阅读说明：本技术 一种水下推土机 (Underwater bulldozer ) 是由 宋俊辉 罗凌波 张定华 严允 朱迎谷 王勇 涂绍平 朱建波 沈克 徐蕾 于 2020-05-06 设计创作，主要内容包括：本说明书一个或多个实施例提供一种水下推土机,包括：车架、推土机构、履带驱动机构、液力推进机构和水下监测机构。使用液力推进器控制水下推土机在水中的上浮和下沉,每个液力推进器的方向和动力大小均可调节,使得水下推土机可以灵活适应水下的工作环境；使用液压动力站作为动力能源,安全性能较好；使用菱形履带板,能够增加履带和水底的接触面积,不积压泥土,使得水下推土机能够适应水下的稀软地质条件；通过可视的遥控操作,安全性能较好,方便快捷。(One or more embodiments of the present specification provide an underwater bulldozer comprising: the device comprises a frame, a bulldozing mechanism, a crawler driving mechanism, a hydraulic propelling mechanism and an underwater monitoring mechanism. The hydraulic propellers are used for controlling the underwater bulldozer to float and sink in water, and the direction and the power of each hydraulic propeller can be adjusted, so that the underwater bulldozer can flexibly adapt to the underwater working environment; the hydraulic power station is used as a power energy source, so that the safety performance is better; the contact area between the crawler and the water bottom can be increased by using the diamond track plate, and soil is not accumulated, so that the underwater bulldozer can adapt to the underwater weak geological condition; through visual remote control operation, the security performance is better, convenient and fast.)

1. An underwater bulldozer, comprising:

a frame;

a dozing mechanism provided at a front end of the frame and configured to perform a dozing operation;

a track driving mechanism arranged at the bottom of the frame and configured to realize the movement of the underwater bulldozer on the water bottom;

a hydraulic propulsion mechanism arranged on the frame and configured to control the underwater bulldozer to float and sink in water;

and the underwater monitoring mechanism is arranged on the frame and is configured to monitor the environment where the underwater bulldozer is located and the working state of the underwater bulldozer.

2. The underwater bulldozer according to claim 1, characterized in that said dozing mechanism includes: the device comprises a dozer blade, a push rod and a dozer blade adjusting oil cylinder; the dozer blade is connected with the push rod; the push rod is connected with the dozer blade adjusting oil cylinder; the blade adjusting oil cylinder drags the blade to move through the connecting rod to carry out bulldozing operation.

3. The underwater bulldozer according to claim 2, characterized in that said track drive mechanism comprises: the crawler driving motor, the speed reducer, the driving wheel and the crawler; the crawler driving motor is connected with the driving wheel through the speed reducer; the driving wheel is connected with the crawler; the crawler driving motor drives the driving wheel through the speed reducer, and the driving wheel drives the crawler to rotate; the crawler belt is formed by sequentially arranging and closing crawler belt plates; the creeper tread is a rhombic creeper tread.

4. An underwater bulldozer according to claim 3, in which said hydraulic propulsion mechanism comprises at least three hydraulic thrusters; the hydraulic thrusters are uniformly distributed on the outer surface of the frame; the hydraulic thruster controls the floating and sinking of the underwater bulldozer by adjusting the direction and the propulsive force of the propulsion, and adjusts the direction and the posture of the underwater bulldozer.

5. The underwater bulldozer according to claim 4, wherein said frame is rectangular, and said hydraulic propulsion mechanism comprises: and the four hydraulic propellers are respectively arranged at the four corners of the top end of the rectangular frame.

6. The underwater bulldozer according to claim 4, wherein said underwater monitoring mechanism includes: the underwater positioning device comprises an underwater sonar, an underwater pressure sensor and an underwater positioning device;

the underwater bulldozer is located in an environment comprising: the topography and the landform of the advancing direction of the underwater bulldozer are monitored by the underwater sonar arranged at the front end of the frame;

the working state of the underwater bulldozer comprises: the working water depth of the underwater bulldozer is monitored by an underwater pressure sensor arranged on the frame, and the geographic position and the moving path of the underwater bulldozer are monitored by an underwater positioning device arranged on the frame.

7. The underwater bulldozer according to claim 6, further comprising:

a hydraulic control system provided to the frame and configured to control hydraulic power of the underwater bulldozer;

the electronic control system is arranged on the frame and is configured to control the working action of the underwater bulldozer;

the hydraulic power station is arranged on the water surface or the land, is connected with the hydraulic control system through an oil-electricity composite umbilical cable and is configured to provide hydraulic power;

and the remote control console is arranged on the water surface or the land, is connected with the electronic control system through the oil-electricity composite umbilical cable, and is configured to remotely control the underwater bulldozer.

8. The underwater bulldozer according to claim 7, characterized in that said hydraulic control system comprises: a hydraulic valve; the hydraulic valves are respectively arranged on the hydraulic control system and connecting pipelines of the bulldozing adjusting oil cylinder, the crawler driving motor and the hydraulic propeller; controlling the opening and closing degree of the hydraulic valve through the electronic control system;

the underwater monitoring mechanism further comprises: the hydraulic pressure sensor is arranged in the hydraulic control system and used for monitoring the hydraulic pressure of the hydraulic control system.

9. The underwater bulldozer according to claim 8, characterized in that said remote control console comprises: the system comprises an industrial personal computer, a display screen and a remote control handle; the industrial personal computer is connected with the electronic control system; the display screen is connected with the industrial personal computer; the remote control handle is connected with the industrial personal computer;

sending instruction information to the industrial personal computer through the remote control handle, processing the instruction information by the industrial personal computer, and controlling the underwater bulldozer to work through the electronic control system;

and the industrial personal computer receives the data information of the underwater bulldozer transmitted by the electronic control system and displays the data information on the display screen.

10. The underwater bulldozer of claim 9, wherein said remote control handle comprises: a first remote control handle and a second remote control handle; the first remote control handle is used for controlling the hydraulic propulsion mechanism; and the second remote control handle is used for controlling the bulldozing mechanism and the track driving mechanism.

Technical Field

One or more embodiments of the present disclosure relate to the field of underwater operations, and more particularly, to an underwater bulldozer.

Background

The underwater bulldozing and obstacle removing tasks in the projects of urban inland inundation rescue, mine emergency drainage, river channel dredging and leveling, offshore gravel backfilling, lake dam maintenance and the like are difficult to develop due to factors such as underwater, complex environment and the like.

At present, when underwater bulldozing and obstacle removing work is carried out, an overwater ship is usually matched with underwater manual work, on one hand, the requirement of the ship on the environment is high, and the ship cannot enter the work in shallow water and narrow areas; on the other hand, underwater operation has high danger to submergence personnel, high operation strength and complex underwater condition, and is accompanied by collapse and explosion danger, so the existing underwater bulldozing obstacle removing scheme has large application limitation and high danger.

Disclosure of Invention

In view of this, one or more embodiments of the present disclosure are directed to an underwater bulldozer, which solves the problems of a limited application and a high risk of the existing underwater bulldozer.

In view of the above, one or more embodiments of the present specification provide an underwater bulldozer comprising:

a frame;

a dozing mechanism provided at a front end of the frame and configured to perform a dozing operation;

the crawler driving mechanism is arranged at the bottom of the frame and is configured to realize the movement of the underwater bulldozer under the water;

the hydraulic propulsion mechanism is arranged on the frame and is configured to control the underwater bulldozer to float and sink in water;

and the underwater monitoring mechanism is arranged on the frame and is configured to monitor the environment where the underwater bulldozer is located and the working state of the underwater bulldozer.

Optionally, the dozing mechanism comprises: the device comprises a dozer blade, a push rod and a dozer blade adjusting oil cylinder; the dozer blade is connected with the push rod; the push rod is connected with the dozer blade adjusting oil cylinder; the blade adjusting oil cylinder drags the blade to move through the connecting rod to carry out bulldozing operation.

Optionally, the track drive mechanism comprises: the crawler driving motor, the speed reducer, the driving wheel and the crawler; the crawler driving motor is connected with the driving wheel through a speed reducer; the driving wheel is connected with the crawler; the crawler belt driving motor drives the driving wheel through the speed reducer, and the driving wheel drives the crawler belt to rotate; the crawler belt is formed by sequentially arranging and closing crawler plates; the creeper tread is a rhombic creeper tread.

Optionally, the hydraulic propulsion mechanism comprises at least three hydraulic propellers; the hydraulic propellers are uniformly distributed on the outer surface of the frame; the hydraulic propeller controls the floating and sinking of the underwater bulldozer by adjusting the propelling direction and the propelling force, and adjusts the direction and the posture of the underwater bulldozer.

Optionally, the frame is rectangular, and the hydraulic propulsion mechanism includes: and the four hydraulic propellers are respectively arranged at the four corners of the top end of the rectangular frame.

Optionally, the underwater monitoring mechanism includes: the underwater positioning device comprises an underwater sonar, an underwater pressure sensor and an underwater positioning device;

the environment in which the underwater bulldozer is located includes: the landform and the geomorphic feature of the advancing direction of the underwater bulldozer are monitored by an underwater sonar arranged at the front end of the frame;

the working state of the underwater bulldozer includes: the working water depth of the underwater bulldozer is monitored by an underwater pressure sensor arranged on the frame, and the geographic position and the moving path of the underwater bulldozer are monitored by an underwater positioning device arranged on the frame.

Optionally, the underwater bulldozer further comprises:

the hydraulic control system is arranged on the frame and is configured to control the hydraulic power of the underwater bulldozer;

the electronic control system is arranged on the frame and is configured to control the operation action of the underwater bulldozer;

the hydraulic power station is arranged on the water surface or the land, is connected with the hydraulic control system through an oil-electricity composite umbilical cable and is configured to provide hydraulic power;

and the remote control console is arranged on the water surface or the land, is connected with the electronic control system through the oil-electricity composite umbilical cable, and is configured to remotely control the underwater bulldozer.

Optionally, the hydraulic control system includes: a hydraulic valve; the hydraulic valves are respectively arranged on connecting pipelines of the hydraulic control system, the bulldozing adjusting oil cylinder, the crawler driving motor and the hydraulic propeller; controlling the opening and closing degree of the hydraulic valve through an electronic control system;

monitoring mechanism under water still includes: and the hydraulic sensor is arranged in the hydraulic control system and used for monitoring the hydraulic pressure of the hydraulic control system.

Optionally, the remote control console comprises: the system comprises an industrial personal computer, a display screen and a remote control handle; the industrial personal computer is connected with the electronic control system; the display screen is connected with the industrial personal computer; the remote control handle is connected with the industrial personal computer;

sending instruction information to an industrial personal computer through a remote control handle, processing the instruction information by the industrial personal computer, and controlling the underwater bulldozer to work through an electronic control system;

and the industrial personal computer receives the data information of the underwater bulldozer transmitted by the electronic control system and displays the data information on the display screen.

Optionally, the remote control handle comprises: a first remote control handle and a second remote control handle; the first remote control handle is used for controlling the hydraulic propulsion mechanism; and the second remote control handle is used for controlling the soil shifting mechanism and the crawler driving mechanism.

As can be seen from the above, one or more embodiments of the present specification provide an underwater bulldozer comprising: the device comprises a frame, a bulldozing mechanism, a crawler driving mechanism, a hydraulic propelling mechanism and an underwater monitoring mechanism. The hydraulic propellers are used for controlling the underwater bulldozer to float and sink in water, and the direction and the power of each hydraulic propeller can be adjusted, so that the underwater bulldozer can flexibly adapt to the underwater working environment; the hydraulic power station is used as a power energy source, so that the safety performance is better; the contact area between the crawler and the water bottom can be increased by using the diamond track plate, and soil is not accumulated, so that the underwater bulldozer can adapt to the underwater weak geological condition; through visual remote control operation, the security performance is better, convenient and fast.

Drawings

In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the following description are only one or more embodiments of the present specification, and that other drawings may be obtained by those skilled in the art without inventive effort from these drawings.

FIG. 1 is a schematic front view of an underwater bulldozer provided in one or more embodiments of the present disclosure;

FIG. 2 is a schematic top view of an underwater bulldozer provided in one or more embodiments of the present description;

FIG. 3 is a schematic structural view of a track shoe of an underwater bulldozer according to one or more embodiments of the present disclosure;

fig. 4 is a schematic line connection structure of an underwater bulldozer according to one or more embodiments of the present disclosure.

Illustration of the drawings:

1. a frame; 2. a bulldozing mechanism; 3. a track drive mechanism; 4. a hydraulic propulsion mechanism; 5. an underwater monitoring mechanism; 6. an electronic control system; 7. a hydraulic control system; 8. a remote control console; 9. a hydraulic power station; 10. a dozer blade; 11. a push rod; 12. a blade adjusting cylinder; 13. a track drive motor; 14. a drive wheel; 15. a crawler belt; 16. an oil-electric composite umbilical cable; 17. an industrial personal computer; 18. a display screen; 19. a remote control handle.

Detailed Description

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present specification should have the ordinary meaning as understood by those of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in one or more embodiments of the specification is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

In order to achieve the above object, one or more embodiments of the present disclosure provide an underwater bulldozer, which can be applied to underwater bulldozer obstacle removal tasks in projects such as urban waterlogging rescue, mine emergency drainage, river channel dredging and leveling, offshore gravel backfilling, and lake dam maintenance, and the disclosure is not limited thereto.

Fig. 1 is a schematic front view of an underwater bulldozer provided in one or more embodiments of the present specification, and fig. 2 is a schematic top view of the underwater bulldozer provided in one or more embodiments of the present specification, the underwater bulldozer including:

a frame;

a dozing mechanism provided at a front end of the frame and configured to perform a dozing operation;

the crawler driving mechanism is arranged at the bottom of the frame and is configured to realize the movement of the underwater bulldozer under the water;

the hydraulic propulsion mechanism is arranged on the frame and is configured to control the underwater bulldozer to float and sink in water;

and the underwater monitoring mechanism is arranged on the frame and is configured to monitor the environment where the underwater bulldozer is located and the working state of the underwater bulldozer.

The underwater bulldozer further comprises:

the hydraulic control system is arranged on the frame and is configured to control the hydraulic power of the underwater bulldozer;

the electronic control system is arranged on the frame and is configured to control the operation action of the underwater bulldozer;

the hydraulic power station is arranged on the water surface or the land, is connected with the hydraulic control system through an oil-electricity composite umbilical cable and is configured to provide hydraulic power;

and the remote control console is arranged on the water surface or the land, is connected with the electronic control system through the oil-electricity composite umbilical cable, and is configured to remotely control the underwater bulldozer.

In one embodiment, a dozing mechanism comprises: a blade, a push rod and a blade adjusting cylinder.

Wherein, the dozer blade is connected with the push rod, and the push rod is connected with the dozer blade adjusting oil cylinder.

In some embodiments, two left and right blade adjusting cylinders are provided, respectively arranged at two sides of the front end of the frame. The blade adjusting oil cylinder drives the blade to move through the connecting rod to carry out bulldozing operation.

In one embodiment, a track drive mechanism comprises: the crawler driving device comprises a crawler driving motor, a speed reducer, a driving wheel and a crawler. The crawler driving motor is connected with a driving wheel through a speed reducer, and the driving wheel is connected with a crawler. The crawler driving motor drives the driving wheel through the speed reducer, and the driving wheel drives the crawler to rotate, so that the underwater bulldozer can move on the land and at the bottom. The crawler belt is formed by sequentially arranging and closing crawler belt plates. The speed reducer plays a role in matching the rotating speed and transmitting torque between the track driving motor and the driving wheel, and is used for reducing the rotating speed and increasing the torque.

In some embodiments, two tracks are provided, one on each side of the bottom of the frame. Correspondingly, a driving wheel, a track driving motor and a speed reducer are arranged for each track. Two wheels are arranged at two ends of the crawler to support the crawler to rotate, the wheel providing driving force is a driving wheel, and the other wheel is a driven wheel. The positions of the driving wheel and the driven wheel are optional, the front end wheel can be set as the driving wheel, and the rear end wheel can also be set as the driving wheel.

In some embodiments, the rear end wheels are provided as drive wheels.

In some embodiments, a track is arranged at the bottom of the frame, the track is uniformly arranged by taking the center line of the bottom of the frame as a center line, and a driving wheel, a track driving motor and a speed reducer are correspondingly arranged.

In some embodiments, referring to fig. 3, the track shoe is a diamond shaped track shoe. Due to the large difference in the underwater and land environments, the tracks are required to provide a large contact area to improve the adaptability of the underwater bulldozer to soft geological conditions. Compared with a ship-shaped track shoe and a flat-plate-shaped track shoe, the diamond-shaped track shoe can increase the contact area of the underwater bulldozer contacting with the water bottom, meanwhile, soil cannot be accumulated, the adhesion of the soil on the track is reduced, and the invalid load of the underwater bulldozer is reduced.

In one embodiment, the hydraulic propulsion mechanism comprises at least three hydraulic propellers. The number of hydraulic thrusters may be determined based on the power of the hydraulic thrusters and the mass of the underwater bulldozer. The hydraulic propellers are uniformly arranged on the outer surface of the frame.

In some embodiments, the frame is rectangular and the hydrodynamic propulsion mechanism comprises three hydrodynamic propellers arranged in an isosceles triangle on the rectangular frame.

In some embodiments, the frame is rectangular and the hydraulic propulsion mechanism includes four hydraulic propellers disposed at four corners of the top of the rectangular frame.

The hydraulic propeller controls the floating and sinking of the underwater bulldozer by adjusting the propelling direction and the propelling force, and adjusts the direction and the posture of the underwater bulldozer.

In some embodiments, the thrust magnitude and the propulsion direction of each hydraulic thruster may be independently adjusted to generate different directions and different magnitudes of thrust.

When the underwater bulldozer floats upwards, the hydraulic propeller generates upward thrust, so that the bulldozer can float on the water surface. Regarding buoyancy adjustment, the prior art generally controls buoyancy through air suction and water discharge, and when the water is actually underwater, the air suction and water discharge are limited by air suction amount and water discharge amount, so that the manufactured buoyancy is relatively limited. And the buoyancy is controlled by air suction and water drainage, so that the position of the machine in the water cannot be effectively and accurately controlled.

When the underwater bulldozer sinks, the water body can generate buoyancy effect on the bulldozer, so that the hydraulic propeller can generate downward thrust, and the underwater bulldozer can sink to a designated position. In addition, when the hydraulic propeller generates downward thrust, the friction force of the underwater bulldozer on the water bottom can be increased, and the auxiliary crawler driving mechanism can be helped to work.

When the underwater bulldozer moves on the water bottom, the crawler driving mechanism acts to move the bulldozer, and when the force generated by the crawler driving mechanism is insufficient, the hydraulic propeller can increase the forward or backward thrust of the underwater bulldozer.

When the underwater bulldozer is required to work at a specific equilibrium position or angle, the hydraulic thruster can generate thrust in a required direction and magnitude. For example, an underwater bulldozer may maintain a position floating off the water bottom for dozing work.

The hydraulic propeller with the thrust size and the thrust direction capable of being independently adjusted enables the underwater bulldozer to flexibly meet different requirements of different working scenes in water.

In some embodiments, the hydrodynamic propeller is a propeller-type propeller. When the blades of the propeller type propeller rotate, water is sucked from the suction surface of the blades and is discharged from the discharge surface, and the underwater bulldozer is pushed to move by the reaction force of the water. The propeller type propeller has simple structure, reliable work and higher efficiency.

In some embodiments, the hydrodynamic propeller is a water jet propeller. The water-jet propeller comprises a water pump, a water suction pipeline and a water spray pipeline, wherein the water pump sucks water flow from the water suction pipeline, and the water flow is sprayed out from the water spray pipeline at a high speed to obtain the reaction force of the water flow so as to push the underwater bulldozer to move. The water-jet propeller has good shallow water propulsion efficiency and operation performance and good environmental adaptability.

In one embodiment, an underwater monitoring mechanism includes: underwater sonar, underwater pressure sensor and underwater positioning device.

The environment of the underwater bulldozer is acquired by monitoring the landform and the topography of the advancing direction of the underwater bulldozer through an underwater sonar arranged at the front end of the frame. The underwater working environment is complex, observation and measurement are needed no matter the working object or the traveling route of the underwater bulldozer, and the penetrating capability of the electromagnetic wave observation and light observation method in water is limited, so a sonar is selected. The sonar can effectively monitor the landform and the working object of the underwater bulldozer in the advancing direction.

The working state of the underwater bulldozer is obtained by monitoring the working water depth of the underwater bulldozer through an underwater pressure sensor arranged on the frame and monitoring the geographic position and the moving path of the underwater bulldozer through an underwater positioning device arranged on the frame.

In some embodiments, the subsea monitoring mechanism further comprises: underwater cameras and underwater lights.

The camera can more specifically show the condition under water, and the lamp can provide auxiliary lighting for the camera under water. Meanwhile, the underwater lamp can provide illumination for underwater workers.

In one embodiment, the hydraulic power station operates on water, in some embodiments, on land, and in some embodiments, on the water surface, and the specific location may be selected based on the distance between the underwater bulldozer and the hydraulic power station.

The hydraulic power station generates hydraulic energy by driving the hydraulic pump to provide power energy for the underwater bulldozer. For example, the hydraulic pump is driven by an electric motor or an internal combustion engine, and draws oil from a hydraulic oil tank to form high-pressure oil to be discharged, so that mechanical energy is converted into hydraulic energy. The high-pressure oil output end of the hydraulic pump is connected to a high-pressure oil pipeline of the oil-electricity composite umbilical cable, high-pressure oil is output to a hydraulic control unit of the underwater bulldozer, and the hydraulic control unit is responsible for distribution and control of hydraulic power. The hydraulic oil returns from the hydraulic control unit after passing through the execution components of the dozer blade adjusting oil cylinder, the crawler driving motor and the hydraulic propeller, and then reaches an oil tank of the hydraulic power station through an oil return pipeline of the oil-electricity composite umbilical cable.

According to the existing power supply scheme, if an underwater fuel power source is adopted, a ventilation pipeline leading to the water surface needs to be installed, and when the water surface environment is severe, the engine can be flamed out and easily breaks down due to water entering of the ventilation pipeline. If a remote power supply mode is adopted, high voltage electricity is provided for the underwater engine, electrical protection is needed, complexity is high, electric leakage risk exists, and injury to personnel is easily caused.

This openly adopts hydraulic power source, and the security is better, does not have the electric leakage risk, and can satisfy explosion-proof and fire prevention requirement under the complex environment. Fire and explosion protection is important especially in engineering tasks like mine emergency drainage.

In one embodiment, a hydraulic control system comprises: a hydraulic valve. The hydraulic valves are respectively arranged on the hydraulic control system and the connecting pipelines of the bulldozing adjusting oil cylinder, the crawler driving motor and the hydraulic propeller. The opening and closing degree of the hydraulic valve is controlled by an electronic control system, so that the flow of hydraulic oil flowing through the hydraulic valve is controlled. In some embodiments, the hydraulic valve is a solenoid valve.

The hydraulic control system is respectively connected with the bulldozing adjusting oil cylinder, the track driving motor and the hydraulic propeller, and respectively controls respective hydraulic valves through the electronic control system, so as to control the flow of hydraulic oil flowing through the hydraulic valves and provide different power for different devices, thereby controlling the bulldozing operation, the advancing of the underwater bulldozer and the floating and sinking of the underwater bulldozer. Meanwhile, the independent hydraulic valves are respectively used, so that the influence of the fault of a single mechanism on other mechanisms can be effectively avoided, and the fault rate of the underwater bulldozer is effectively reduced.

In some embodiments, the subsea monitoring mechanism further comprises: and the hydraulic sensor is arranged in the hydraulic control system and used for monitoring the hydraulic pressure of a hydraulic oil pipeline of the hydraulic control system.

In one embodiment, a remote control console comprises: industrial computer, display screen and remote control handle. The industrial personal computer is connected with the electronic control system. The display screen is connected with the industrial personal computer. The remote control handle is connected with the industrial personal computer.

In some embodiments, the remote control handle sends command information to the industrial personal computer, and the industrial personal computer processes the command information and controls the underwater bulldozer to work through the electronic control system.

In some embodiments, the industrial personal computer receives data information of the underwater bulldozer transmitted by the electronic control system, for example, the underwater monitoring mechanism obtains data information including the environment and the working state of the underwater bulldozer, and transmits the data information to the electronic control system, and the industrial personal computer receives the data information of the underwater bulldozer transmitted by the electronic control system and displays the data information on the display screen.

In one embodiment, a remote control handle includes: a first remote control handle and a second remote control handle. And the first remote control handle is used for controlling the hydraulic propulsion mechanism. And the second remote control handle is used for controlling the soil shifting mechanism and the crawler driving mechanism.

In some embodiments, the joystick is coupled to the industrial personal computer via a CAN manifold.

Fig. 4 is a schematic line connection structure of an underwater bulldozer according to one or more embodiments of the present disclosure.

The hydraulic power station generates hydraulic energy by driving the hydraulic pump to provide power energy for the underwater bulldozer. For example, the hydraulic pump is driven by an electric motor or an internal combustion engine, and draws oil from a hydraulic oil tank to form high-pressure oil to be discharged, so that mechanical energy is converted into hydraulic energy. And the high-pressure oil output end of the hydraulic pump is connected to a high-pressure oil pipeline of the oil-electricity composite umbilical cable, and the high-pressure oil is output to a hydraulic control unit of the underwater bulldozer.

The hydraulic control unit is responsible for distribution and control of hydraulic power. The hydraulic oil returns from the hydraulic control unit after passing through the dozer blade adjusting oil cylinder, the crawler driving motor and the hydraulic propeller, and then reaches an oil tank of the hydraulic power station through an oil return pipeline of the oil-electricity composite umbilical cable.

An operator sends instruction information to the industrial personal computer through the remote control handle, the industrial personal computer processes the instruction information and transmits the instruction information to the electronic control system, the electronic control system controls the hydraulic control system, and the underwater bulldozer controls the work of the underwater bulldozer by controlling the distribution of hydraulic power.

The underwater monitoring mechanism obtains monitoring information including the environment and the working state of the underwater bulldozer, transmits the monitoring information to the electronic control system, and the industrial personal computer receives the monitoring information of the underwater bulldozer transmitted by the electronic control system and displays the monitoring information on the display screen.

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. Of course, the functionality of the modules may be implemented in the same one or more software and/or hardware implementations in implementing one or more embodiments of the present description.

Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the spirit of the present disclosure, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present description as described above, which are not provided in detail for the sake of brevity.

In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures, for simplicity of illustration and discussion, and so as not to obscure one or more embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the understanding of one or more embodiments of the present description, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the one or more embodiments of the present description are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.

While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description.

It is intended that the one or more embodiments of the present specification embrace all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of one or more embodiments of the present disclosure are intended to be included within the scope of the present disclosure.