Deep layer dredging equipment and method in alpine region

Abstract

The present application relates to the technical field of dredging equipment, and particularly relates to deep layer dredging equipment and method in high-cold area, which comprises a remote control caterpillar base, a rotating device, a supporting rod, a multi-stage electric push rod, a dredging drill bit, an anti-freezing mechanism and an electric control mechanism. The anti-freezing mechanism heats the conveying hose through a hot water pipe, and sprays hot water around the dredging drill bit through a spray pipe and a nozzle to soften the silt, and the silt after being crushed is discharged outward through the conveying hose; during the dredging process, a camera is used to obtain continuous operation images, the dredging response state is determined according to the variation of the dredging area and the amount of the multi-stage electric push rod, and the rotating speed of the dredging drill bit and the amount of the multi-stage electric push rod are adjusted accordingly, the present application can realize the cooperative control of silt softening, heat preservation and dredging process in a low temperature environment, and improve the continuity and adaptability of deep layer dredging operation.

Description

Technical Field

[0001] This invention relates to the field of dredging equipment technology, and in particular to deep dredging equipment and methods for high-altitude and cold regions. Background Technology

[0002] Dredging equipment refers to specialized mechanical devices used to remove silt accumulated at the bottom of water bodies such as rivers, lakes, ditches, and ponds. Its function is to restore the water flow capacity and storage capacity of water bodies, improve the water quality environment, and ensure the flood control and drainage functions of water conservancy facilities. Common dredging equipment includes cutter suction dredgers, grab bucket dredgers, and pump suction dredging devices, and is mainly used in urban river management, port and waterway dredging, farmland water conservancy projects, and industrial sedimentation tank cleaning.

[0003] Existing dredging equipment typically uses mechanical excavation, hydraulic pumping, or pneumatic lifting to clean and transport silt from the bottom of water bodies. Its operational efficiency is directly affected by the working depth, the nature of the silt, and the site's environmental conditions. For dredging operations under normal temperature conditions, existing equipment can maintain basic dredging capabilities.

[0004] However, the dredging environment in high-altitude and cold regions is quite unique, mainly in the following aspects: First, winter temperatures in these regions are consistently below freezing, easily causing ice to form on the water surface. When the water content in the silt is high, the silt's fluidity decreases significantly under low temperatures, making it difficult for the cutting and suction components of ordinary dredging equipment to operate effectively, resulting in a significant decrease in dredging efficiency. Second, the silt extracted during dredging is usually transported through pipelines. In high-altitude and cold environments, the water in the silt easily freezes on the inner wall of the pipeline, leading to thickened ice buildup, reduced effective transport cross-section, and in severe cases, complete blockage of the pipeline, preventing the silt from being transported and discharged normally, directly affecting the continuity and efficiency of dredging operations. Third, the density and compaction of deep silt usually change with the working depth and location. However, the operating parameters of existing dredging equipment, such as drill bit speed and descent process, mostly rely on preset parameters or manual adjustments, making it difficult to adapt to changes in silt state at different depths and locations in a timely manner. This can easily lead to insufficient breaking up, ineffective descent, or localized repetitive work, affecting the efficiency of deep dredging. Summary of the Invention

[0005] The purpose of this invention is to provide a deep dredging device and method for high-altitude and cold regions. By setting up anti-freezing mechanisms and electrical control mechanisms, it solves the problems of existing dredging equipment in high-altitude and cold regions where silt easily hardens, pipelines easily freeze, and the equipment's downward state and actual dredging response are difficult to match, resulting in reduced dredging effect and insufficient operation continuity.

[0006] The technical solution of the present invention is as follows: a deep dredging equipment for high-altitude and cold regions, comprising a remote-controlled tracked base, a rotating device provided on one side of the remote-controlled tracked base, a support rod provided inside the rotating device, a multi-stage electric push rod installed inside the support rod, a ring motor provided at the bottom of the multi-stage electric push rod, a dredging drill bit installed at the bottom of the ring motor, an anti-freezing mechanism provided at the bottom of the support rod, the anti-freezing mechanism comprising an anti-freezing pipe fixedly connected to the bottom of the support rod, a spray pipe fixedly connected to the inside of the anti-freezing pipe, a nozzle communicating with the surface of the spray pipe, a suction pipe fixedly connected to the inside of the anti-freezing pipe, a delivery hose communicating with one side of the suction pipe, a hot water pipe wound around the surface of the delivery hose, and an insulation pipe sleeved on the outer surface of the delivery hose and the hot water pipe, and an electrical control mechanism provided at the top of the remote-controlled tracked base, the electrical control mechanism comprising a monitoring box fixedly connected to the front and rear sides of the top of the remote-controlled tracked base, a camera fixedly connected to one side of the monitoring box, a supplementary light fixedly connected to one side of the monitoring box, and a control component provided at the top of the remote-controlled tracked base.

[0007] Preferably, the rotating device includes a rotating box fixedly connected to one side of the remote-controlled track base, a drive motor fixedly connected inside the rotating box, a worm fixedly connected to the output end of the drive motor, a worm wheel meshing with the worm, and a rotating rod fixedly connected inside the worm wheel. The support rod is fixedly connected to the rotating rod.

[0008] Preferably, the nozzle is annular in shape, and there are three nozzles. The three nozzles are vertically spaced and sleeved on the surface of the suction pipe, and the three nozzles are interconnected through a connecting pipe. One end of the hot water pipe is connected to the nozzle, and the spraying end of the nozzle extends to the outside of the antifreeze pipe. There are three sets of nozzles, and the spraying angle of each set of nozzles gradually decreases from top to bottom.

[0009] Preferably, the hot water pipe is spirally wound around the surface of the delivery hose, and the other end of the hot water pipe is connected to an external hot water delivery pump, while the other end of the delivery hose is connected to an external sludge pump.

[0010] Preferably, a limit plate is installed on the top of the remote-controlled track base and the surface of the support rod. A guide groove is provided inside the limit plate, and a guide roller is movably connected inside the guide groove through a bearing.

[0011] Preferably, the control assembly includes a control box fixedly connected to the top of the remote-controlled track base, a battery fixedly connected inside the control box, a controller fixedly connected inside the control box, a wireless receiver fixedly connected inside the control box, a relay group fixedly connected inside the control box, and a driver group fixedly connected inside the control box. The controller is electrically connected to the wireless receiver, the relay group is electrically connected to the driver group, the relay group is electrically connected to the multi-stage electric push rod and the ring motor, and the driver group is electrically connected to the walking drive motor of the remote-controlled track base and the ring motor.

[0012] Preferably, the control assembly further includes a wireless transmitter fixedly connected inside the control box, and the wireless transmitter is electrically connected to the camera.

[0013] Deep dredging methods in high-altitude and cold regions include: S1. During the dredging operation, continuous images of the dredging area around the dredging drill bit are acquired by a camera, and the downward movement of the multi-stage electric push rod and the rotational speed of the dredging drill bit are also acquired. S2. Determine the change in the dredging area based on the continuous operation image, and correlate the change in the dredging area with the downward movement of the multi-stage electric push rod in the same period to determine the current dredging response status; S3. Determine the rotation speed adjustment mode of the dredging drill bit and the downward control mode of the multi-stage electric push rod according to the dredging response state, and control the multi-stage electric push rod and the ring motor to perform corresponding actions through the controller via the relay group and the driver group; S4. After the dredging status at the current working position reaches the preset dredging completion conditions, control the multi-stage electric push rod to drive the dredging drill bit to retract, and control the remote-controlled track base to move to the next working position to continue the dredging operation through the driver group.

[0014] Preferably, the determination of the current dredging response status includes: corresponding the change in the dredging area within multiple consecutive operating cycles with the downward movement of the multi-stage electric push rod during the same period; when the multi-stage electric push rod moves downward and the change in the dredging area reaches a preset response condition, the dredging response status is determined to be an effective dredging response; when the multi-stage electric push rod continues to move downward and the change in the dredging area fails to reach the preset response condition continuously, the dredging response status is determined to be an insufficient dredging response.

[0015] Preferably, when the dredging response status is an effective dredging response, the current rotation speed of the dredging drill bit is maintained and the multi-stage electric push rod is controlled to continue descending; when the dredging response status is insufficient, the dredging of the multi-stage electric push rod is paused and the rotation speed of the dredging drill bit is adjusted to a target speed higher than the current rotation speed; if the dredging response status is still insufficient after adjusting the rotation speed of the dredging drill bit, the multi-stage electric push rod is controlled to drive the dredging drill bit to retract, and the remote-controlled tracked base is controlled to move to the next working position through the driver group.

[0016] The beneficial effects of this invention are as follows: Through the coordinated operation of the antifreeze mechanism and the electrical control mechanism, hot water is heated and transported through the hot water pipe to the conveying hose, and simultaneously sprayed from the nozzle through the spray pipe to the area around the dredging drill bit to heat and soften the sludge. The suction pipe sucks in the softened sludge and discharges it outward through the conveying hose, thus achieving sludge heating and softening and heat preservation and transportation, reducing the impact of pipeline freezing in low-temperature environments on continuous dredging operations. At the same time, continuous operation images of the dredging area are acquired by the camera, and the changes in the dredging area are correlated with the downward movement of the multi-stage electric push rod to determine the dredging response state. Based on the dredging response state, the rotation speed of the dredging drill bit and the downward movement of the multi-stage electric push rod are adjusted so that the downward movement of the dredging drill bit matches the actual dredging response, reducing continuous downward movement when the dredging response is insufficient, and improving the continuity and adaptability of deep dredging operations in high-altitude and cold regions. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0018] Figure 1 A 3D diagram of deep dredging equipment in high-altitude and cold regions; Figure 2 Diagram showing the working status of deep dredging equipment in high-altitude and cold regions; Figure 3 A structural diagram of the antifreeze mechanism in a deep dredging equipment for high-altitude and cold regions; Figure 4 This is a front view of the limit plate in a deep dredging equipment for high-altitude and cold regions. Figure 5 A cross-sectional view of the insulation pipe in a deep dredging equipment for high-altitude and cold regions; Figure 6 A structural diagram of the control components in a deep dredging equipment for high-altitude and cold regions; Figure 7 Flowchart of deep dredging methods in high-altitude and cold regions.

[0019] Explanation of reference numerals in the attached drawings: 1. Remote-controlled track base; 2. Rotating device; 3. Support rod; 4. Multi-stage electric push rod; 5. Ring motor; 6. Dredging drill bit; 7. Anti-freezing mechanism; 71. Anti-freezing pipe; 72. Spray pipe; 73. Nozzle; 74. Suction pipe; 75. Delivery hose; 76. Hot water pipe; 77. Insulation pipe; 8. Electrical control mechanism; 81. Monitoring box; 82. Camera; 83. Supplemental light; 84. Control components; 841. Control box; 842. Battery; 843. Controller; 844. Wireless receiver; 845. Relay group; 846. Driver group; 847. Wireless transmitter; 9. Limit plate; 10. Guide groove; 11. Guide roller. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. The described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] Example 1

[0022] Please see Figures 1-6This is the first embodiment of the present invention, which provides a deep dredging device for high-altitude and cold regions. The device includes a remote-controlled tracked base 1, a rotating device 2 on one side of the remote-controlled tracked base 1, a rotating box fixedly connected to one side of the remote-controlled tracked base 1, a drive motor fixedly connected inside the rotating box, a worm gear fixedly connected to the output end of the drive motor, a worm wheel meshing with the worm gear, and a rotating rod fixedly connected inside the worm wheel. A support rod 3 is fixedly connected to the rotating rod. The drive motor is electrically connected to a relay group 845 in the control assembly 84. The support rod 3 is located inside the rotating device 2. The support rod 3 has a multi-stage electric push rod 4 installed inside. A ring motor 5 is located at the bottom of the multi-stage electric push rod 4, and a dredging drill bit 6 is installed at the bottom of the ring motor 5. An antifreeze mechanism 7 is located at the bottom of the support rod 3. The antifreeze mechanism 7 includes an antifreeze pipe 71 fixedly connected to the bottom of the support rod 3, a spray pipe 72 fixedly connected inside the antifreeze pipe 71, a nozzle 73 communicating with the surface of the spray pipe 72, a suction pipe 74 fixedly connected inside the antifreeze pipe 71, a delivery hose 75 communicating with one side of the suction pipe 74, a hot water pipe 76 wrapped around the surface of the delivery hose 75, and a sleeve fitted between the delivery hose 75 and the hot water pipe 76. 6. The outer surface has an insulation pipe 77. The top of the remote-controlled track base 1 is equipped with an electronic control mechanism 8. The electronic control mechanism 8 includes a monitoring box 81 fixedly connected to the front and rear sides of the top of the remote-controlled track base 1, a camera 82 fixedly connected to one side of the monitoring box 81, a supplementary light 83 fixedly connected to one side of the monitoring box 81, the supplementary light 83 is equipped with a light intensity sensor and automatically starts when the light intensity is low, and a control component 84 set on the top of the remote-controlled track base 1. The control component 84 includes a control box 841 fixedly connected to the top of the remote-controlled track base 1, and a control box 841 fixedly connected to the inside of the control box 841. The control box 841 includes a battery 842, a controller 843 fixedly connected inside the control box 841, a wireless receiver 844 fixedly connected inside the control box 841, a relay group 845 fixedly connected inside the control box 841, and a driver group 846 fixedly connected inside the control box 841. The controller 843 is electrically connected to the wireless receiver 844, and the relay group 845 is connected to the driver group 846. The battery 842 supplies power to the components inside the control box 841. The wireless receiver 844 is used to receive control signals from an external remote control and transmit them to the controller 843.

[0023] The antifreeze mechanism 7 heats and insulates the delivery hose 75 via the hot water pipe 76, while simultaneously spraying hot water around the dredging drill bit 6 using the spray pipe 72 and nozzle 73 to prevent the sludge from freezing in low-temperature environments. During use, an external hot water delivery pump sends hot water into the hot water pipe 76, which is spirally wound around the surface of the delivery hose 75, to heat the delivery hose 75. The insulation pipe 77 is fitted over the delivery hose 75 and the hot water pipe 76 to reduce heat loss. At the same time, the hot water is distributed through the spray pipe 72 inside the antifreeze pipe 71 and sprayed out through the nozzle 73 to heat and soften the sludge around the dredging drill bit 6. The suction pipe 74 sucks in the broken sludge and discharges it out through the delivery hose 75, effectively solving the problem of sludge transportation difficulties caused by the freezing of the inner wall of the pipe in low-temperature environments in high-altitude and cold regions.

[0024] The function of the electrical control mechanism 8 is to realize remote control of the equipment, management of operating status, and real-time monitoring of the working environment. In use, the wireless receiver 844 receives the control signal sent by the external remote controller and transmits it to the controller 843. The controller 843 controls the start and stop of the multi-stage electric push rod 4 and the ring motor 5 through the relay group 845, and controls the walking speed of the remote track base 1 and the rotation speed of the dredging drill bit 6 through the driver group 846. At the same time, the camera 82 collects the image data of the working site and sends it to the display terminal of the external remote controller through the wireless transmitter 847. The supplementary light 83 provides auxiliary lighting for the camera 82 when the light is insufficient, effectively solving the problem that the operator cannot observe the working environment in real time and has difficulty accurately controlling the operation of the equipment when working away from the equipment.

[0025] During operation, the remote-controlled tracked base 1 moves to the work area, the drive motor in the rotating device 2 starts, the output end of the drive motor drives the worm to rotate, the worm drives the rotating rod to rotate through the worm wheel, the rotating rod drives the support rod 3 to rotate to the working angle, the multi-stage electric push rod 4 extends, pushing the dredging drill bit 6 down to the deep siltation area, the ring motor 5 drives the dredging drill bit 6 to rotate, breaking and loosening the hardened silt, the suction pipe 74 sucks in the broken silt, and discharges it to the external silt pump through the conveying hose 75.

[0026] During the above-mentioned dredging operation, an external hot water pump delivers hot water into the hot water pipe 76. The hot water pipe 76 is spirally wound around the surface of the delivery hose 75 to heat and insulate the delivery hose 75, preventing the sludge from freezing during transportation. An insulation pipe 77 is fitted over the delivery hose 75 and the hot water pipe 76 to reduce heat loss.

[0027] Hot water from hot water pipe 76 simultaneously enters the spray pipe 72 inside antifreeze pipe 71 and is sprayed around dredging drill bit 6 through nozzle 73 to heat and soften the sludge. When dredging drill bit 6 rotates to break up the sludge, antifreeze pipe 71 is positioned above dredging drill bit 6 along with support rod 3. Suction pipe 74 is fixedly connected inside antifreeze pipe 71 and descends synchronously with dredging drill bit 6 to continuously suck in the heated and softened sludge and transport it to delivery hose 75.

[0028] Example 2

[0029] Please see Figures 1-6 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0030] Specifically, the nozzle 72 is annular in shape, and there are three nozzles 72. The three nozzles 72 are vertically spaced and sleeved on the surface of the suction pipe 74. The three nozzles 72 are interconnected through a connecting pipe. One end of the hot water pipe 76 is connected to the nozzle 72, so that hot water can be supplied to the three nozzles 72 at the same time. The spray end of the nozzle 73 extends to the outside of the antifreeze pipe 71. There are three sets of nozzles 73. From top to bottom, the spray angle of each set of nozzles 73 gradually decreases. The top nozzle 73 sprays the farthest distance, and the bottom nozzle sprays the shortest distance, gradually approaching the dredging drill bit 6, so as to achieve layered heating and softening of sludge of different depths and ranges.

[0031] Hot water pipe 76 is spirally wound around the surface of delivery hose 75. The other end of hot water pipe 76 is connected to an external hot water delivery pump, and the other end of delivery hose 75 is connected to an external sludge pump.

[0032] Limiting plates 9 are installed on the top of the remote-controlled track base 1 and the surface of the support rod 3. The limiting plate 9 has a guide groove 10 inside. The guide roller 11 is movably connected to the guide groove 10 through the bearing. The limiting plate 9 is placed and supported when the support rod 3 and the multi-stage electric push rod 4 are retracted to the remote-controlled track base 1. The heat insulation pipe 77 passes through the guide groove 10. With the help of the guide roller 11, the heat insulation pipe 77 is limited and guided in the guide groove 10 when the dredging drill bit 6 removes silt, so as to avoid the pipe from becoming messy.

[0033] The above structure allows the silt around the dredging drill bit 6 to be heated evenly in a low-temperature environment, reducing the resistance of the frozen silt to the rotation and breakage of the dredging drill bit 6. The surface of the conveying hose 75 is heated by the spiral winding of the hot water pipe 76 and the insulation of the insulation pipe 77, realizing the insulation and conveying of silt throughout the entire process from suction to discharge.

[0034] Example 3

[0035] Please see Figures 1-6 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0036] Specifically, relay group 845 is electrically connected to multi-stage electric push rod 4 and ring motor 5 respectively, and is used to control the start and stop of each motor.

[0037] The driver assembly 846 is electrically connected to the walking drive motor and the ring motor 5 of the remote-controlled track base 1, respectively, and is used to control the walking speed and the rotation speed of the dredging drill bit 6.

[0038] The control component 84 also includes a wireless transmitter 847 fixedly connected inside the control box 841. The wireless transmitter 847 is electrically connected to the camera 82 and is used to send the image data captured by the camera 82 to the display terminal of the external remote control. The wireless transmitter 847 is also electrically connected to the controller 843, which controls its power supply start / stop and working status.

[0039] The above structure separates the start / stop and speed control of the dredging drill bit 6. The real-time transmission of the work site image is realized through the wireless transmitter 847, which allows the operator to remotely observe the working status of the dredging drill bit 6 and the surrounding environment through the display terminal of the external remote control. The supplementary light 83 automatically starts when the illuminance is low to provide auxiliary lighting for the camera 82.

[0040] Example 4

[0041] Please see Figure 7 This embodiment, based on the deep dredging equipment for high-altitude and cold regions described in Embodiments 1-3, provides a method for deep dredging in high-altitude and cold regions, including: S1. During the dredging operation, the camera 82 acquires continuous images of the dredging area around the dredging drill bit 6, and acquires the downward movement of the multi-stage electric push rod 4 and the rotational speed of the dredging drill bit 6.

[0042] Furthermore, the downward movement of the multi-stage electric push rod 4 is determined based on the control command output by the controller 843 to the multi-stage electric push rod 4 and the corresponding action parameters. The downward movement within the corresponding work cycle can be determined based on the extension speed and extension duration of the multi-stage electric push rod 4. The rotational speed of the dredging drill bit 6 is determined based on the rotational speed control parameters output by the driver group 846 to the ring motor 5. This establishes a correspondence between the continuous work images of each work cycle and the corresponding downward movement and rotational speed of the dredging drill bit 6.

[0043] S2. Determine the change in the dredging area based on the continuous operation image, and correlate the change in the dredging area with the downward movement of the multi-stage electric push rod 4 during the same period to determine the current dredging response state.

[0044] The determination of the current dredging response status includes: corresponding the change in the dredging area within multiple consecutive operating cycles with the downward movement of the multi-stage electric push rod 4 during the same period; when the multi-stage electric push rod 4 moves downward and the change in the dredging area reaches the preset response condition, the dredging response status is determined to be an effective dredging response; when the multi-stage electric push rod 4 continues to move downward and the change in the dredging area fails to reach the preset response condition continuously, the dredging response status is determined to be an insufficient dredging response.

[0045] Furthermore, a preset range around the dredging drill bit 6 in the continuous operation images acquired by camera 82 is used as the dredging area. The change in the dredging area is determined based on the changes in the area due to silt breakage, loosening, and removal within adjacent operation cycles. The preset response conditions are pre-set based on the changes in the dredging area corresponding to the downward movement of the multi-stage electric push rod 4 during normal dredging operations, and are judged using multiple consecutive operation cycles to reduce misjudgments caused by local silt disturbance or short-term obstruction.

[0046] S3. Based on the dredging response state, determine the rotation speed adjustment mode of the dredging drill bit 6 and the downward control mode of the multi-stage electric push rod 4. The controller 843 controls the multi-stage electric push rod 4 and the ring motor 5 to perform corresponding actions through the relay group 845 and the driver group 846.

[0047] When the dredging response status is an effective dredging response, the current rotation speed of the dredging drill bit 6 is maintained and the multi-stage electric push rod 4 is controlled to continue descending; when the dredging response status is insufficient, the dredging of the multi-stage electric push rod 4 is paused and the rotation speed of the dredging drill bit 6 is adjusted to a target rotation speed higher than the current rotation speed; if the dredging response status is still insufficient after adjusting the rotation speed of the dredging drill bit 6, the multi-stage electric push rod 4 is controlled to drive the dredging drill bit 6 to retract, and the remote-controlled tracked base 1 is controlled to move to the next working position through the driver group 846.

[0048] Furthermore, when the dredging response status is insufficient, the target speed is determined from a preset speed range higher than the current speed, and does not exceed the preset maximum operating speed of the ring motor 5; after adjusting the speed, the dredging response status is re-determined based on the continuous operation image, and when it is re-determined as an effective dredging response, the multi-stage electric push rod 4 is controlled to continue to descend.

[0049] S4. After the dredging status at the current working position reaches the preset dredging completion condition, control the multi-stage electric push rod 4 to drive the dredging drill bit 6 to retract, and control the remote-controlled tracked base 1 to move to the next working position to continue the dredging operation through the driver group 846.

[0050] Furthermore, the preset dredging completion conditions are determined based on the cumulative downward probe of the multi-stage electric push rod 4 and the change in the dredging area within multiple consecutive operating cycles. When the cumulative downward probe reaches the preset target downward probe of the current operating position and the change in the dredging area continuously meets the preset completion conditions, the dredging at the current operating position is determined to be completed, and the remote-controlled track base 1 is controlled to move to the next operating position after the dredging drill bit 6 retracts.

[0051] Example 5

[0052] Please see Figure 7 This embodiment, based on the deep dredging method for high-altitude and cold regions described in Embodiment 4, specifically explains the judgment and corresponding control process of the dredging response state. The parameters in this embodiment are used to illustrate a specific implementation of the method and can be adjusted according to the specifications of the dredging drill bit 6, the operating parameters of the ring motor 5, and the state of the silt in the area to be dredged.

[0053] In this embodiment, the continuous working images from camera 82 are processed in 5-second work cycles, with a preset area around the dredging drill bit 6 designated as the dredging area. The ratio of the changed image area to the total area of ​​the dredging area within adjacent work cycles is taken as the change in the dredging area, and three consecutive work cycles are used as the judgment interval for one dredging response state. In this embodiment, a change in the dredging area of ​​not less than 8% is set as a preset response condition.

[0054] At the start of the dredging operation, the dredging drill bit 6 operates at a speed of 1200 r / min, and the controller 843 controls the multi-stage electric push rod 4 to descend by 10 mm per operation cycle. When the multi-stage electric push rod 4 descends for three consecutive operation cycles, and the corresponding changes in the dredging area are 12%, 11%, and 10% respectively, the changes in the dredging area have all met the preset response conditions, and the current dredging response state is determined as a valid dredging response. At this time, the current speed of the dredging drill bit 6 is maintained, and the multi-stage electric push rod 4 is controlled to continue descending.

[0055] As the dredging drill bit 6 enters the deep, highly compacted silt area, and the multi-stage electric push rod 4 continues to descend for three consecutive operating cycles, while the corresponding changes in the dredging area decrease to 4%, 3%, and 3% respectively, and the preset response conditions are not met for three consecutive cycles, the current dredging response status is determined to be insufficient dredging response.

[0056] After determining that the dredging response is insufficient, the controller 843, via the relay group 845, suspends the continued downward movement of the multi-stage electric push rod 4, maintaining the current working depth of the dredging drill bit 6, and adjusts the rotational speed of the dredging drill bit 6 from 1200 r / min to the preset next speed level of 1500 r / min via the driver group 846. While maintaining the current downward position, continuous image acquisition continues and the dredging response status is reassessed.

[0057] When the rotation speed is adjusted to 1500 r / min, the changes in the dredging area corresponding to the three consecutive working cycles are restored to 9%, 10% and 11% respectively. When the preset response conditions are met again, the dredging response state is redefined as an effective dredging response. The multi-stage electric push rod 4 is controlled to resume downward movement, and the dredging drill bit 6 continues to perform dredging operations at 1500 r / min.

[0058] If, after adjusting the dredging drill bit 6 to a target speed higher than the current speed, the change in the dredging area within three consecutive working cycles still fails to meet the preset response conditions, the multi-stage electric push rod 4 will no longer be controlled to continue moving downwards. The controller 843 controls the multi-stage electric push rod 4 to retract via the relay group 845, causing the dredging drill bit 6 to exit the current deep silt area. After the dredging drill bit 6 retracts to the preset safe position, the driver group 846 controls the remote-controlled tracked base 1 to move to the next working position, and the dredging is performed again according to the method described in Example 4.

[0059] For a work position that maintains a continuous and effective dredging response, when the cumulative downward movement of the multi-stage electric actuator 4 reaches the preset target downward movement corresponding to the current work position, and the change in the dredging area within three consecutive work cycles meets the preset completion conditions, the dredging status of the current work position is determined to have met the preset dredging completion conditions. Subsequently, the multi-stage electric actuator 4 is controlled to retract the dredging drill bit 6, and after retraction is completed, the remote-controlled tracked base 1 is controlled to move to the next work position.

[0060] Therefore, by corresponding the changes in the dredging area reflected in the continuous operation image with the downward movement of the multi-stage electric push rod 4 at the same time, the speed adjustment mode of the dredging drill bit 6 and the downward movement control mode of the multi-stage electric push rod 4 can be determined according to the actual dredging response. When the dredging drill bit 6 encounters deep compacted silt, it first enhances the crushing effect by changing the speed. If it still cannot form an effective dredging response after increasing the speed, it will then exit the current operation position.

[0061] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A deep dredging device for high-altitude and cold regions, comprising a remote-controlled tracked base (1), wherein a rotating device (2) is provided on one side of the remote-controlled tracked base (1), a support rod (3) is provided inside the rotating device (2), a multi-stage electric push rod (4) is installed inside the support rod (3), a ring motor (5) is provided at the bottom of the multi-stage electric push rod (4), and a dredging drill bit (6) is installed at the bottom of the ring motor (5), characterized in that: The bottom of the support rod (3) is provided with an antifreeze mechanism (7); The antifreeze mechanism (7) includes an antifreeze tube (71) fixedly connected to the bottom of the support rod (3), a spray pipe (72) fixedly connected to the inside of the antifreeze tube (71), a nozzle (73) connected to the surface of the spray pipe (72), a suction pipe (74) fixedly connected to the inside of the antifreeze tube (71), a delivery hose (75) connected to one side of the suction pipe (74), a hot water pipe (76) wrapped around the surface of the delivery hose (75), and an insulation pipe (77) sleeved on the outer surfaces of the delivery hose (75) and the hot water pipe (76). The remote-controlled track base (1) is provided with an electronic control mechanism (8) on its top. The electronic control mechanism (8) includes a monitoring box (81) fixedly connected to the front and rear sides of the top of the remote-controlled track base (1), a camera (82) fixedly connected to one side of the monitoring box (81), a supplementary light (83) fixedly connected to one side of the monitoring box (81), and a control component (84) provided on the top of the remote-controlled track base (1).

2. The deep dredging equipment for high-altitude and cold regions according to claim 1, characterized in that: The rotating device (2) includes a rotating box fixedly connected to one side of the remote-controlled track base (1), a drive motor fixedly connected inside the rotating box, a worm fixedly connected to the output end of the drive motor, a worm wheel meshing with the worm, and a rotating rod fixedly connected inside the worm wheel. The support rod (3) is fixedly connected to the rotating rod.

3. The deep dredging equipment for high-altitude and cold regions according to claim 1, characterized in that: The nozzle (72) is circular in shape. There are three nozzles (72). The three nozzles (72) are vertically spaced and fitted onto the surface of the suction pipe (74). The three nozzles (72) are connected to each other through a connecting pipe. One end of the hot water pipe (76) is connected to the nozzle (72). The spray end of the nozzle (73) extends to the outside of the antifreeze pipe (71). There are three sets of nozzles (73). The spray angle of each set of nozzles (73) gradually decreases from top to bottom.

4. The deep dredging equipment for high-altitude and cold regions according to claim 1, characterized in that: The hot water pipe (76) is spirally wound around the surface of the delivery hose (75). The other end of the hot water pipe (76) is connected to an external hot water delivery pump, and the other end of the delivery hose (75) is connected to an external sludge pump.

5. The deep dredging equipment for high-altitude and cold regions according to claim 1, characterized in that: Limiting plates (9) are installed on the top of the remote-controlled track base (1) and the surface of the support rod (3). A guide groove (10) is provided inside the limiting plate (9), and a guide roller (11) is movably connected inside the guide groove (10) through a bearing.

6. The deep dredging equipment for high-altitude and cold regions according to claim 1, characterized in that: The control assembly (84) includes a control box (841) fixedly connected to the top of the remote-controlled track base (1), a battery (842) fixedly connected inside the control box (841), a controller (843) fixedly connected inside the control box (841), a wireless receiver (844) fixedly connected inside the control box (841), a relay group (845) fixedly connected inside the control box (841), and a driver group (846) fixedly connected inside the control box (841). The controller (843) is electrically connected to the wireless receiver (844), the relay group (845) is electrically connected to the driver group (846), the relay group (845) is electrically connected to the multi-stage electric push rod (4) and the ring motor (5), and the driver group (846) is electrically connected to the walking drive motor of the remote-controlled track base (1) and the ring motor (5).

7. The deep dredging equipment for high-altitude and cold regions according to claim 6, characterized in that: The control component (84) also includes a wireless transmitter (847) fixedly connected inside the control box (841), and the wireless transmitter (847) is electrically connected to the camera (82).

8. A method for deep dredging in high-altitude and cold regions, characterized by: The deep dredging equipment for high-altitude and cold regions according to any one of claims 1-7 includes: S1. During the dredging operation, continuous operation images of the dredging area around the dredging drill bit (6) are obtained through the camera (82), and the downward probe of the multi-stage electric push rod (4) and the rotation speed of the dredging drill bit (6) are obtained; S2. Determine the change in the dredging area based on the continuous operation image, and correlate the change in the dredging area with the downward movement of the multi-stage electric push rod (4) in the same period to determine the current dredging response status; S3. Determine the speed adjustment mode of the dredging drill bit (6) and the downward control mode of the multi-stage electric push rod (4) according to the dredging response state. The controller (843) controls the multi-stage electric push rod (4) and the ring motor (5) to perform corresponding actions through the relay group (845) and the driver group (846). S4. After the dredging status at the current working position reaches the preset dredging completion condition, control the multi-stage electric push rod (4) to drive the dredging drill bit (6) to retract, and control the remote-controlled track base (1) to move to the next working position to continue the dredging operation through the driver group (846).

9. The deep dredging method for high-altitude and cold regions according to claim 8, characterized in that: The determination of the current dredging response status includes: corresponding the change in the dredging area within multiple consecutive operating cycles with the downward movement of the multi-stage electric push rod (4) during the same period; when the multi-stage electric push rod (4) moves downward and the change in the dredging area reaches the preset response condition, the dredging response status is determined to be an effective dredging response; when the multi-stage electric push rod (4) continues to move downward and the change in the dredging area fails to reach the preset response condition continuously, the dredging response status is determined to be an insufficient dredging response.

10. The method for deep dredging in high-altitude and cold regions according to claim 9, characterized in that: When the dredging response status is an effective dredging response, the current rotation speed of the dredging drill bit (6) is maintained and the multi-stage electric push rod (4) is controlled to continue to descend; when the dredging response status is insufficient dredging response, the dredging of the multi-stage electric push rod (4) is paused and the rotation speed of the dredging drill bit (6) is adjusted to a target rotation speed higher than the current rotation speed; when the dredging response status is still insufficient dredging response after adjusting the rotation speed of the dredging drill bit (6), the multi-stage electric push rod (4) is controlled to drive the dredging drill bit (6) to retract, and the remote-controlled tracked base (1) is controlled to move to the next working position through the driver group (846).

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