A wire controlled dredging method

Abstract

The application discloses a wire control dredging method and relates to the technical field of dredging engineering, and solves the problems of low positioning accuracy, poor operation flexibility and weak adaptability of existing dredging equipment. The system comprises a dredging body with a sewage suction port and a positioning system, the positioning system realizes three-dimensional accurate positioning of the dredging body through a multi-cable positioning device, and a matched longitudinal adjusting mechanism can independently adjust the displacement of the sewage suction port, thereby greatly improving the operation flexibility. The application adopts modular configuration, the pump body supports two installation modes of integrated type and split type, is matched with corrugated compensation pipelines and optional relay pumps, is suitable for dredging operation in various narrow water areas, and has accurate positioning, flexible operation and strong adaptability.

Description

Technical Field

[0001] This invention relates to the field of dredging, and more particularly to a line-controlled dredging method. Background Technology

[0002] Traditional manual dredging methods suffer from low efficiency, high safety risks, and harsh working environments, and are gradually being replaced by mechanized dredging equipment. Existing underwater dredging equipment mostly uses tracked walking mechanisms or single-cable suspension structures. Tracked equipment is prone to slipping and getting stuck in silt layers, and cannot move flexibly in confined spaces. Single-cable suspension structures can only achieve vertical lifting and lowering, making horizontal positioning difficult and preventing precise three-dimensional position adjustment. This makes it difficult to accurately align the dredging suction port with the silt accumulation, easily leading to incomplete dredging, repeated work, and low dredging efficiency. Summary of the Invention

[0003] The main objective of this invention is to provide a line-controlled dredging method to solve the aforementioned technical problems.

[0004] To achieve the above objectives, the present invention proposes a wire-controlled dredging method, which includes the application of the wire-controlled dredging method to a wire-controlled dredging system, wherein the wire-controlled dredging system comprises:

[0005] The dredging body includes a pump body and a suction port located at the bottom of the dredging body;

[0006] A positioning system is connected to the dredging body, and the positioning system includes multiple winches connected to the dredging body;

[0007] The line-controlled dredging method includes:

[0008] S1. Select the pump installation method according to the operation scenario, and complete the detachable connection between the pump body and the dredging body through a modular connection structure to build the dredging system and complete the initialization.

[0009] S2. By sending a position adjustment command through the control terminal, the multiple winches of the multi-cable positioning device independently wind up and unwind the cable, driving the dredging body to perform three-dimensional position adjustment, so that the dredging body moves to the target dredging point and the suction port fits into the silt layer.

[0010] S3. Start the pump and pump the sludge through the suction port to the designated collection area;

[0011] S4. After dredging at a single point is completed, repeat steps S2-S3 until the dredging operation of the entire area is completed. After the operation is completed, turn off the pump body, relay pump and all adjustment components, and complete the system reset.

[0012] In one embodiment, if the sludge discharge distance or head reaches a preset threshold, a relay pump connected in series with the conveying pipeline is activated to provide pressurized power for sludge conveying.

[0013] In one embodiment, the multi-cable positioning device is connected to the outside of the dredging body (10) and can adjust the three-dimensional position of the dredging body (10) within the area enclosed by the multi-cable positioning device.

[0014] In one embodiment, multiple winches (20) are symmetrically distributed, and the displacement of the dredging body (10) on the X-axis, Y-axis and Z-axis is adjusted by adjusting the winding and unwinding speed and stroke of different winches (20).

[0015] In one embodiment, the positioning system further includes a longitudinal adjustment mechanism installed on the sludge removal body for adjusting the longitudinal displacement of the suction port at the bottom of the sludge removal body.

[0016] In one embodiment, the longitudinal displacement driving mechanism includes a telescopic rod assembly, which can drive the longitudinal displacement of the suction port at the bottom of the sludge removal body through telescopic movement.

[0017] In one embodiment, the dredging body includes a pump body and a delivery pipe, wherein the pump body is connected to the suction port through the delivery pipe;

[0018] Alternatively, the pump body may be connected to a delivery pipe and a suction port at both ends.

[0019] In one embodiment, the conveying pipeline is a corrugated compensated pipeline.

[0020] In one embodiment, the wire-controlled dredging method further includes a relay pump connected to the delivery pipeline.

[0021] The technical solution of this invention achieves precise three-dimensional position adjustment of the dredging body through a positioning system. Through the coordinated winding and unwinding control of multiple winches, position adjustment without blind spots can be achieved within the working area. It has high positioning accuracy and flexible operation, and is suitable for dredging operations in narrow and enclosed waters, avoiding the problems of slippage, getting stuck, and positioning difficulties of traditional equipment. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the wire-controlled dredging system according to the first embodiment of the present invention.

[0024] Figure 2 This is a schematic diagram of the wire-controlled dredging system according to the second embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the wire-controlled dredging system according to the third embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the wire-controlled dredging system according to the fourth embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the wire-controlled dredging system according to the fifth embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of the wire-controlled dredging system according to the sixth embodiment of the present invention;

[0029] Figure 7 This is a schematic diagram of the wire-controlled dredging system according to the seventh embodiment of the present invention.

[0030] Explanation of reference numerals: 10, dredging body; 11, suction port; 12, housing; 20, winch; 30, cable; 40, conveying pipeline; 50, pre-pump; 60, relay pump; 70, longitudinal adjustment mechanism.

[0031] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0033] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0034] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0036] This invention provides a line-controlled dredging method.

[0037] like Figure 1 As shown, the wire-controlled dredging method provided in this embodiment of the invention includes:

[0038] The dredging body 10 includes a pump body and a suction port 11 located at the bottom of the dredging body 10;

[0039] A positioning system is connected to the dredging body 10, and the positioning system includes multiple winches 20 connected to the dredging body 10;

[0040] The line-controlled dredging method includes:

[0041] S1. Select the pump installation method according to the operation scenario, and complete the detachable connection between the pump body and the dredging body through a modular connection structure to build the dredging system and complete the initialization.

[0042] In this step, a site survey is first conducted to obtain core parameters such as the size of the work area, the depth of siltation, the characteristics of silt composition, the silt transport distance, and the limitations of the work space. Based on the survey results, a suitable pump model and installation method are selected. The installation methods include built-in installation and external installation. Built-in installation is suitable for scenarios with sufficient work space and high requirements for equipment integration. The pump body is sealed and installed in the internal cavity of the dredging body through a modular connection structure.

[0043] External installation is suitable for scenarios with narrow spaces where the volume of the dredging unit needs to be reduced. The pump body is installed outside the dredging unit through a modular connection structure, or connected to the suction port of the dredging unit through a delivery pipeline. The pump body is fixed outside the work area, and only the dredging unit is lowered to the work surface.

[0044] After the pump body is selected and installed, multiple winches of the positioning system are distributed and deployed around the work area. The winding and unwinding cables of each winch are fixed and locked to the corresponding connection points of the dredging body, thus completing the hardware setup of the dredging system. Then, the system is started to complete the communication pairing between the control terminal and each electrical component, the zero-point calibration of the winch encoder, the initial positioning of the dredging body, and the self-test calibration of each sensor, thus completing the initialization of the entire system process.

[0045] S2. By sending a position adjustment command through the control terminal, the multiple winches of the multi-cable positioning device are controlled to independently wind up and unwind the cable, driving the dredging body to perform three-dimensional position adjustment, so that the dredging body moves to the target dredging point and the suction port fits into the silt layer.

[0046] In this step, the operator inputs the three-dimensional coordinate parameters of the target dredging point through the control terminal, or sends a real-time position adjustment command through the joystick; based on the difference between the current position of the dredging body and the target position, the control terminal calculates the required cable winding and unwinding length, running speed and output torque parameters for each winch through the motion calculation model, and sends independent closed-loop control commands to the drive motor of each winch.

[0047] Each winch executes independent winding and unwinding actions synchronously according to the received instructions. Through the coordinated tension of multiple cables, the dredging body is driven to complete planar displacement in the horizontal X and Y axes and vertical lifting displacement in the vertical Z axis within the working area, achieving precise position adjustment in three-dimensional space and moving the dredging body to the horizontal coordinate of the target dredging point.

[0048] After the dredging body reaches the target horizontal coordinate, the control terminal controls each winch to synchronously execute the unwinding action, driving the dredging body to descend vertically. The pressure sensor on the suction port end face collects the contact pressure data between the suction port and the silt layer in real time. When the contact pressure reaches the preset threshold, the control terminal immediately stops the unwinding action of all winches, locks the current spatial position and attitude of the dredging body, and ensures that the suction port is tightly attached to the surface of the silt layer. This avoids the intake of a large amount of clean water during the suction process, which would reduce the suction efficiency, and also prevents the dredging body from excessively pressing down and disturbing the silt layer, thus preventing secondary pollution of the water body.

[0049] S3. Start the pump and pump the sludge through the suction port to the designated collection area.

[0050] After the position and attitude of the dredging body are locked, a start command is sent through the control terminal to start the pump body and put it into operation. The operation of the pump body generates negative pressure, and through the suction port at the bottom that is attached to the silt layer, the silt, mud and other silt are sucked into the conveying pipeline and continuously transported to the designated collection area through the conveying pipeline. The designated collection area can be set as a silt collection pool, silt dewatering equipment or dredging tanker outside the work area.

[0051] S4. After dredging at a single point is completed, repeat steps S2-S3 until the dredging operation of the entire area is completed. After the operation is completed, turn off the pump body, relay pump and all adjustment components, and complete the system reset.

[0052] In this embodiment, based on the pump operating parameters and the detection data of the silt layer detection component, it is determined that the dredging operation at the current target dredging point has been completed. Then, a position adjustment command is sent through the control terminal to repeat the three-dimensional position adjustment process of step S2, moving the dredging body to the next preset target dredging point. After the position and attitude are locked, the suction operation of step S3 is repeated.

[0053] Following the preset dredging path, dredging operations are sequentially completed at all target dredging points within the work area. The preset dredging path can be a bow-shaped path, a circular path, or a path from the edge to the center, etc., to achieve full coverage of the work area and avoid blind spots. After all dredging operations in the entire area are completed, a stop command is sent via the control terminal to sequentially shut down the pump body and relay pump. Subsequently, multiple winches are controlled to simultaneously perform winding actions, smoothly lifting the dredging unit to its initial safe position, completing the system reset, and finally disconnecting the system power supply to complete the equipment dismantling and recovery.

[0054] In this embodiment, the three-dimensional position of the dredging body 10 is precisely adjusted through the positioning system. Through the coordinated winding and unwinding control of multiple winches 20, position adjustment without blind spots can be achieved within the working area. The positioning accuracy is high and the movement is flexible, making it suitable for dredging operations in narrow and enclosed waters, and avoiding the problems of slippage, getting stuck, and positioning difficulties of traditional equipment.

[0055] The positioning system includes a multi-cable positioning device, which is connected to the outside of the dredging body 10 and can adjust the three-dimensional position of the dredging body 10 within the area enclosed by the multi-cable positioning device.

[0056] In this embodiment, the multi-cable positioning device includes four winches 20, which are fixedly installed at the four corners of the water area to be dredged. Each winch 20 is connected to the outer wall of the dredging body 10 via a high-strength, waterproof, and wear-resistant cable 30, and the four sets of cables 30 are symmetrically distributed. During operation, by controlling the synchronous winding and unwinding of the diagonal winches 20, the dredging body 10 can be displaced in the X-axis direction; by controlling the synchronous winding and unwinding of another set of diagonal winches 20, the dredging body 10 can be displaced in the Y-axis direction; and by controlling the synchronous winding and unwinding of all four winches 20, the dredging body 10 can be vertically raised and lowered in the Z-axis direction, thereby achieving precise three-dimensional position adjustment of the dredging body 10 with a positioning accuracy of centimeter level, suitable for precise operations in confined spaces. In other embodiments, the number of winches 20 can be adjusted to three, six, etc., depending on the shape and size of the work area, all of which fall within the scope of protection of this application.

[0057] Furthermore, the positioning system also includes a longitudinal adjustment mechanism 70, which is used to adjust the longitudinal displacement of the suction port 11 at the bottom of the sludge removal body 10. In this embodiment, the longitudinal direction is the vertical Z-axis direction.

[0058] The longitudinal adjustment mechanism 70 includes a telescopic rod assembly. The fixed end of the telescopic rod assembly is fixedly connected to the inner wall of the housing 12 of the sludge removal body 10, and the telescopic end of the telescopic rod assembly is fixedly connected to the mounting seat of the suction port 11. The telescopic rod assembly can drive the suction port 11 to complete the vertical longitudinal displacement action through its own telescopic movement.

[0059] Once the dredging body 10 has moved to the target dredging position, there is no need to adjust its overall position. The suction port 11 can be moved downwards by simply extending the telescopic rod assembly, precisely fitting the silt layer. After dredging is completed, the suction port 11 is returned to its original position by retracting the telescopic rod assembly, effectively avoiding positioning errors caused by frequent raising and lowering of the dredging body 10, and further improving dredging accuracy and work efficiency. In this embodiment, the telescopic rod assembly uses an electric telescopic rod. In other embodiments, a hydraulic telescopic rod or a pneumatic telescopic rod can also be used, and the choice can be flexible according to the working conditions. All such options should fall within the protection scope of this application.

[0060] Please refer to Figure 1-7 The dredging body 10 includes a pump body and a conveying pipeline 40. In this application, the pump body can be installed according to different needs, and can adopt different installation methods such as a pre-pump 50, a post-pump, and a relay pump 60 to adapt to different scenario requirements. In the pre-pump 50 scheme, the pump body is installed inside the body and is used for pumping water for dredging. In the post-pump scheme, the pump body is installed on the bank (or inside the dredging vehicle), and the body only includes the suction port 11 and the electrical control module. In the relay pump 60 scheme, two pump bodies are installed on the body and on the bank (or inside the dredging vehicle) respectively, providing greater suction power, suitable for situations where the pre-pump and post-pump cannot complete the operation independently over a long distance.

[0061] In other words, this application allows for the selection of different pump installation methods according to requirements, covering the vast majority of operating environments.

[0062] For example Figure 2 It is used by employing a pre-pump 50. Figure 3 For the combined use of pre-pump 50 and relay pump 60. Figure 4 A combination of a post-pump and a relay pump 60 is used. Figures 5-7 This is an embodiment that adopts the installation of the longitudinal adjustment mechanism 70. Similarly, in the scheme of installing the longitudinal adjustment mechanism 70, different pump body installation methods can be selected according to requirements.

[0063] In the above embodiment, the conveying pipe 40 is a corrugated compensated pipe. The corrugated compensated pipe has the characteristics of being expandable and flexible and can be bent in multiple directions. It can adapt to the position changes and angle deviations generated by the dredging body 10 during three-dimensional movement, effectively preventing the conveying pipe 40 from being pulled or bent and damaged, ensuring the continuous unobstructed flow of the sludge discharge path, and extending the service life of the system.

[0064] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made under the concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A line-controlled dredging method, characterized in that, The wire-controlled dredging method is applied to a wire-controlled dredging system, which includes: The dredging body (10) includes a pump body and a suction port (11) located at the bottom of the dredging body (10). The positioning system is connected to the dredging body (10), and the positioning system includes multiple winches (20) connected to the dredging body (10). The line-controlled dredging method includes: S1. Select the pump installation method according to the operation scenario, and complete the detachable connection between the pump body and the dredging body through a modular connection structure to build the dredging system and complete the initialization. S2. By sending a position adjustment command through the control terminal, the multiple winches of the multi-cable positioning device independently wind up and unwind the cable, driving the dredging body to perform three-dimensional position adjustment, so that the dredging body moves to the target dredging point and the suction port fits into the silt layer. S3. Start the pump and pump the sludge through the suction port to the designated collection area; S4. After dredging at a single point is completed, repeat steps S2-S3 until the dredging operation of the entire area is completed. After the operation is completed, turn off the pump body, relay pump and all adjustment components, and complete the system reset.

2. The line-controlled dredging method according to claim 1, characterized in that, If the sludge discharge distance or head reaches the preset threshold, the relay pump connected in series with the conveying pipeline will be started to provide booster power for sludge conveying.

3. The line-controlled dredging method according to claim 1, characterized in that, The multi-cable positioning device is connected to the outside of the dredging body (10) and can adjust the three-dimensional position of the dredging body (10) within the area enclosed by the multi-cable positioning device.

4. The line-controlled dredging method according to claim 2, characterized in that, Multiple winches (20) are symmetrically distributed. The displacement of the dredging body (10) on the X-axis, Y-axis and Z-axis can be adjusted by adjusting the winding and unwinding speed and stroke of different winches (20).

5. The line-controlled dredging method according to claim 2, characterized in that, The positioning system also includes a longitudinal adjustment mechanism (70), which is installed on the dredging body (10). The longitudinal adjustment mechanism (70) adjusts the longitudinal displacement of the suction port (11) at the bottom of the dredging body (10).

6. The line-controlled dredging method according to claim 5, characterized in that, The longitudinal displacement driving mechanism includes a telescopic rod assembly, which can drive the longitudinal displacement of the suction port (11) at the bottom of the sludge removal body (10) through telescopic movement.

7. The line-controlled dredging method according to claim 1, characterized in that, The dredging body (10) includes a conveying pipe (40), and the pump body is connected to the suction port (11) through the conveying pipe (40); Alternatively, the two ends of the pump body can be connected to a delivery pipe (40) and a suction port (11), respectively.

8. The line-controlled dredging method according to claim 7, characterized in that, The conveying pipeline (40) is a corrugated compensated pipeline.

9. The line-controlled dredging method according to claim 7, characterized in that, The wire-controlled dredging method further includes a relay pump (60), which is connected to the delivery pipeline (40).

Images