CN211217870U - Pipeline cleaning water channel filling system - Google Patents
Pipeline cleaning water channel filling system Download PDFInfo
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- CN211217870U CN211217870U CN201921888612.3U CN201921888612U CN211217870U CN 211217870 U CN211217870 U CN 211217870U CN 201921888612 U CN201921888612 U CN 201921888612U CN 211217870 U CN211217870 U CN 211217870U
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Abstract
The utility model belongs to the technical field of pipeline processing equipment technique and specifically relates to a pipeline washs water route and irritates logical system. The system comprises a water storage tank, a backwater filter tank, a water filling and passing pump device and a system centralized controller, wherein a water inlet of the backwater filter tank is connected with a backwater on-off connecting pipe through a first backwater pipeline, and a water outlet of the backwater filter tank is connected with a backwater port of the water storage tank through a second backwater pipeline; the water inlet of the irrigation water pump device is connected with the water outlet of the water storage tank through a first water outlet pipeline, the water outlet of the irrigation water pump device is connected with a water outlet on-off connecting pipe through a second water outlet pipeline, a water way one-way check valve is arranged on the second water outlet pipeline, and a system centralized controller is in control connection with the irrigation water pump device. The utility model discloses can dredge the water route of serious jam to form the runner in certain aperture in the pipeline, thereby for follow-up adoption such as clear water, chemical pickling, steel ball mix the washing mode condition of facilitating such as washing, avoid taking place to wash the emergence that leads to washing operation failure scheduling problem because of directly when serious jam takes place at work piece circulating line.
Description
Technical Field
The utility model belongs to the technical field of pipeline processing equipment technique and specifically relates to a pipeline washs water route and irritates logical system.
Background
As is known, in the long-term use process of equipment (such as locomotive engine, central air conditioner, injection molding machine, and mold, etc., all having water pipes inside) with internal circulation pipelines, a large amount of scale adsorption, sand deposition, and even corrosion of the pipeline are often generated on the inner wall of the pipeline, which causes the pipe diameter of the pipeline to narrow, block, etc., and further affects the normal operation and use of the equipment. Therefore, how to clean the pipeline in time to ensure the pipeline is unblocked is one of the key factors affecting the normal operation of the equipment
At present, the pipeline cleaning machine is generally used in the industry to directly clean the internal circulation pipeline of the equipment by a circulating chemical pickling method or a water-gas mixed flushing method, however, because the condition in the pipeline is unclear, not only the effect of cleaning operation is easily reduced or the failure of the cleaning operation is easily caused by serious blockage in the pipeline, but also the power consumption of the cleaning machine is easily greatly increased by directly cleaning the pipeline and also easily blocking in the pipeline; in addition, the direct cleaning operation of the pipeline also increases the usage amount of cleaning media such as chemical agents and the like, thereby causing resource waste.
In view of the above, it is necessary to provide a system apparatus capable of pre-dredging the circulation pipeline to provide a guarantee for the cleaning operation of the pipeline.
SUMMERY OF THE UTILITY MODEL
To the not enough of above-mentioned prior art existence, the utility model aims to provide a pipeline washs water route and irritates logical system.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a pipeline cleaning waterway perfusion system comprises:
a water storage tank;
the water inlet of the backwater filter tank is connected with at least one backwater on-off connecting pipe through a first backwater pipeline, and the water outlet of the backwater filter tank is connected with the backwater port of the water storage tank through a second backwater pipeline;
the water inlet of the water filling pump device is connected with the water outlet of the water storage tank through a first water outlet pipeline, the water outlet of the water filling pump device is connected with at least one water outlet on-off connecting pipe through a second water outlet pipeline, a water channel one-way check valve is arranged on the second water outlet pipeline, and the backwater on-off connecting pipes and the water outlet on-off connecting pipes are the same in quantity and are in one-to-one correspondence;
and
and the system centralized controller is in control connection with the irrigation water pump device.
Preferably, the water-saving and water-saving device further comprises a gas storage tank, wherein a gas outlet of the gas storage tank is communicated with the second water outlet pipeline through a first gas transmission pipeline and is positioned at the downstream of the water way one-way check valve, a first electromagnetic switch valve is arranged on the first gas transmission pipeline, each water outlet on-off connecting pipe is provided with a pressure sensor, and the first electromagnetic switch valve and the pressure sensor are connected with a system centralized controller.
Preferably, an air passage one-way check valve is further arranged on the first air conveying pipe and at the downstream of the first electromagnetic switch valve.
Preferably, the water filling and passing pump device comprises a pneumatic diaphragm pump with a water inlet connected with the first water outlet pipeline and a water outlet connected with the second water outlet pipeline, a second air conveying pipeline connected between an air outlet of the air storage tank and an air inlet of the pneumatic diaphragm pump, and a second electromagnetic switch valve arranged on the second air conveying pipeline and controlled by the system centralized controller.
Preferably, a bypass water return pipeline is further connected between the water outlet of the pneumatic diaphragm pump and the water storage tank, and a throttle valve controlled by a system centralized controller is arranged on the bypass water return pipeline.
Preferably, the water outlet on-off connecting pipe comprises at least one water outlet connecting pipe which is simultaneously communicated with the first gas conveying pipeline and the second water outlet pipeline, each water outlet connecting pipe is provided with a water outlet valve, and the pressure sensor is arranged on the water outlet connecting pipe and is positioned at the upstream of the water outlet valve;
the backwater on-off connecting pipe comprises at least one backwater connecting pipe, the number of the backwater connecting pipes is the same as that of the water outlet connecting pipes, the backwater connecting pipes are communicated with the first backwater pipeline, and each water outlet connecting pipe is provided with a backwater valve.
Preferably, the backwater filter tank comprises a backwater tank body with a water outlet communicated with the second backwater pipeline, a magnetic rod water treatment filter connected between the water inlet of the backwater tank body and the first backwater pipeline, a sponge filter arranged in the tank body of the backwater tank body and a filter screen arranged on the water outlet of the backwater tank body.
Preferably, the system also comprises a host shell, the water storage tank, the backwater filter tank and the water filling pump device are all arranged in the host shell, the end part of the water outlet on-off connecting pipe and the end part of the backwater on-off connecting pipe are distributed by penetrating through the rear wall surface of the host shell, the system centralized controller comprises a human-computer interaction display screen embedded on the front wall surface of the host shell and a PLC centralized controller arranged in the host shell, and the human-computer interaction display screen and the water filling pump device are respectively in control connection with the PLC centralized controller.
Preferably, the system centralized controller further comprises a plurality of function mode change-over switches and working state indicator lamps embedded on the rear wall surface of the host casing, and the function mode change-over switches and the working state indicator lamps are respectively connected with the system PLC centralized controller.
Since the technical scheme is used, the utility model discloses can dredge the water route of serious jam to form the runner in certain aperture in the pipeline, thereby for follow-up adoption such as clear water, chemical pickling, steel ball mix the washing mode condition of facilitating such as washing, avoid taking place to wash the emergence that leads to cleaning operation failure scheduling problem because of directly wasing it when the work piece circulating line takes place to seriously block up.
Drawings
Fig. 1 is a system schematic of an embodiment of the present invention;
fig. 2 is a reference diagram of pipeline conduction when the embodiment of the present invention performs the pipeline ventilation operation;
FIG. 3 is a diagram illustrating a pipeline conduction reference diagram for performing a circular irrigation operation according to an embodiment of the present invention;
fig. 4 is a reference schematic diagram (one) of the structure of the filling machine formed by the embodiment of the invention;
fig. 5 is a schematic structural reference diagram (ii) of the perfusion machine formed by the embodiment of the present invention;
fig. 6 is a reference schematic diagram (one) of the structure layout of the embodiment of the present invention in practical application;
fig. 7 is a reference schematic diagram (ii) of the structure layout in practical application of the embodiment of the present invention;
fig. 8 is a schematic structural view of a return water filter tank according to an embodiment of the present invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
As shown in fig. 1 to 8, the present embodiment provides a pipe cleaning waterway perfusion system, which includes:
a water storage tank T3 for storing water mixed with detergent;
the backwater filter tank is mainly used for filtering and separating impurities (such as settled sand, rusty spots, water scales and the like) in a backwater water body, a water inlet of the backwater filter tank is connected with at least one backwater on-off connecting pipe (preferably at least two backwater on-off connecting pipes in the embodiment so as to simultaneously carry out filling operation on at least two workpiece circulating pipelines) through a first backwater pipeline L301, and a water outlet of the backwater filter tank is connected with a backwater port of a water storage tank T3 through a second backwater pipeline L302;
the water filling and passing pump device is mainly used for pumping out water in the water storage tank T3 (liquid pumping devices such as a water pump and the like can be adopted according to actual conditions), a water inlet of the water filling and passing pump device is connected with a water outlet of the water storage tank T3 through a first water outlet pipeline L303, the water outlet is connected with at least one water outlet on-off connecting pipe through a second water outlet pipeline L304, a water way one-way check valve F31 is arranged on the second water outlet pipeline L304, and the backwater on-off connecting pipes and the water outlet on-off connecting pipes are the same in number and are in one-to;
and
the system centralized controller is mainly used as a central control device of the whole system (the MCU singlechip or a programmable logic controller (namely, a PLC) with a programming function and the like can be mainly used as core elements according to actual conditions so as to uniformly control various controlled elements of the whole system, wherein the system centralized controller is in control connection with the irrigation water pump device so as to start or close the irrigation water pump device.
Therefore, the system centralized controller can be used for controlling the opening and closing of the water filling and passing pump device, water which is stored in the water storage tank T3 and mixed with a descaling agent is conveyed into the workpiece circulating pipeline through the water outlet on-off connecting pipe, impurities are separated from the inner wall of the pipeline through the chemical reaction of the descaling agent and the impurities in the pipeline, so that the pipeline is dredged, and then the impurities flow back into the water return filtering tank through the water return on-off connecting pipe to be filtered (the filtered impurities can be manually taken out of the water return filtering tank, and the residual fluid flows back into the water storage tank T3 to be continuously used); in the process, the waterway one-way check valve F31 is utilized to prevent the fluid from flowing backwards when the workpiece circulating pipeline is seriously blocked, thereby providing conditions for the chemical reaction between the descaling agent and impurities. In practical application, especially before cleaning operation is carried out on the workpiece circulating pipeline, the seriously blocked water channel can be dredged by using the system so as to form a flow channel with a certain aperture in the pipeline, thereby providing convenient conditions for subsequent cleaning modes such as clear water, chemical pickling, steel ball mixed cleaning and the like, and avoiding the problem that the cleaning operation fails due to direct cleaning when the workpiece circulating pipeline is seriously blocked.
For the practical function of richening entire system, especially for judging whether the work piece circulating line who treats the washing accords with the standard that can directly wash the operation or whether need utilize this system to dredge and provide the condition, the system of this embodiment still includes a gas holder P3, gas holder P3' S gas outlet is linked together and is located the low reaches of water route check valve F31 through first gas pipeline S301 and second outlet pipe way L304, be provided with first electromagnetic switch valve D301 on the first gas pipeline S301, all be provided with a pressure sensor G31 on every water break-make connecting pipe, first electromagnetic switch valve D301 and pressure sensor G31 all link to each other with system centralized control ware. Therefore, before the water filling operation of the descaling agent is carried out on the workpiece circulating pipeline by using the water filling pump device, the first electromagnetic switch valve D301 can be controlled by the system centralized controller in advance, so that the compressed air stored in the air storage tank P3 enters the workpiece circulating pipeline, and at the moment, if the pressure detected by the pressure sensor G31 does not reach the threshold value, the workpiece circulating pipeline can be judged to be unblocked accordingly, and the cleaning operation condition is met; if the threshold value is exceeded, the system centralized controller can send out an alarm prompt of pipeline blockage according to the threshold value, and therefore the filling operation function of the system is executed.
In order to ensure that the compressed air does not flow back when the pipeline is seriously blocked, an air path one-way check valve F32 is arranged on the first air transmission path S301 and is positioned at the downstream of the first electromagnetic switch valve D301.
In order to fully utilize the compressed air in the air tank P3 to realize quick start of devices such as a water pump device, the water pump device of this embodiment includes a pneumatic diaphragm pump B3 having a water inlet connected to the first water outlet line L303 and a water outlet connected to the second water outlet line L304, a second air pipe S302 connected between the air outlet of the air tank P3 and the air inlet of the pneumatic diaphragm pump B3, and a second electromagnetic on-off valve D302 disposed on the second air pipe S302 and controlled by a system controller. Thus, the system centralized controller can rapidly start or stop the pneumatic diaphragm pump B3 by controlling the second electromagnetic switching valve D302, thereby enhancing the response speed of the system at the time of switching the operation mode. And the characteristic of the pneumatic diaphragm pump B3 is utilized to meet the condition of fast conveying the water mixed with the descaling agent.
In order to facilitate the regulation of the flow rate of the fluid pumped by the pneumatic diaphragm pump B3, a bypass water return line L305 is further connected between the water outlet of the pneumatic diaphragm pump B3 and the water storage tank T3, and a throttle valve C31 controlled by a system centralized controller is arranged on the bypass water return line L305.
As a preferable scheme, in order to simplify the complexity of the whole system to the maximum extent, the water outlet on-off connection pipe of the present embodiment includes at least one water outlet connection pipe E31 which is simultaneously communicated with the first air transmission pipeline S301 and the second water outlet pipeline L304, each water outlet connection pipe E31 is provided with a water outlet valve E32, and the pressure sensor G31 is arranged on the water outlet connection pipe E31 and is located at the upstream of the water outlet valve E32; correspondingly, the backwater on-off connecting pipe comprises at least one backwater connecting pipe E33 which is the same as the water outlet connecting pipe E31 in quantity and is simultaneously communicated with the first backwater pipeline L301, and each water outlet connecting pipe E31 is provided with a backwater valve E34. Thus, the outlet valve E32 and the return valve E34 can be used to control the connection pipe.
In order to improve the filtering effect on the returned fluid, as shown in fig. 8, the return water filtering tank of this embodiment includes a return water tank H31 having a water outlet communicated with the second return water pipeline L302, a magnetic rod water treatment filter H32 connected between the water inlet of the return water tank H31 and the first return water pipeline L301, a sponge filter (not shown) installed in the tank of the return water tank H31, and a filter screen H33 installed on the water outlet of the return water tank H31. In the serial operation processes of ventilating, filling water and the like to the workpiece circulating pipeline, impurities such as settled sand, rust, scale and the like are inevitably mixed in fluid discharged from the workpiece circulating pipeline, so that magnetic foreign matters or powder can be adsorbed by using a magnetic rod water treatment filter H32 firstly, various non-magnetic foreign matters are filtered by using a sponge filter, and then residual foreign matters are filtered by using a filter screen H33 (which can adopt a filter screen with a screen hole of 0.2mm according to actual conditions), thereby maximally realizing the clean recovery of water.
In addition, according to different use modes, the system of the embodiment can be arranged in the working site in advance by adopting a distributed pipeline arrangement mode, but preferably, in order to enhance the mobility of the system so that it can be present and used in the form of a stand-alone machine (i.e., the seal test system according to this embodiment forms a waterway aerator as shown in fig. 6 and 7), the main machine shell J31 with wheels can be used for packaging the water storage tank T3, the backwater filter tank, the water filling and passing pump device, the corresponding pipelines and the like, wherein the end part of the water outlet on-off connecting pipe and the end part of the backwater on-off connecting pipe both penetrate through the rear wall surface of the main machine shell J31 to be distributed, the system centralized controller comprises a human-computer interaction display screen J32 embedded on the front wall surface of the host casing J31 and a PLC centralized controller arranged in the host casing J31, wherein the human-computer interaction display screen J32 and the water filling and passing pump device are respectively in control connection with the PLC centralized controller. Therefore, related devices and pipelines are packaged by the aid of the main case J31 to form an integrated mobile waterway perfusion device, an operator can detect parameters of system operation in real time through the man-machine interaction display screen J32, and the PLC centralized controller is used for achieving unified control over related controlled components. Of course, in order to provide good heat dissipation conditions for the heat-generating components inside the host casing J31, an auxiliary heat dissipation device such as an exhaust fan J33 may be provided on the host casing J31 at the same time.
In order to facilitate the system operation of the operator, the system centralized controller of this embodiment further includes a plurality of function mode switch N31 and operating status indicator N32 embedded on the rear wall surface of the host casing J31, and the function mode switch N31 and the operating status indicator N32 are respectively connected to the system PLC centralized controller. Therefore, the functional mode change-over switch N31 can be used for controlling the operation modes of ventilation, irrigation and the like of the system, and the operation state indicator lamp N32 and the like can be used for more intuitively indicating the operation state of the system.
Based on the structure and function of the whole system, the whole system can be specifically designed (for example, the system centralized controller can perform corresponding program editing by referring to the following method) or used in the following way, specifically:
before the workpiece circulating pipeline is tested, a return water on-off connecting pipe and a water outlet on-off connecting pipe can be butted with two ends of the workpiece circulating pipeline by utilizing pipeline connecting parts such as quick connectors and the like, a pressure sensor G31 is simultaneously opened, and then the following operation steps are sequentially executed:
1. pipe aeration operation
As shown in fig. 2, the functional mode changeover switch N31 is manually pressed to open the first electromagnetic switch valve D301 by using the system centralized controller, so that the compressed air in the air storage tank P3 is sprayed into the workpiece circulation pipeline through the air path one-way check valve F32 and the water outlet on-off connecting pipe, and finally flows back into the water return tank through the water return on-off connecting pipe; in the process, if the pressure sensor G31 detects that the pressure of the pipeline is within a certain set threshold range (such as between 0.3Mpa and 0.5 Mpa) and maintains for a certain time (such as 5s), the system centralized controller sends out an alarm prompt of corresponding pipeline blockage through the working state indicator lamp N32, at the moment, the system can execute the next operation procedure, and if the pressure is higher than the upper threshold, the pipeline is proved to be seriously blocked, and manual dredging treatment is needed; if the lower limit threshold value is lower than the lower limit threshold value, the pipeline is in accordance with the condition of direct cleaning, and the system can be stopped.
2. Circulating irrigation work
As shown in fig. 3, the function mode switch N31 is manually pressed to open the second electromagnetic switch valve D302 by the system controller to start the pneumatic diaphragm pump B3, at this time, the water mixed with the detergent is transported from the water storage tank T3 to the workpiece circulation pipeline through the pneumatic diaphragm pump B3, the waterway one-way check valve and the water outlet on-off connecting pipe, so that the impurities such as scale are decomposed and softened by the chemical reaction between the detergent and the impurities in the pipeline, so as to form a channel with a certain aperture (e.g. 3-4mm) in the pipeline, the returned mixed fluid is separated and filtered in the return water filtering tank, and finally the fluid with the impurities removed is returned to the water storage tank T3, in this process, if the pressure sensor G31 detects that the pipe pressure is lower than the lower threshold and maintains for a certain period of time (e.g. 10s), the system controller can give a prompt that the waterway has been opened by the indicator lamp or the like, and then the next operation process is executed.
3. Pipeline drainage operation
The function mode switch N31 is manually pressed to open the first electromagnetic switch valve D301, so that the compressed air in the air storage tank P3 is continuously charged into the workpiece circulation pipeline, and the accumulated water in the workpiece circulation pipeline is completely discharged by the air, thereby completing the waterway filling operation.
The above only is the preferred embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent flow changes made by the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the same way in the protection scope of the present invention.
Claims (9)
1. The utility model provides a pipeline cleaning water route system of irritating which characterized in that: the water storage tank (T3), a backwater filter tank, a water filling pump device and a system centralized controller are included, a water inlet of the backwater filter tank is connected with at least one backwater on-off connecting pipe through a first backwater pipeline (L301), a water outlet of the backwater filter tank is connected with a backwater port of the water storage tank (T3) through a second backwater pipeline (L302), a water inlet of the water filling pump device is connected with a water outlet of the water storage tank (T3) through a first water outlet pipeline (L303), the water outlet of the water filling pump device is connected with at least one water outlet on-off connecting pipe through a second water outlet pipeline (L304), a waterway one-way check valve (F31) is arranged on the second water outlet pipeline (L304), and the backwater on-off; the system centralized controller is in control connection with the irrigation water pump device.
2. The pipe cleaning waterway perfusion system of claim 1, wherein: it still includes a gas holder (P3), the gas outlet of gas holder (P3) is linked together and is located the low reaches of water route one-way check valve (F31) through first gas pipeline (S301) and second outlet conduit (L304), be provided with first electromagnetic switch valve (D301) on first gas pipeline (S301), every all be provided with a pressure sensor (G31) on the play water break-make connecting pipe, first electromagnetic switch valve (D301) and pressure sensor (G31) all link to each other with system centralized control ware.
3. The pipe cleaning waterway perfusion system of claim 2, wherein: and a gas path one-way check valve (F32) is also arranged on the first gas transmission pipeline (S301) and is positioned at the downstream of the first electromagnetic switch valve (D301).
4. The pipe cleaning waterway perfusion system of claim 2, wherein: the water filling and passing pump device comprises a pneumatic diaphragm pump (B3) with a water inlet connected with the first water outlet pipeline (L303) and a water outlet connected with the second water outlet pipeline (L304), a second air pipeline (S302) connected between the air outlet of the air storage tank (P3) and the air inlet of the pneumatic diaphragm pump (B3), and a second electromagnetic switch valve (D302) arranged on the second air pipeline (S302) and controlled by a system centralized controller.
5. The pipe cleaning waterway perfusion system of claim 4, wherein: a bypass water return pipeline (L305) is further connected between a water outlet of the pneumatic diaphragm pump (B3) and the water storage tank (T3), and a throttle valve (C31) controlled by a system centralized controller is arranged on the bypass water return pipeline (L305).
6. The pipe cleaning waterway perfusion system of claim 2, wherein: the water outlet on-off connecting pipe comprises at least one water outlet connecting pipe (E31) which is simultaneously communicated with the first air conveying pipeline (S301) and the second water outlet pipeline (L304), each water outlet connecting pipe (E31) is provided with a water outlet valve (E32), and the pressure sensor (G31) is arranged on the water outlet connecting pipe (E31) and is positioned at the upstream of the water outlet valve (E32); the backwater on-off connecting pipe comprises at least one backwater connecting pipe (E33) which is the same as the water outlet connecting pipe (E31) in quantity and is communicated with the first backwater pipeline (L301), and each water outlet connecting pipe (E31) is provided with a backwater valve (E34).
7. A pipe cleaning waterway irrigation system according to any one of claims 1-6, wherein: the backwater filter tank comprises a backwater tank body (H31) with a water outlet communicated with the second backwater pipeline (L302), a magnetic rod water treatment filter (H32) connected between the water inlet of the backwater tank body (H31) and the first backwater pipeline (L301), a sponge filter arranged in the tank body of the backwater tank body (H31) and a filter screen (H33) arranged on the water outlet of the backwater tank body (H31).
8. The pipe cleaning waterway perfusion system of claim 7, wherein: it still includes a host computer casing (J31), storage water tank (T3), return water filter-tank and water pump device are all installed in host computer casing (J31), the tip of going out water break-make connecting pipe and the tip of return water break-make connecting pipe all run through the back wall distribution in host computer casing (J31), system centralized control ware is including inlaying human-computer interaction display screen (J32) and installing the PLC centralized control ware in host computer casing (J31) on the leading wall of dress in host computer casing (J31), human-computer interaction display screen (J32) and water pump device are connected with PLC centralized control ware control respectively.
9. The pipe cleaning waterway perfusion system of claim 8, wherein: the system centralized controller also comprises a plurality of functional mode change-over switches (N31) and working state indicator lamps (N32) which are embedded on the rear wall surface of the host casing (J31), and the functional mode change-over switches (N31) and the working state indicator lamps (N32) are respectively connected with the system PLC centralized controller.
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| CN201921888612.3U CN211217870U (en) | 2019-11-04 | 2019-11-04 | Pipeline cleaning water channel filling system |
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| CN201921888612.3U CN211217870U (en) | 2019-11-04 | 2019-11-04 | Pipeline cleaning water channel filling system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113759757A (en) * | 2021-08-17 | 2021-12-07 | 江苏徐工工程机械研究院有限公司 | Method and system for selecting and controlling operation mode of combined dredging equipment |
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2019
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113759757A (en) * | 2021-08-17 | 2021-12-07 | 江苏徐工工程机械研究院有限公司 | Method and system for selecting and controlling operation mode of combined dredging equipment |
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