国家重点水利工程南水北调工程、东调南下工程、引黄济青续建工程等，这些工程建成后，部分干线渠道除调水外还要承担排涝泄洪的任务，泥沙淤积在所难免。根据南水北调东线工程混凝土衬砌输水渠道清淤，研制了新型渠道清淤设备是一种小型清淤设备，可以应用于渠道、湖泊、航道的环保清淤、水库清淤、沉砂池清淤、河道治理等。它是一种通过吸泥系统、泥浆输送系统完成清淤疏浚任务的高度自动化的潜水疏浚机，可以接收岸上人员的指令或者自主判断水下淤泥的分布情形，并以此决定在水下的行走方式，能够实现转弯、避碍，控制自己自身在水中的方位。这种小型清淤设备可以应用于渠道、湖泊、航道的环保清淤、水库清淤、沉砂池清淤、河道治理等。同时这种清淤设备还能做到在水下清淤疏浚过程中在吸泥时不引起环境的二次污染，水下清淤疏浚过程中不造成断流，还具有高效、节能、方便操作、劳动强度小，适应作业范围宽及低成本等优点。

With the development of the new national key water conservancy projects such as the of South-to-North Water Diversion Project, East- to- South Water Ddiversion Pproject, and Water Diversion Project from Yellow River to Qingdao, construction project, when the project is completed, the main channels undertake not only the water diversion duty but also the drainage of flood discharge task; therefore sediment deposition occurs in these channels. in addition to water diversion outside part of trunk channels to release flood waters and task, sediment deposition can hardly be avoided. Based on the dredging of water conveyance channel with concrete lining in the Eastern Route of South-to-North Water Diversion Project, an automatic dredging machine was developed to complete the dredging task through the dredge suction system and transport system. The machine can receive the instructions of ashore personnel or perform independent judgment to determine the distribution of dredge, and therefore decide its walking methods, turn and avoid obstacles, and control its position in water. The new channel dredging equipment is a small dredging equipment, and can be applied to the environmental protection dredging of channels, lakes, and waterways, dredging, environmental protection dredging reservoir sand basin dredging, and river management etc.. Meanwhile, It is a kind of the diving dredging machine automatic suction system, slurry transport system to complete the dredging task. And it can receive the instruction or independent judgment on underwater silt distribution, and to decide the way of walking in the water, to achieve turning, avoiding obstacles, control their water in the range. At the same time, the dredging equipment would not cause the secondarycan not cause two times environmental pollution and underwater cutout during the, and do not cause dredging process of underwater cutout. The new equipment Also has the advantages of high efficiency, energy saving, convenient easy operation, lowsmall labor intensity, broad suitable workingapplication range, and low cost .etc.

国家自然科学基金青年基金（51209094）；海岸和近海工程国家重点实验室基金（LP1211）