CN112281967A - ROV-based (remote operated vehicle-based) dredging device and method for hectometer-level deep water environment - Google Patents

Abstract

The invention aims to provide a device and a method for dredging hectometer-level deep water environment based on ROV. The device of desilting of hectometer level deep water environment based on ROV includes the ROV main part, carries on three-dimensional panorama sonar identification system and air lift desilting system in the ROV main part, and the ROV main part can be fixed in hydraulic structure surface, and three-dimensional panorama sonar identification system is used for scanning the environment under water to confirm the fixed position of ROV main part, air lift desilting system carries out the desilting to the periphery of ROV main part fixed position. Compared with the existing dredging mode, the design of the dredging device based on the hundred-meter deep water environment of the ROV is more portable, the device can be flexibly assembled and disassembled, certain help is provided for the deep water dredging work in a narrow space, and meanwhile, the superiority of the underwater work of the ROV main body can replace the traditional manual submergence dredging, so that the submergence cost is reduced, and the life safety is guaranteed.

Description

ROV-based (remote operated vehicle-based) dredging device and method for hectometer-level deep water environment

Technical Field

The invention relates to the technical field of underwater dredging, in particular to a device and a method for dredging hectometer-level deep water environment based on ROV.

Background

Most rivers in China have high sand content, reservoirs, culverts and riverways generally have siltation of different degrees after running for many years, and serious siltation conditions even can cause influence on normal work of hydraulic buildings, such as incapability of closing a gate, excessive rising of a riverbed and the like. Meanwhile, a large amount of pollutants are accumulated in the deposited sludge and are easily released into a water body along with the time to cause secondary pollution. Therefore, the sedimentation cleaning work concerns the operation safety of the hydraulic structure and the ecological safety of the water environment, and is an important problem to be solved urgently in the operation management of the hydraulic structure.

In recent years, although China has made great progress in deep water dredging work, mainly aiming at large-scale projects, dredging equipment usually adopts a large-scale self-propelled trailing suction dredger or a self-propelled trailing suction dredger and the like, the equipment required to be installed during construction is various, the volume is large, the operation is complex, the disturbance to a water body is large, the dredging cost is high, and manual submergence is sometimes required. The dredging device is not suitable for dredging in a small range or narrow space such as a culvert and the like in a deep water environment, and cannot meet the requirements on aspects of convenience, intellectualization, high efficiency, energy conservation, emission reduction, environmental protection and the like.

Therefore, in order to solve the dredging work problem under the deep water negative pressure environment, the small-sized high-suction automatic dredging equipment which can realize unmanned submerging dredging work under the deep water environment, has the advantages of flexibility, lightness, environmental protection, cost saving, high operation efficiency and the like, can carry out dredging work at places where conventional dredging equipment cannot reach or operate, and can adapt to the work environments with different water depths needs to be developed.

Disclosure of Invention

Aiming at the problems in the prior art, the invention aims to provide a device and a method for dredging a hectometer-level deep water environment based on an ROV (remote operated vehicle), so as to solve the problems of high cost, difficult operation and environmental limitation in the field of current deep water dredging.

The invention provides a dredging device for hectometer-level deep water environment based on an ROV (remote operated vehicle), which comprises an ROV main body, wherein a three-dimensional panoramic sonar identification system and an air lifting dredging system are carried on the ROV main body, the ROV main body can be fixed on the surface of a hydraulic building, the three-dimensional panoramic sonar identification system is used for scanning an underwater environment to determine the fixed position of the ROV main body, and the air lifting dredging system is used for dredging the periphery of the fixed position of the ROV main body.

Further, the bottom of the ROV body carries a vacuum generator and a suction cup, the vacuum generator is used for providing negative pressure to fix the ROV body on the smooth surface of the hydraulic structure; and/or the bottom of the ROV body carries an electromagnetic base for providing magnetic force to fix the ROV body on the surface of the metal structure of the hydraulic structure.

Furthermore, an automatic pressure compensator for balancing negative pressure influence caused by a deep water environment and a USBL positioning system for determining the absolute position of the beacon by fusing differential GPS information and attitude heading information are also mounted in the ROV body.

Further, three-dimensional panorama sonar identification system includes waterproof cloud platform and dual-frenquency multi-beam sonar head, and dual-frenquency multi-beam sonar head sets up on waterproof cloud platform, and waterproof cloud platform can lifting and drop rotating, and dual-frenquency multi-beam sonar head is used for scanning the fixed position of environment in order to confirm the ROV main part under water.

Furthermore, the air lifting dredging system comprises a first mechanical arm, a second mechanical arm, a dredging head and a reamer, wherein the first mechanical arm and the second mechanical arm are rotatably connected to the base of the ROV main body, the dredging head is arranged on the first mechanical arm, and the reamer is arranged on the second mechanical arm.

Furthermore, the air lifting dredging system further comprises a first mud guard and a second mud guard, the first mud guard is arranged at the position of the reamer by the second mechanical arm, and the second mud guard is arranged at the position of the dredging head by the first mechanical arm.

Further, the desilting head is including holding body, high pressure delivery pipe, compressed air supply pipe, suction dredge, and the suction dredge sets up in the intermediate position who holds the body, and high pressure delivery pipe and compressed air supply pipe set up on holding the body to be located the periphery of suction dredge.

The invention also provides a dredging method for the hectometer-level deep water environment based on the ROV, the dredging method for the hectometer-level deep water environment based on the ROV adopts the dredging device for the hectometer-level deep water environment based on the ROV, and the dredging method for the hectometer-level deep water environment based on the ROV comprises the following steps: submerging an ROV main body carrying a three-dimensional panoramic sonar identification system and an air lifting dredging system to a deep-water near-silt position of a hydraulic building; scanning an underwater environment close to the silt by using a double-frequency multi-beam sonar head of the three-dimensional panoramic sonar identification system to determine the fixed position of the ROV main body; selecting a vacuum generator and a sucking disc or an electromagnetic base of the ROV main body for fixing according to the fixing position of the ROV main body; and controlling the air lifting dredging system to carry out dredging treatment.

Further, utilize three-dimensional panorama sonar identification system's dual-frenquency multi-beam sonar to scan the environment under water of nearly silt department, the fixed position of having confirmed the ROV main part includes: transmitting the scanning echo signal back to the water equipment and generating an underwater three-dimensional panoramic image; and comparing the original design drawing of the hydraulic structure, identifying and distinguishing the hydraulic structure and the sediments so as to determine the fixed position of the ROV main body.

Further, operating the airlift desilting system to carry out desilting treatment includes: step S1, judging the dredging situation according to the sludge cleanable degree obtained in the scanning step, and if the sludge is hard and complete, controlling a reamer on a second mechanical arm of the air lifting dredging system to break and collapse the sludge; if the sludge is in a loose sand state, directly entering step S2; step S2, operating a dredging head on a first mechanical arm of the air lifting dredging system to emit high-pressure water flow to further break down the sludge to form a mud-water mixture; and step S3, controlling the dredging head to jet compressed air to press the mud-water mixture into a mud washing pipe of the dredging head.

The desilting device and method for the hectometer-level deep water environment based on the ROV have the following technical effects:

one, the ROV main part can be fixed in hydraulic structure surface, and three-dimensional panorama sonar identification system is used for scanning the environment under water to confirm the fixed position of ROV main part, airlift desilting system carries out the desilting to the periphery of ROV main part fixed position. Compared with the existing dredging mode, the design of the dredging device based on the hundred-meter deep water environment of the ROV is more portable, the device can be flexibly assembled and disassembled, certain help is provided for the deep water dredging work in a narrow space, and meanwhile, the superiority of the underwater work of the ROV main body can replace the traditional manual submergence dredging, so that the submergence cost is reduced, and the life safety is guaranteed.

And secondly, the deepwater dredging equipment adopts two fixing modes of suction of a vacuum generator and suction of an electromagnetic base, can be adjusted according to actual needs, and is suitable for dredging work of most hydraulic buildings. The automatic pressure compensation device of the ROV main body can keep normal work under deep water negative pressure of different levels, and the air displacement of the air compressor is set to adapt to different water depths, so that the application range of the device is expanded.

Thirdly, the three-dimensional panoramic sonar identification system is applied to the deep water dredging equipment to effectively identify and accurately distinguish the hydraulic structure and the siltation body, the cleanable degree of the siltation body can be judged, siltation on the surface of the underwater structure can be collapsed in multiple steps and layers in a mode of combining the reamer and the dredging head, siltation and crushed material can be quickly conveyed by utilizing the air lifting principle, and the three-dimensional panoramic sonar identification system has the remarkable advantages of high operation efficiency, low cost and environmental friendliness.

Drawings

FIG. 1 is a schematic perspective view of a deep water environment dredging device based on an ROV provided by the invention;

FIG. 2 is a schematic bottom view of FIG. 1;

FIG. 3 is a schematic illustration of the first robot arm of FIG. 1 in a first mechanical folded state and a second mechanical folded state;

FIG. 4 is a schematic view of the connection between the dredging head and the first mechanical arm in FIG. 1;

FIG. 5 is a schematic structural view of the dredging head;

FIG. 6 is a schematic view of the flow pattern in the dredging pipe when transporting sludge based on the air lift principle;

FIG. 7 is a schematic flow chart of a deep water environment dredging method based on an ROV provided by the invention;

10. an ROV body; 11. a base; 111. accommodating grooves; 12. an underwater screw propeller; 13. a vacuum generator and a suction cup; 14. an electromagnetic base; 20. a three-dimensional panoramic sonar identification system; 21. a waterproof holder; 22. a dual-frequency multi-beam sonar head; 30. an airlift dredging system; 31. a first robot arm; 32. a second mechanical arm; 33. dredging the head; 331. a high pressure water supply pipe; 332. a compressed air supply pipe; 333. a soft air box; 34. a reamer; 35. a first fender; 36. a second mudguard; 37. a sludge discharge pipe; 371. a sludge suction section; 372. a mixing section; 38. and (7) fixing the belt.

Detailed Description

To clearly illustrate the idea of the present invention, the present invention is described below with reference to examples.

In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution of the present invention is described clearly and completely below with reference to the drawings in the examples of the present invention, and it is obvious that the described examples are only a part of examples of the present invention, and not all examples. All other embodiments obtained by a person skilled in the art based on examples of the present invention without inventive step shall fall within the scope of protection of the present invention.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely to distinguish similar items and are not to be construed as requiring a particular order or sequence, and it is to be understood that such uses are interchangeable under appropriate circumstances.

The invention provides a dredging device and a dredging method for a hectometer deep water environment based on ROV (remote operated vehicle), which aim to solve the problems of high cost, difficult operation and environmental limitation in the field of deep water dredging at present.

As shown in fig. 1 to 6, the dredging apparatus for a hectometer-level deep water environment based on an ROV includes an ROV body 10, a three-dimensional panoramic sonar recognition system 20 and an air-lift dredging system 30 are mounted on the ROV body 10, the ROV body 10 can be fixed on the surface of a hydraulic structure, the three-dimensional panoramic sonar recognition system 20 is used for scanning an underwater environment to determine a fixed position of the ROV body 10, and the air-lift dredging system 30 is used for dredging the periphery of the fixed position of the ROV body 10. The dredging device is also provided with an auxiliary water platform system, and a sonar echo receiving and processing equipment platform, a carrying high-pressure water pump, an air compression device and a sewage disposal site are arranged on the water platform system. The ROV body 10 is pushed forward by an underwater screw 12, and the underwater screw 12 is disposed below the base 11.

As shown in fig. 1 to 3, the bottom of the ROV body 10 carries a vacuum generator and suction cup 13 and an electromagnetic base 14, the vacuum generator and suction cup 13 being used to provide a negative pressure to fix the ROV body 10 on a smooth surface of a hydraulic structure; the electromagnetic base 14 is used to provide a magnetic force to fix the ROV body 10 on the surface of the metal structure of the hydraulic structure. The ROV body 10 is also internally provided with an automatic pressure compensator for balancing negative pressure influence caused by a deep water environment and a USBL positioning system for determining an absolute position of a beacon by fusing differential GPS information and attitude heading information.

In this embodiment, the USBL positioning system is configured to determine the absolute position of the beacon by fusing the differential GPS information and the attitude heading information, and can display the position, the track, and the attitude change of the device in real time. The vacuum generator and the suction cup provide negative pressure at the adsorption position by utilizing the Venturi principle so as to fix the equipment on the smooth surface of the general building material of the hydraulic building. The electromagnetic base 14 is used for fixing equipment on a metal structure part of a hydraulic structure, has low requirement on smoothness of an absorption surface, can work together with the vacuum generator and the absorption disc 13, and can fix the ROV main body 10 on the surface of most hydraulic structures.

As shown in fig. 1 to 3, the three-dimensional panoramic sonar identification system 20 includes a waterproof pan-tilt 21 and a dual-frequency multi-beam sonar head 22, the dual-frequency multi-beam sonar head 22 is disposed on the waterproof pan-tilt 21, the waterproof pan-tilt 21 can be lifted and lowered to rotate, and the dual-frequency multi-beam sonar head 22 is used for scanning an underwater environment to determine a fixed position of the ROV main body 10.

The sonar head is used for scanning an underwater environment, and the main principle is to use a transmitting transducer to transmit sound waves and then use a receiving transducer to receive echo signals, wherein the received echoes carry information of the underwater target, and the received echo signals are processed by a computer to synthesize a two-dimensional or multi-dimensional image of the target. The echo is the result of the interaction between the incident sound wave and the target, in the interaction process, the related acoustic characteristic information of the target object itself will also be reflected on the acoustic echo signal, due to the difference between the underwater building and the sediment material, the scattering intensity caused by the difference is different, and in general, the larger the rigidity of the material causes the larger the sound pressure amplitude of the echo signal. Therefore, by comparing the original design drawing of the hydraulic structure, the hydraulic structure and the sludge can be identified and distinguished, and the fixed position of the ROV main body 10 is accurately determined, so as to effectively avoid the damage to the surface of the structure; through the echo signal of feedback, not only can help judging hydraulic structure and integrated body, can also judge the cleanable degree of sediment through the sound pressure amplitude difference of two echo signal, decide the desilting worker's condition, select direct desilting or utilize the desilting body of the supplementary broken silt of reamer 34 back desilting.

As shown in fig. 1 to 3, the air-lift dredging system 30 includes a first mechanical arm 31, a second mechanical arm 32, a dredging head 33, and a reamer 34, wherein the first mechanical arm 31 and the second mechanical arm 32 are rotatably connected to the base of the ROV body 10, the dredging head 33 is disposed on the first mechanical arm 31, and the reamer 34 is disposed on the second mechanical arm 32. The airlift dredging system 30 further comprises a first fender 35 and a second fender 36, the second fender 36 is arranged at the position of the reamer 34 by the second mechanical arm 32, and the first fender 35 is arranged at the position of the dredging head 33 by the first mechanical arm 31.

In this embodiment, the first robot arm 31 and the second robot arm 32 are divided into two sections, and one section near the ROV body 10 is fixed to the base 11 by a ball joint. Can control first arm 31 and second arm 32 through remote control platform and switch between non-job folding condition and work expansion state, nimble action controls reamer 34 and desilting head 33 clearance siltation body, is in fold condition before not starting desilting work, guarantees that the equipment volume is less, is convenient for get into the narrow and small space that conventional desilting equipment is difficult to get into and carries out desilting work. The base 11 is provided with a receiving groove for receiving the first mechanical arm 31 and the second mechanical arm 32.

In this embodiment, a reamer 34 is fixed to the end of the second arm 32 to initially break up the stronger sludge for subsequent operations. The second mud flap 36 is used for preventing the water body from being disturbed excessively during dredging and preventing the sludge from being dispersed and polluted.

As shown in fig. 4 to 6, the dredging head 33 is fixed to an end of the first robot arm 31 by a fixing band, the sludge discharge pipe 37 is inserted into the dredging head 33 and extends out of the dredging head 33, the dredging head 33 includes two high pressure water supply pipes 331, two compressed air supply pipes 332, and two soft air tanks 333, the sludge discharge pipe 37 is disposed at a middle position of the soft air tanks 333, the number of the high pressure water supply pipes 331 is two, and the two high pressure water supply pipes are respectively located at two sides of the sludge discharge pipe 37, and the number of the compressed air supply pipes 332 is one, and the two compressed air supply pipes 332 are located between the high pressure water supply pipes 331. Wherein the sludge discharge pipe 37 is provided with a sludge suction section 371 and a mixing section 372 near the outlet end. The high-pressure water supply pipe 331 is connected with a high-pressure water pump on the water platform system, the compressed air supply pipe 332 is connected with an air compression device, and the outlet of the sludge discharge pipe 37 is positioned on a sewage disposal site of the water platform system.

In this embodiment, the high pressure water supply pipe 331 is connected to a high pressure water pump, and can inject the high pressure water flow to the sludge which has been primarily broken by the reamer 34 and further break the sludge into pieces to form a mixture of mud and water; the compressed air supply pipe 332 is used for pressing compressed air into the sludge suction pipe close to the surface of sludge, compressed air flow is decomposed into countless small bubbles, the bubbles rise along the sludge discharge pipe 37 under the action of buoyancy and are in a bubble flow state, the gas phase flow rate is gradually increased, the liquid phase flow rate is increased within a certain range, turbulence in the pipe is intensified, the small bubbles are polymerized in the rising process and develop into an air plug capable of generating effective lifting force, the air plug plays the role of a pneumatic piston, when the air plug moves upwards, liquid between adjacent air plugs is lifted along with the air plug, a collapse film slowly sinks, and the gas-liquid two-phase flow in the pipe is in a rising state as a whole. Due to the action of suction, the liquid at the tail part of the air plug will rise along with the air plug. When the cross-sectional area of the air lock is increased to approximately the same diameter as the pipe diameter of the sludge discharge pipe 37, the large bubbles are broken into a plurality of small bubbles. The small bubbles continue to rise and polymerization occurs, and the gas phase pushes the liquid phase to rise in such a reciprocating manner. High-pressure water flow and compressed air are continuously ejected to the sludge body, so that the sludge continuously moves upwards along the sludge suction pipeline to the sewage discharge port and is discharged to a sewage discharge site, and the sludge cleaning purpose is achieved. The diffusion of the sediment particles generated around the sediment body in the process is limited by the first splash guard 35, so that the excessive influence on the water quality in the dredging process is avoided.

As shown in fig. 7, the dredging method for the hectometer-level deep water environment based on the ROV adopts the dredging device for the hectometer-level deep water environment based on the ROV, and the dredging method for the hectometer-level deep water environment based on the ROV includes:

a submerging step: the ROV body 10 equipped with the three-dimensional panoramic sonar recognition system 20 and the air-lift dredging system 30 is submerged to a deep-water near-silt region of a hydraulic structure.

Scanning; scanning the underwater environment close to the silt by using a double-frequency multi-beam sonar head of the three-dimensional panoramic sonar identification system 20 to determine the fixed position of the ROV main body 10;

the scanning step further comprises: transmitting the scanning echo signal back to the water equipment and generating an underwater three-dimensional panoramic image; the original design drawing of the hydraulic structure is compared to identify and distinguish the hydraulic structure and the sludge so as to determine the fixed position of the ROV body 10.

The specific scanning step is that the staff controls waterproof cloud platform 21 and double-frenquency multi-beam sonar head 22 and scans nearly silt department underwater environment, transmits echo signal to the computer, utilizes relevant software analysis echo signal, generates three-dimensional panoramic image under water, through the analysis result, contrasts the former design drawing of hydraulic structure, discernment difference hydraulic structure and deposit, and accurate ROV main part 10 fixed position of confirming to effectively avoid causing the injury to the building surface. Due to different material properties, the echo intensity and sound pressure amplitude of the underwater target are also greatly different, and the echo sound pressure amplitude of the underwater target of a hydraulic structure is larger and the echo sound pressure amplitude of the sludge is smaller. Through the echo signal of feedback, not only can help judging hydraulic structure and integrated body, can also judge the cleanable degree of sediment through the acoustic pressure amplitude difference of two echo signal, decide direct desilting or utilize behind the supplementary broken integrated body desilting of reamer 34.

A fixing step: selecting a vacuum generator and a suction cup 13 or an electromagnetic base 14 of the ROV body 10 to be fixed according to the fixed position of the ROV body 10; specifically, after the proper fixing position, the ROV main body 10 is controlled to be fixed through the vacuum generator and the sucking disc 13 and the electromagnetic base 14 which are carried at the bottom in an optimal adsorption mode according to the material of a building, if the underwater building with the smooth surface made of the concrete can be adsorbed and fixed through the vacuum generator and the sucking disc 13, the steel gate can be desilted mainly through the electromagnetic base 14, and the vacuum generator and the sucking disc 13 are fixed in an auxiliary mode.

The dredging step also comprises: step S1, judging the dredging situation according to the sludge cleanable degree obtained in the scanning step, and if the sludge is hard and complete, controlling the reamer 34 on the second mechanical arm 32 of the air lifting dredging system 30 to break and collapse the sludge; if the sludge is in a loose sand state, directly entering step S2;

step S2, operating the dredging head 33 on the first mechanical arm 31 of the air-lift dredging system 30 to emit high-pressure water flow to further break down the sludge, so as to form a mud-water mixture;

in step S3, the dredging head 33 is controlled to emit compressed air to press the slurry mixture into the sludge discharge pipe 37 of the dredging head 33. Specifically, as shown in fig. 6, the compressed air flow entering the mud discharging pipe 37 is decomposed into countless small bubbles, the bubbles rise up along the mud discharging pipe 37 under the action of buoyancy and take the form of bubble flow, the gas phase flow rate gradually increases, the liquid phase flow rate increases within a certain range, turbulence in the pipe is intensified, the small bubbles are polymerized in the rising process and develop into an air plug capable of generating effective lifting force, the air plug plays the role of a pneumatic piston, when the air plug moves upwards, liquid between adjacent air plugs is lifted along with the air plug, a collapse film slowly sinks, and the gas-liquid two-phase flow in the pipe generally takes the rising state. Due to the action of suction, the liquid at the tail part of the air plug will rise along with the air plug. When the cross-sectional area of the air plug is increased to be approximately the same as the pipe diameter of the dredging pipe, the large bubbles are broken into a plurality of small bubbles. The small bubbles continue to rise and polymerization occurs, and the gas phase pushes the liquid phase to rise in such a reciprocating manner. The high pressure water flow and the compressed air are continuously ejected to the sludge body, and the sludge can continuously move upwards along the sludge discharge pipe 37 to the sewage disposal site through the process, so that the sludge cleaning purpose is achieved.

The diffusion of the sediment particles generated around the sediment body in the process is limited by the first splash guard 35, so that the excessive influence on the water quality in the dredging process is avoided.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Finally, it is to be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not intended to be limiting. It will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention, and these changes and modifications are to be considered as within the scope of the invention.

Claims (9)

1. The utility model provides a device of dredging of hectometer level deep water environment based on ROV, its characterized in that includes ROV main part (10), it has three-dimensional panorama sonar identification system (20) and air lift desilting system (30) to carry on ROV main part (10), ROV main part (10) can be fixed in hydraulic structure surface, three-dimensional panorama sonar identification system (20) are used for scanning the environment under water to confirm the fixed position of ROV main part (10), air lift desilting system (30) are right the periphery of ROV main part (10) fixed position is dredged.

2. The apparatus for dredging ROV-based hectometer-scale deep water environment as claimed in claim 1, wherein the ROV body (10) carries a vacuum generator and suction cup (13) at the bottom, the vacuum generator and suction cup (13) is used for providing negative pressure to fix the ROV body (10) on the smooth surface of the hydraulic structure; and/or the bottom of the ROV body (10) carries an electromagnetic base (14), wherein the electromagnetic base (14) is used for providing magnetic force to fix the ROV body (10) on the surface of the metal structure of the hydraulic structure.

3. The device for dredging a hectometer-level deep water environment based on an ROV according to claim 2, wherein an automatic pressure compensator for balancing negative pressure influence caused by the deep water environment and a USBL positioning system for determining absolute position of the beacon by fusing differential GPS information and attitude heading information are further mounted inside the ROV body (10).

4. The device for dredging hectometer-level deep water environment based on ROV according to claim 1, wherein the three-dimensional panoramic sonar identification system (20) comprises a waterproof holder (21) and a dual-frequency multi-beam sonar head (22), the dual-frequency multi-beam sonar head (22) is arranged on the waterproof holder (21), the waterproof holder (21) can rotate up and down, and the dual-frequency multi-beam sonar head (22) is used for scanning the underwater environment to determine the fixed position of the ROV main body (10).

5. The ROV-based hundreds of meters deep water environment dredging device according to claim 1, wherein the air lifting dredging system (30) comprises a first mechanical arm (31), a second mechanical arm (32), a dredging head (33) and a reamer (34), the first mechanical arm (31) and the second mechanical arm (32) are rotatably connected to the base of the ROV main body (10), the dredging head (33) is arranged on the first mechanical arm (31), and the reamer (34) is arranged on the second mechanical arm (32).

6. The ROV-based hundreds of meters deep water environment dredging device according to claim 5, characterized in that the air lifting dredging system (30) further comprises a first mudguard (35) and a second mudguard (36), the second mechanical arm (32) is provided with the second mudguard (36) at the position of the reamer (34), and the first mechanical arm (31) is provided with the first mudguard (35) at the position of the dredging head (33).

7. A dredging method for the ro-v-based hectometer-scale deep water environment, which is characterized by adopting the dredging device for the ro-v-based hectometer-scale deep water environment of any one of claims 1 to 6, and comprises the following steps:

submerging the ROV main body (10) provided with the three-dimensional panoramic sonar identification system (20) and the air lifting dredging system (30) to a deep water near-silt position of the hydraulic structure;

scanning an underwater environment at a position close to the silt by using a double-frequency multi-beam sonar head (22) of the three-dimensional panoramic sonar identification system (20) to determine a fixed position of the ROV main body (10);

selecting a vacuum generator and a suction cup (13) or an electromagnetic base (14) of the ROV body (10) to be fixed according to the fixed position of the ROV body (10);

and operating the air lifting dredging system (30) to carry out dredging treatment.

8. The method for dredging the hectometer-level deep water environment based on the ROV according to claim 7, wherein the scanning the underwater environment near the silt by using the dual-frequency multi-beam sonar head (22) of the three-dimensional panoramic sonar identification system (20) to determine the fixed position of the ROV body (10) comprises:

transmitting the scanning echo signal back to the above-water equipment and generating an underwater three-dimensional panoramic image;

and comparing the original design drawing of the hydraulic structure, identifying and distinguishing the hydraulic structure and the sludge so as to determine the fixed position of the ROV main body (10).

9. The method for dredging a deep water environment in hectometer level based on an ROV according to claim 8, wherein the operating the airlift dredging system (30) for dredging comprises:

step S1, judging the dredging situation according to the sludge cleanable degree obtained in the scanning step, and if the sludge is hard and complete, controlling a reamer (34) on a second mechanical arm (32) of the air lifting dredging system (30) to break and break the sludge; if the sludge is in a loose sand state, directly entering step S2;

step S2, operating a dredging head (33) on a first mechanical arm (31) of the air lifting dredging system (30) to emit high-pressure water flow to further break down the sludge to form a mud-water mixture;

and step S3, operating the dredging head (33) to emit compressed air, and pressing the mud-water mixture into a mud pipe (37) of the dredging head (33).

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