target layer material, making it suspended. The pump suction pipe simultaneously starts the negative pressure suction function to quickly suck in the suspended material and transport it to the designated area. The two work together to effectively avoid blockage of the suction pipe 5, ensure stable and efficient extraction efficiency, and further improve the operation continuity and productivity of the entire excavation equipment.

[0026] As a further embodiment of the present invention, in order to flexibly change the working depth and digging angle of the boom 2, the boom 2 is fixed on the bridge frame 6. By adjusting the bridge frame 6 on the dredger, the working depth and digging angle of the boom 2 can be flexibly adjusted, so that the underwater continuous dredging device can adapt to the needs of different working conditions.

[0027] Example 2: This invention also provides a method for continuous underwater excavation of mud and sand, comprising the following steps: (I) Preparatory work; Assemble the underwater continuous mud and sand excavation device in Example 1, and connect the underwater continuous mud and sand excavation device with the bridge 6 and other pipes, circuits and other structures. Using the hoisting equipment on the water platform, the underwater continuous dredging device was placed on the silt at the bottom of the water to prepare for the work. (II) Dredging and excavation; S2.1 Start the drive structure to drive the cutting drum 1 to rotate with the drive chain cutter 3; at the same time, the suction pipe 5 starts to spray high-pressure water and start the pump suction function, the high-pressure flushing pipe starts to spray water, and the pump suction pipe starts synchronously to form negative pressure suction; so that the underwater mud and sand continuous excavation device sinks to the target layer at the predetermined depth under the action of gravity, excavates layer by layer in a layered manner, and moves forward by being dragged by the water platform; During this process, the chain cutter 3 continuously cuts the covering layer to ensure the equipment moves forward smoothly; the target layer material is directly stripped off and simultaneously sucked up and transported to the designated area through the suction pipe 5. S2.2 Adjust the angle of boom 2 by bridge frame 6 so that the excavation equipment slowly cuts downward under the action of gravity until the cutting drum 1 cuts into the target layer; S2.3 Start the water platform to begin moving. The device moves under the towing of the water platform to carry out excavation operations. The material is transported to the designated area through the suction pipe 5.

[0028] The underwater continuous sludge excavation method used in this invention is powered by a platform on the water and has no autonomous movement capability. It needs to move under the traction of the platform.

[0029] Example 3: The present invention also provides an underwater continuous excavation control system for mud and sand, including a controller and a drive structure, a high-pressure water system, a negative pressure suction system and a detection system connected to the controller by a signal connection; the data detected by the detection system is transmitted to the controller through a signal line, and the controller performs real-time processing and decision-making based on the received data; the drive structure, the high-pressure water system, the negative pressure suction system and the detection system work together to realize the dynamic adjustment of excavation parameters, and ensure that underwater mud and sand excavation operations are completed efficiently, continuously and safely.

[0030] Preferably, the detection system includes a first sensor group for detecting water depth and topography, a second sensor group for detecting material density, and a third sensor group for detecting equipment status. The first sensor group includes a water depth sensor and a terrain detection sensor mounted on a boom or bridge to monitor the water depth and bottom terrain of the work area in real time and identify the interface between the cover layer and the target layer. The second sensor group includes a densitometer or turbidity sensor installed inside the suction pipe to monitor the concentration and particle distribution of the suction material in real time and to determine the excavation effect. The third sensor group includes a first sensor for monitoring cutting load and operating status, a second sensor for detecting water pressure in the high-pressure flushing pipeline, a third sensor for monitoring the suction efficiency of the pump suction pipeline, and a fourth sensor for monitoring the position and attitude of the underwater continuous mud and sand excavation device.

[0031] More preferably, the first sensor includes a first torque sensor for detecting the torque of the drive mechanism, a first speed sensor for detecting the rotational speed of the drive mechanism, a second torque sensor for detecting the torque of the transmission shaft, and a second speed sensor for detecting the rotational speed of the sensing shaft.

[0032] More preferably, the second sensor includes a pressure sensor for detecting the water pressure in the high-pressure flushing pipe.

[0033] More preferably, the third sensor includes a flow sensor for detecting the flow rate of the pump suction pipe and a negative pressure sensor for detecting the negative pressure value of the pump suction pipe.

[0034] More preferably, the fourth sensor includes a position sensor for detecting the position of the boom and cable tray and an angle sensor for detecting the tilt angle of the boom and cable tray.

[0035] More preferably, the water depth detection sensor is configured as a pressure-type depth gauge.

[0036] More preferably, the terrain detection sensor is configured as a multibeam sonar.

[0037] Preferably, the controller includes an input module, a control core module, an execution module, a safety interlock module, and a closed-loop feedback module; The data detected by the detection system is input through the input module; The control core module processes the data detected by the detection system and transmits the processing results to the execution module. The execution module performs corresponding operations based on the commands from the control core module; The safety interlock module is used to monitor and judge the status of the underwater continuous mud and sand excavation device in real time, and trigger corresponding protection measures when the underwater continuous mud and sand excavation device is in an abnormal state. The closed-loop feedback module is used to feed back the excavation effect and real-time status of the underwater continuous sludge excavation device to the control core module, so as to form an adaptive dynamic adjustment cycle.

[0038] More preferably, the control core module includes an excavation control model, an excavation parameter setting module, and a multi-mechanism coordinated adjustment module; The excavation control model is used to construct a cutting-suction coordination model, a travel-excavation depth model, and a load balancing model to control the high-pressure water system, the negative pressure suction system, and the drive system accordingly. The excavation parameter setting module is used to set the initial parameters for continuous underwater mud and sand excavation and to automatically adjust the error of the initial parameters. The multi-mechanism coordinated adjustment module includes a chain cutter and cutting drum speed linkage module, a high-pressure water and suction negative pressure linkage module, and a travel speed adaptive module.

[0039] Furthermore, the cutting-suction synergy model establishes a synergistic relationship between the chain cutter cutting rate, the cutting drum rotation speed, the high-pressure water pressure, and the suction negative pressure based on material characteristics and equipment parameters. Ideally, the suction flow rate should match the cutting output to avoid blockage or empty suction.

[0040] Furthermore, the aforementioned travel-digging depth model dynamically calculates the theoretical digging depth based on the equipment's travel speed and boom angle, ensuring that the cutting drum remains within the target layer. The model formula is as follows: ; in, To explore in depth, As the initial depth, For boom length, This refers to the boom tilt angle.

[0041] Furthermore, the load balancing model: calculates the load rate of the chain cutter and the cutting drum in real time using torque and speed data, avoids overload or idling, and maintains stable equipment operation.

[0042] Furthermore, the specific process for setting the initial parameters is as follows: Based on geological exploration data, the initial values ​​of chain cutter speed, cutting drum torque, high-pressure water pressure, and suction negative pressure are preset; Set target digging depth and speed of travel .

[0043] A further preferred method is the specific process of automatically adjusting the initial parameters for error: ① Continuously compare monitoring data with target values: Excavation depth error ; Material concentration error ; Equipment load error (Safe load threshold).

[0044] ② The proportional-integral-derivative (PID) control algorithm is adopted, and the adjustment signal is output according to the error: when If the excavation is too deep, the controller will adjust the lifting boom of the bridge or reduce the travel speed. when When the concentration is low, the controller increases the high-pressure water pressure or increases the suction negative pressure to enhance the material suspension and extraction capabilities. when When the load exceeds the limit, the controller reduces the chain cutter speed or the cutting drum torque and triggers an early warning.

[0045] ③ Simultaneously, dynamically update based on terrain changes. This ensures continuous adaptation to the fluctuations in the underlying environment.

[0046] A further preferred method for multi-mechanism coordinated adjustment of the underwater continuous sludge excavation device based on the multi-mechanism coordinated adjustment module is as follows: Chain cutter and cutting drum speed linkage: When the chain cutter load increases, the cutting drum speed is adjusted synchronously to maintain cutting balance.

[0047] High-pressure water and suction negative pressure linkage: The water pressure and negative pressure are adjusted in real time according to the material concentration to form a "loosening-suction" closed loop.

[0048] Adaptive travel speed: The towing speed of the water platform is dynamically adjusted according to the cutting efficiency to achieve synchronous "cutting-suction-movement".

[0049] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An underwater continuous mud and sand excavation device, characterized in that, Includes the drive structure, boom (2) and excavation structure; The boom (2) is the core load-bearing structure of the underwater mud and sand connection excavation device; The drive structure is mounted on one end of the boom (2) to provide stable power; The excavation structure includes a cutting drum (1) and a chain cutter (3). The chain cutter (3) is installed on the end of the boom (2) away from the drive structure, and the chain cutter (3) is driven by the drive structure to circulate along a preset trajectory; The cutting roller (1) has two parts symmetrically arranged along the chain cutter (3), and the two cutting rollers (1) and the chain cutter (3) are rigidly connected to each other through a drive shaft.

2. The underwater continuous silt and sand excavation device according to claim 1, characterized in that, Several cutting teeth (4) are also provided on the outer surfaces of the chain cutter (3) and the two cutting rollers (1).

3. The underwater continuous silt excavation device according to claim 1 or 2, characterized in that, Two suction pipes (5) are also installed on both sides of the boom (2); One end of the suction pipe (5) extends to penetrate the cutting roller (1), and the other end of the suction pipe (5) extends outward.

4. The underwater continuous silt and sand excavation device according to claim 3, characterized in that, A high-pressure flushing pipe and a pump suction pipe are also provided inside the suction pipe (5) of the single piece; One end of the high-pressure flushing pipe is connected to an external high-pressure water pump, and the other end is connected to the cutting drum (1). One end of the pump suction pipe is connected to an external negative pressure water pump, and the other end is connected to the cutting drum (1).

5. The underwater continuous silt and sand excavation device according to claim 4, characterized in that, The boom (2) is fixed to the cable tray (6).

6. A method for continuous underwater excavation of mud and sand, characterized in that, Includes the following steps: Step 1: Preparation; Assemble the underwater continuous mud and sand excavation device as described in any one of claims 1-5, and connect the underwater continuous mud and sand excavation device to the bridge frame (6); Using the hoisting equipment on the water platform, the underwater continuous dredging device was placed on the silt at the bottom of the water to prepare for the work. Step 2: Dredging and excavation; S2.1 Start the drive structure to drive the chain cutter (3) to rotate the cutting drum (1); at the same time, the suction pipe (5) starts to spray high-pressure water and start the pump suction function, the high-pressure flushing pipe starts to spray water, and the pump suction pipe starts synchronously to form negative pressure suction. During this process, the chain cutter (3) continuously cuts the covering layer to ensure the equipment moves forward smoothly; the target layer material is directly stripped off, and is simultaneously sucked and transported to the designated area through the suction pipe (5); S2.2 Adjust the angle of the boom (2) by using the bridge (6) so that the excavation equipment can slowly cut downwards under the action of gravity until the cutting drum (1) cuts into the target layer; S2.3 Start the water platform to begin moving. The device moves under the towing of the water platform to carry out excavation operations. The material is transported to the designated area through the suction pipe (5).

7. A continuous underwater mud and sand excavation control system, used to control the continuous underwater mud and sand excavation device as described in any one of claims 1-5, characterized in that, This includes the controller and the drive structure connected to the controller via signals, the high-pressure water system, the negative pressure suction system, and the detection system; The data detected by the detection system is transmitted to the controller via a signal line, and the controller performs real-time processing and decision-making based on the received data. The drive structure, high-pressure water system, negative pressure suction system, and detection system work together to dynamically adjust the excavation parameters, ensuring efficient, continuous, and safe underwater mud and sand excavation operations.

8. The underwater continuous sludge excavation control system according to claim 7, characterized in that, The controller includes an input module, a control core module, an execution module, a safety interlock module, and a closed-loop feedback module; The data detected by the detection system is input through the input module; The control core module processes the data detected by the detection system and transmits the processing results to the execution module. The execution module performs corresponding operations based on the commands from the control core module; The safety interlock module is used to monitor and judge the status of the underwater continuous mud and sand excavation device in real time, and trigger corresponding protection measures when the underwater continuous mud and sand excavation device is in an abnormal state. The closed-loop feedback module is used to feed back the excavation effect and real-time status of the underwater continuous sludge excavation device to the control core module, so as to form an adaptive dynamic adjustment cycle.

9. The underwater continuous sludge excavation control system according to claim 8, characterized in that, The core control module includes an excavation control model, an excavation parameter setting module, and a multi-mechanism coordinated adjustment module. The excavation control model is used to construct a cutting-suction coordination model, a travel-excavation depth model, and a load balancing model to control the high-pressure water system, the negative pressure suction system, and the drive system accordingly. The excavation parameter setting module is used to set the initial parameters for continuous underwater mud and sand excavation and to automatically adjust the error of the initial parameters. The multi-mechanism coordinated adjustment module includes a chain cutter and cutting drum speed linkage module, a high-pressure water and suction negative pressure linkage module, and a travel speed adaptive module.

10. The underwater continuous sludge excavation control system according to claim 9, characterized in that, The specific process of automatically adjusting the initial parameters for error is as follows: ① Continuously compare monitoring data with target values; Excavation depth error ; Material concentration error ; Equipment load error ; in, To explore in depth, Dig deeper to reach the target. This represents the actual concentration of the material being pumped. For the target material concentration, This is the actual load. This is the rated load of the equipment; ② The proportional-integral-derivative control algorithm is adopted to output an adjustment signal based on the error; when At this time, the controller adjusts the lifting boom of the cable tray or reduces the travel speed; when At this time, the controller increases the high-pressure water pressure or increases the suction negative pressure to enhance the material suspension and extraction capabilities; when When this happens, the controller reduces the chain cutter speed or the cutting drum torque and triggers an early warning. ③ Simultaneously, dynamically update based on terrain changes. This ensures continuous adaptation to the fluctuations in the underlying environment.

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