Multi-factor coupling dredging yield calculation method and system for a trailing suction hopper dredger

Abstract

The present application belongs to the technical field of dredging engineering, and discloses a method and system for calculating the multi-factor coupled excavation yield of a drag suction dredger. Specifically, the present application determines the corresponding tooth information of the drag suction dredger based on the position information of the current water area; substitutes the tooth information and the position information of the water area into a mechanical soil breaking amount calculation model to calculate the mechanical soil breaking amount per unit time and generate a corresponding tooth soil breaking parameter table; and substitutes the high-pressure water discharge characteristic information of the drag suction dredger into a hydraulic soil breaking amount calculation model to calculate the hydraulic soil breaking amount per unit time and generate a corresponding high-pressure water discharge characteristic table. The hydrological environment information is processed by a fuzzy function, and the dredging influence level is divided according to the dredging demand of the drag suction area. Under uncertain external environment, the multi-factor coupled excavation yield calculation model is established through parameter identification learning, which takes into account the environmental constraints of the dredging influence level on the mechanical soil breaking amount and the hydraulic soil breaking amount per unit time, and finally calculates the excavation yield of the drag suction dredger.

Description

Technical Field

[0001] This invention relates to the field of dredging engineering technology, and more specifically, to a method and system for calculating the multi-factor coupled dredging output of trailing suction hopper dredgers. Background Technology

[0002] As the primary dredging equipment of a trailing suction hopper dredger, the performance of the rake head directly affects the dredger's construction efficiency. In actual construction, optimizing rake head output and achieving intelligent rake head operation by adjusting operating parameters requires understanding the relationship between these parameters and output. However, due to the complex structure and numerous operating parameters of the rake head, relying solely on extensive engineering measurement data to establish this relationship has limitations. These limitations include the accuracy and range of the engineering data, especially when parameters exceed the range of measured data, leading to a significant decrease in prediction accuracy. For example, Chinese patent CN116227183A, a method for calculating the dredging output of a trailing suction hopper dredger's rake head, discloses the rake tooth breaking depth and jet breaking depth, combining them with experience for fitting to generate fitting parameters and construct a dredging output calculation model. While this method can approximate the relationship between dredging output and breaking depth, it relies on actual operational data and experience, making it unable to cope with complex variations in different hydrological environments. In different hydrological environments, the rake head of existing trailing suction hopper dredgers can become stuck in the mud, directly affecting the hull's drag and pull on the rake head. Meanwhile, during operation, the rake head and the hull usually have a certain relative displacement in the horizontal direction. When the horizontal relative displacement exceeds the range of past experience, the fitting parameters cannot effectively integrate the errors caused by these changes, affecting the accuracy of excavation.

[0003] In view of the above problems, this application proposes a multi-factor coupled dredging output calculation method and system for trailing suction hopper dredgers, in order to solve the shortcomings of the prior art and improve the accuracy of dredging output prediction and construction efficiency of trailing suction hopper dredgers. Summary of the Invention

[0004] This invention proposes a multi-factor coupled dredging output calculation method and system for trailing suction hopper dredgers.

[0005] To achieve the above objectives, the present invention provides the following technical solution: An embodiment of the first aspect of the present invention proposes a multi-factor coupled dredging output calculation method for trailing suction hopper dredgers, comprising the following steps:

[0006] Based on the current water area location information, determine the corresponding rake tooth information of the trailing suction hopper dredger. Substitute the rake tooth information and water area location information into the mechanical soil breaking volume calculation model. Calculate the mechanical soil breaking volume per unit time and the corresponding rake tooth soil breaking parameter table through this model.

[0007] Based on the high-pressure water discharge characteristic information of the trailing suction hopper dredger, it is substituted into the hydraulic soil breaking volume calculation model, and the hydraulic soil breaking volume per unit time and the corresponding high-pressure water discharge characteristic table are calculated based on the hydraulic soil breaking volume calculation model.

[0008] By processing hydrological environmental information using fuzzy functions, the dredging impact level of the area is classified and determined based on the dredging demand of the dredging area.

[0009] In an uncertain external environment, a multi-factor coupled dredging output calculation model is established through parameter identification and learning. This model considers the environmental constraints of the dredging impact level on the mechanical and hydraulic excavation volume per unit time, and finally calculates the dredging output of the trailing suction hopper dredger.

[0010] According to a preferred embodiment of the present invention, the water area location information includes water area topography, water area bottom sediment type, water area depth, and water flow velocity; the logic for determining the rake tooth information is as follows:

[0011] Based on the current water location information, extract the displacement value, area value, volume value and water slope value of the current water terrain, and calculate the terrain influence coefficient of the slurry.

[0012] Based on prior knowledge, we obtain the influence coefficients of water bottom sediment type, water depth, and water flow velocity on the dredging difficulty of trailing suction hopper dredgers, as well as the water depth and water flow velocity.

[0013] The difficulty coefficient of the hopper is calculated after normalizing the topographic influence coefficient, water bottom sediment influence coefficient, water depth influence coefficient and water flow influence coefficient.

[0014] Based on prior knowledge, the difficulty coefficient of the harrow suction is divided into multiple harrow suction difficulty intervals. By comparison and analysis, the harrow suction difficulty interval corresponding to the current harrow suction difficulty coefficient is obtained. The harrow tooth information is determined according to the harrow suction difficulty interval. The harrow tooth information includes the size of the harrow tooth, the harrow tooth structure, the harrow tooth hardness, the working angle of the harrow tooth, and the rotation speed of the harrow tooth.

[0015] According to a preferred embodiment of the present invention, the mechanical soil breaking volume calculation model includes a rake head static soil breaking model and a rake head dynamic soil breaking model;

[0016] Based on the information of the rake teeth and the location of the water area, the force exerted by the rake teeth on the soil and the drag force and deviation resistance during the movement are obtained through the static soil breaking model of the rake head.

[0017] Based on the dynamic soil breaking model of the rake head, combined with the law of conservation of energy and the static soil breaking model, the soil breaking depth of the rake teeth is calculated; thereby, the mechanical soil breaking volume per unit time and the corresponding rake tooth soil breaking parameters are calculated, and a rake tooth soil breaking parameter table is formed.

[0018] The table of rake tooth breaking parameters includes rake tooth breaking parameters that affect the amount of mechanical breaking and the rake suction influence factor corresponding to each rake tooth breaking parameter.

[0019] Based on a preferred embodiment of the present invention, the logic for obtaining the water high-pressure outlet characteristic information is as follows:

[0020] Based on the experimental environment, high-pressure water discharge characteristic information is extracted. The experimental environment is a simulated environment where testers control the high-pressure water discharge of the trailing suction hopper dredger. By changing the hydraulic soil breaking influence parameters of the trailing suction hopper dredger, the high-pressure water discharge characteristic information of the trailing suction hopper dredger is collected.

[0021] The high-pressure water discharge characteristic information includes, but is not limited to, high-pressure water discharge velocity, high-pressure water discharge pipe diameter, ship speed, and soil shear strength; the high-pressure water discharge velocity includes vertical water discharge velocity, horizontal water discharge velocity, and water discharge soil penetration angle, wherein the water discharge soil penetration angle is the angle between the water discharge direction and the vertical direction.

[0022] Based on the high-pressure water discharge characteristic information, the hydraulic soil breaking volume per unit time under different conditions is obtained, and a high-pressure water discharge characteristic table is determined according to the hydraulic soil breaking volume per unit time. The high-pressure water discharge characteristic table includes high-pressure water discharge characteristic information that affects the hydraulic soil breaking volume and soil breaking volume influence factor corresponding to each high-pressure water discharge characteristic information.

[0023] According to a preferred embodiment of the present invention, the logic for obtaining the dredging impact level is as follows:

[0024] Based on historical hydrological and environmental information, hydrological impact characteristic parameters and their corresponding characteristic parameter thresholds are extracted, and several dredging impact levels are generated by using a hierarchical fuzzy function for each hydrological impact characteristic parameter.

[0025] Obtain the hydrological environment information corresponding to the current water area location, and substitute it into the fuzzy level function to obtain the dredging impact level corresponding to the current hydrological environment.

[0026] According to a preferred embodiment of the present invention, the calculation logic for the dredging output of the trailing suction hopper dredger is as follows:

[0027] A model for calculating excavation output was constructed to analyze the mechanical and hydraulic excavation volumes under different dredging impact levels. Based on the degree of change in mechanical and hydraulic excavation volumes per unit time, the corresponding excavation impact coefficient was determined.

[0028] Constraints are constructed using the soil breaking influence coefficients corresponding to the mechanical and hydraulic soil breaking volume per unit time, and the dredging output of the trailing suction hopper dredger is calculated with the maximum soil breaking depth as the objective function.

[0029] According to a preferred embodiment of the present invention, the logic for obtaining another aspect of the dredging impact level is as follows:

[0030] Hydrological impact characteristic parameters and their corresponding characteristic impact factors are extracted based on historical hydrological environmental information. The hydrological impact parameters are then calculated using a weighted formula to obtain the hydrological impact parameters.

[0031] Based on prior knowledge, hydrological impact thresholds are set for the hydrological impact parameters, and several dredging impact levels are divided based on the hydrological impact thresholds.

[0032] Obtain hydrological environmental information corresponding to the location of the water area, extract the corresponding hydrological impact characteristic parameters and corresponding characteristic impact factors based on the hydrological environmental information, and calculate the current hydrological impact parameters through a weighted formula; obtain the dredging impact level corresponding to the current hydrological environment based on the hydrological impact parameters.

[0033] A second aspect of the present invention proposes a multi-factor coupled dredging output calculation system for trailing suction hopper dredgers. Based on the implementation of the multi-factor coupled dredging output calculation method for trailing suction hopper dredgers, the system includes a mechanical ground breaking analysis module, a hydraulic ground breaking analysis module, a hydrological impact analysis module, and a production capacity calculation module. The modules are connected by wired and / or wireless means to realize data transmission between the modules.

[0034] The mechanical soil breaking analysis module determines the rake tooth information corresponding to the trailing suction dredger based on the current water area location information. It then substitutes the rake tooth information and water area location information into the mechanical soil breaking volume calculation model to calculate the mechanical soil breaking volume per unit time and the corresponding rake tooth soil breaking parameter table. Finally, it sends the mechanical soil breaking volume per unit time and the corresponding rake tooth soil breaking parameter table to the production capacity calculation module.

[0035] The hydraulic soil breaking analysis module, based on the high-pressure water discharge characteristic information of the trailing suction hopper dredger, substitutes the high-pressure water discharge characteristic information into the hydraulic soil breaking volume calculation model to calculate the hydraulic soil breaking volume per unit time and the corresponding high-pressure water discharge characteristic table; and sends the hydraulic soil breaking volume per unit time and the corresponding high-pressure water discharge characteristic table to the production capacity calculation module.

[0036] The hydrological impact analysis module uses fuzzy functions to classify the dredging impact levels based on hydrological environmental information; the dredging impact levels are then sent to the production capacity calculation module.

[0037] The capacity calculation module establishes a multi-factor coupled excavation output calculation model through parameter identification and learning under uncertain external environments. It considers the environmental constraints of the dredging impact level on the mechanical and hydraulic excavation volume per unit time and calculates the excavation output of the trailing suction hopper dredger.

[0038] According to a preferred embodiment of the present invention, the multi-factor coupled dredging output calculation system for the trailing suction hopper dredger further includes:

[0039] The real-time monitoring module is used to monitor the communication status parameters between the mechanical soil breaking analysis module, the hydraulic soil breaking analysis module, the hydrological impact analysis module, and the production capacity calculation module in real time; wherein, the communication status parameters include the number of communication connection interruptions, the communication connection recovery time, and the communication connection delay;

[0040] The first communication status evaluation parameter acquisition module is used to acquire the first communication status evaluation parameter using the number of communication connection interruptions and the communication connection recovery time of the communication status parameters; wherein, the first communication status evaluation parameter is acquired by the following formula:

[0041]

[0042] Among them, J 01 The parameter represents the first communication status evaluation parameter; n represents the number of communication units of time experienced during the communication operation between the mechanical groundbreaking analysis module, the hydraulic groundbreaking analysis module, the hydrological impact analysis module, and the production capacity calculation module, and the value of the communication unit of time ranges from 24h to 72h; N i N represents the number of communication connection interruptions occurring in the i-th communication unit of time; i-1 N represents the number of communication connection interruptions occurring in the (i-1)th communication unit of time; p N represents the average number of communication connection interruptions occurring over n communication units of time; z λ represents the median number of communication connection interruptions occurring within n communication units of time; i Let represent the compensation coefficient corresponding to the i-th communication unit time, and the compensation coefficient is obtained by the following formula:

[0043]

[0044] Where λ represents the compensation coefficient; N represents the number of communication connection interruptions per unit of time; T i T represents the communication connection recovery time corresponding to the i-th communication connection interruption; m represents the preset maximum allowable duration of communication interruption; p represents the occurrence rate of data transmission operations of the mechanical soil breaking analysis module, hydraulic soil breaking analysis module, and hydrological impact analysis module under the communication interruption state within the current communication unit time; T max T represents the maximum communication connection recovery time within a given communication unit of time; n This indicates the duration corresponding to a unit of communication time.

[0045] The first comparison module is used to compare the first communication status evaluation parameter with a preset first evaluation threshold.

[0046] The communication status evaluation module is used to determine that the communication status between the current mechanical ground breaking analysis module, hydraulic ground breaking analysis module, and hydrological impact analysis module and the production capacity calculation module is good when the first communication status evaluation parameter is not lower than the preset first evaluation threshold.

[0047] The communication status anomaly evaluation module is used to determine the anomaly of the communication status between the current mechanical groundbreaking analysis module, hydraulic groundbreaking analysis module, and hydrological impact analysis module and the production capacity calculation module when the first communication status evaluation parameter is lower than the preset first evaluation threshold.

[0048] According to a preferred embodiment of the present invention, a communication status anomaly evaluation module includes:

[0049] The data information extraction module is used to extract communication connection recovery time and communication connection delay;

[0050] The second communication status evaluation parameter acquisition module is used to acquire second communication status evaluation parameters using the communication connection recovery time and communication connection delay of the communication status parameters; wherein, the second communication status evaluation parameters are acquired by the following formula:

[0051]

[0052] Among them, J 02 The parameter represents the second communication status evaluation parameter; n represents the number of communication units of time experienced during the communication operation between the mechanical groundbreaking analysis module, the hydraulic groundbreaking analysis module, the hydrological impact analysis module, and the production capacity calculation module, and the value of the communication unit of time ranges from 24h to 72h; P ti P represents the average ratio of the communication connection delay to the communication connection recovery time corresponding to N communication connection interruptions within the i-th communication unit time; ni P represents the average ratio of the communication connection recovery time to the communication unit time corresponding to N communication connection interruptions within the i-th communication unit time; tmaxi P represents the maximum ratio of communication connection delay to communication connection recovery time among N communication connection interruptions within the i-th communication unit time. nmi P represents the ratio of the communication connection recovery time to the communication unit time corresponding to the maximum ratio of the communication connection delay to the communication connection recovery time among the N communication connection interruptions within the i-th communication unit time; nmaxi P represents the maximum ratio of the communication connection recovery time to the communication unit time among N communication connection interruptions within the i-th communication unit time; tmiThis represents the ratio of communication connection delay to communication connection recovery time among the N communication connection interruptions within the i-th communication unit time, corresponding to the maximum ratio of communication connection recovery time to communication unit time.

[0053] The second comparison module is used to compare the second communication status evaluation parameter with a preset second evaluation threshold.

[0054] The first communication anomaly judgment module is used to determine that the communication status between the current mechanical ground breaking analysis module, hydraulic ground breaking analysis module, and hydrological impact analysis module and the production capacity calculation module is normal when the second communication status evaluation parameter is not lower than the preset second evaluation threshold.

[0055] The second communication anomaly judgment module is used to determine that there is an anomaly in the communication status between the current mechanical ground breaking analysis module, hydraulic ground breaking analysis module, and hydrological impact analysis module and the production capacity calculation module when the second communication status evaluation parameter is lower than the preset second evaluation threshold, and to issue an anomaly alarm.

[0056] A third aspect of the present invention provides an electronic device including a processor and a memory, wherein the memory stores a computer program that can be called by the processor;

[0057] The processor executes the multi-factor coupled dredging output calculation method for trailing suction hopper dredgers by calling the computer program stored in the memory.

[0058] A fourth aspect of the present invention provides a computer-readable storage medium, characterized in that it stores instructions that, when executed on a computer, cause the computer to perform the multi-factor coupled dredging output calculation method for a trailing suction hopper dredger.

[0059] The technical effects and advantages of the multi-factor coupled dredging output calculation method and calculation system for trailing suction hopper dredgers of this invention are as follows:

[0060] This invention comprehensively considers the impact of mechanical excavation, hydraulic excavation, and hydrological environment on the dredging process, enabling more accurate prediction and optimization of the dredging output of trailing suction hopper dredgers, thereby improving their operational efficiency. Furthermore, it takes into account the uncertainties of the external environment and establishes a multi-factor coupled dredging output calculation model through parameter identification and learning, making it more flexible and adaptable. This allows for more precise adjustment of the trailing suction hopper dredger's operating parameters, such as the type of rake teeth and high-pressure water discharge characteristics, to maximize dredging output while avoiding unnecessary energy waste and equipment wear. It can achieve optimal dredging results under different environmental conditions, improving dredging efficiency, optimizing operating strategies, enhancing decision support, and promoting the intelligent development of dredgers. Attached Figure Description

[0061] Figure 1 This is a schematic diagram of the multi-factor coupled dredging output calculation system for the trailing suction hopper dredger of the present invention;

[0062] Figure 2 This is a flowchart of the multi-factor coupled dredging output calculation method for trailing suction hopper dredgers of the present invention;

[0063] Figure 3 This is a schematic diagram of the structure of an electronic device according to the present invention. Detailed Implementation

[0064] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0065] Trailing suction hopper dredgers are essential equipment for dredging waterways, ports, and waterways. Their dredging output is affected by various factors, including the vessel's own performance, working environment, and operating methods. To accurately assess the dredging output of trailing suction hopper dredgers, a multi-factor coupled dredging output calculation model needs to be established.

[0066] Example 1

[0067] Please see Figure 1 As shown, this embodiment provides a multi-factor coupled dredging output calculation system for a trailing suction hopper dredger, including a mechanical breaking analysis module 1, a hydraulic breaking analysis module 2, a hydrological impact analysis module 3, and an output calculation module 4. The above modules are connected by wired and / or wireless means to realize data transmission between modules.

[0068] The mechanical soil breaking analysis module 1 determines the rake tooth information corresponding to the trailing suction dredger based on the current water area location information, substitutes the rake tooth information and water area location information into the mechanical soil breaking volume calculation model, calculates the mechanical soil breaking volume per unit time and the corresponding rake tooth soil breaking parameter table; and sends the mechanical soil breaking volume per unit time and the corresponding rake tooth soil breaking parameter table to the production capacity calculation module 4.

[0069] It should be noted that the location information of the water area includes the water topography, the type of water bottom sediment, the depth of the water area, and the water flow velocity. The water topography includes the basic geological conditions of the water area and the presence of obstacles on the basic geological conditions. The type of water bottom sediment includes, but is not limited to, silt, clay, and rock.

[0070] The rake tooth information is relevant rake tooth information set in advance by technicians; the rake tooth information includes the size of the rake tooth, the structure of the rake tooth, the hardness of the rake tooth, the working angle of the rake tooth, and the rotation speed of the rake tooth.

[0071] The logic for determining the rake tooth information is as follows:

[0072] Based on the current water area, the area to be dredged by the suction hopper is obtained and divided into I water area location information. The current water area location information is marked as i, i = 1, 2, 3, ..., I, I ≥ 1;

[0073] Based on the water topography, extract the current water area corresponding to the suction hopper displacement, suction hopper area, suction hopper volume, and water slope value. Then, based on the suction hopper displacement, suction hopper area, suction hopper volume, and water slope value Px... i Obtain the terrain influence coefficient YP corresponding to the water area topography. i ;

[0074] YP i =α1·Py i ·(α2·Pm i +α3·Pt i +α4·Px i );

[0075] In the formula, α1, α2, α3, and α4 take values ​​in (0,1), and α1, α2, α3, and α4 are the displacement values ​​of the rake suction pump, Py, respectively. i , rake suction area value Pm i Pt (volume value of the rake) i and water slope value Px i The weighting factor coefficients;

[0076] Based on prior knowledge, we obtain the influence coefficients of water bottom sediment type, water depth, and water flow velocity on the dredging difficulty of trailing suction hopper dredgers, as well as the water depth and water flow velocity.

[0077] It should be noted that the reason for using prior knowledge here is that, at the beginning of the experiments with trailing suction hopper dredgers, the influence coefficients of water bottom type, water depth, and water flow velocity on the dredging difficulty of the trailing suction hopper dredger were analyzed using machine learning models or mathematical statistics. Therefore, this part of the theoretical knowledge can directly draw upon historical experimental data.

[0078] However, this part of the experimental data itself has many influencing factors, and our experimental environment is not diverse, but analyzed in a certain safe working environment. Therefore, although the influence coefficient here has a certain degree of randomness, it can quickly and accurately obtain the estimated value of the influence coefficient between them. Therefore, in practical applications, it can also be subjectively assigned based on the experience of experts.

[0079] Specifically, for example, softer substrates (such as sand) are easier to excavate, while harder substrates (such as rock) are more difficult to excavate, that is:

[0080] Sandy bottom: Influence coefficient = 1.0 (or close to 1.0, indicating lower excavation difficulty);

[0081] Clay substrate: Influence coefficient = 1.5 (indicating that the excavation difficulty is slightly higher than that of sandy substrate);

[0082] Rock substrate: Influence coefficient = 2.0 or higher (indicating high excavation difficulty).

[0083] Shallower water depths mean that dredgers can operate more directly and efficiently, while deeper water depths may require more energy and time to excavate.

[0084] Shallow water areas (e.g., less than 5 meters): Influence coefficient = 1.0 (or slightly lower);

[0085] In medium water depth areas (e.g., 5-15 meters): Influence coefficient = 1.2;

[0086] Deep water areas (e.g., greater than 15 meters): Influence coefficient = 1.5 or higher.

[0087] The faster the water flow, the more energy the dredger may need to overcome the resistance of the water flow, and the dredged material may be more easily carried away by the water flow.

[0088] Slow water flow (e.g., less than 1 section): Influence coefficient = 1.0;

[0089] Medium flow (e.g., sections 1-2): Influence coefficient = 1.3;

[0090] Fast-moving water flow (e.g., more than 2 sections): Influence coefficient = 1.6 or higher.

[0091] After normalizing the topographic influence coefficient, bottom sediment influence coefficient, water depth influence coefficient, and flow influence coefficient of the hopper, the hopper difficulty coefficient PN is calculated according to the formula. i ;

[0092] PN i =β1·YP i +β2·YD i +β3·YS i +β4·YV i ;

[0093] In the formula, β1, β2, β3, and β4 take values ​​in (0,1), and β1, β2, β3, and β4 are the topographic influence coefficients YP of the harrowing suction hopper. i Influence coefficient of water bottom sediment YD i Water depth influence coefficient YVi and the influence coefficient of water flow YV i The weighting factor coefficients;

[0094] It should be noted that after mathematically processing the topographic influence coefficient, bottom sediment influence coefficient, water depth influence coefficient, and flow influence coefficient of the hopper dredge, it can be seen at the same latitude that the larger the coefficients corresponding to these factors, the greater the difficulty coefficient PN of the hopper dredge. i The larger the size, the greater the requirements for the performance of the rake teeth; the difficulty coefficient of rake suction PN i The smaller the number of teeth, the lower the performance requirements for the rake teeth; however, in practical applications, the more teeth there are, the larger the contact area with the ground, and the shallower the penetration depth; the fewer teeth there are, the deeper the penetration depth, but the overall soil breaking volume of the rake head per unit time will also be relatively small.

[0095] Therefore, it is still necessary to divide the difficulty coefficient of the trailing suction hopper into multiple difficulty intervals using a fuzzy function, and configure different trailing tooth information in different difficulty intervals. This part is mainly based on a large amount of working data obtained in the actual application of trailing suction hopper dredgers, and then obtained by experts in this field based on statistical analysis of a large amount of working data.

[0096] Based on prior knowledge, the difficulty coefficient of the harrow suction is divided into multiple harrow suction difficulty ranges, and the current harrow suction difficulty coefficient PN is obtained through comparative analysis. i The corresponding harrowing difficulty range is used to determine the harrow tooth information; the harrow tooth information includes the harrow tooth size, harrow tooth structure, harrow tooth hardness, harrow tooth working angle, and rotation speed.

[0097] It should be noted that the principle for determining the difficulty range of the rake suction is: the rake suction difficulty coefficient PN. i The value is greater than or equal to the minimum value of the current suction difficulty range and the suction difficulty coefficient PN i Less than the maximum value of the range of difficulty in the rake suction;

[0098] The mechanical soil breaking volume calculation model includes a rake head static soil breaking model and a rake head dynamic soil breaking model;

[0099] The force exerted by the rake teeth on the soil and the dragging force during the movement are calculated based on the static soil breaking model of the rake head.

[0100] Specifically, the vertical force is determined by the weight of the rake teeth and the supporting force of the soil on the rake teeth, the horizontal force is determined by the friction generated when the rake teeth cut into the soil, and the drag force is the resistance of the soil on the rake teeth during the movement of the rake head.

[0101] The forces exerted by the rake teeth on the soil include vertical force Fn and horizontal force Fs. The friction coefficient μ between the soil and the rake teeth and the dragging force Fd during the movement are calculated by formula.

[0102] Fs = μ*Fn;

[0103] Fd=Cd*ρ*A*v 2 ;

[0104] Where Cd is the drag coefficient, ρ is the soil density, A is the cross-sectional area of ​​the harrow teeth, and v is the moving speed of the harrow teeth.

[0105] Based on the dynamic soil breaking model of the harrow head, combined with the law of conservation of energy and the static model of the harrow head, the soil breaking depth of the harrow teeth is calculated; thus, the amount of mechanical soil breaking per unit time and the corresponding harrow tooth soil breaking parameters are obtained, and a harrow tooth soil breaking parameter table is formed. The harrow tooth soil breaking parameter table includes the harrow tooth soil breaking parameters that affect the amount of mechanical soil breaking and the harrow suction influence factor corresponding to each harrow tooth soil breaking parameter.

[0106] Specifically, the dynamic model considers the kinetic energy consumed when the rake teeth enter the soil. From the perspective of energy conservation, the kinetic energy of the rake teeth is converted into the deformation energy and internal energy of the soil.

[0107] Ei = Ed + En;

[0108] Combining static models and the principle of energy conservation, a formula for calculating the soil breaking depth D of the rake teeth can be established, namely:

[0109] Where Ei is the initial kinetic energy of the harrow teeth, Ed is the deformation energy of the soil, En is the heat energy generated by internal friction, and Fp is the deviation resistance generated by uncontrollable external factors on the movement of the harrow teeth.

[0110] It should be noted that Fd*D represents the work done by soil resistance, while Fp*D represents the work done by the soil in response to uncontrollable external factors. In actual modeling and calculations, it is known that the more rake teeth there are, the larger the contact area and the shallower the penetration depth; conversely, fewer rake teeth result in a deeper penetration depth, but the overall soil breaking volume per unit time is also smaller. The penetration depth of the rake teeth mainly depends on the number of rake teeth, the penetration speed, and the shear strength of the soil. Therefore, the optimal number of rake teeth varies depending on the type of vessel, soil, and rake tooth. Thus, before using a trailing suction hopper dredger, all foreseeable resistance should be converted into drag force during operation. However, the deviation resistance caused by uncontrollable external factors on the movement of the rake teeth is also affected by various factors, such as hydrological information, equipment condition information, and operating techniques. Therefore, in practical applications, a comprehensive consideration and judgment based on the actual situation is necessary.

[0111] The harrow tooth breaking parameter table, calculated based on the mechanical breaking volume calculation model, can list the estimated amount of mechanical breaking volume per unit time under different harrow tooth information and different water area location information. Using the estimated amount of mechanical breaking volume as a reference can help operators or engineers quickly estimate the breaking volume in actual operation.

[0112] Hydraulic soil breaking analysis module 2, based on the high-pressure water discharge characteristic information corresponding to the trailing suction hopper dredger, substitutes the high-pressure water discharge characteristic information into the hydraulic soil breaking volume calculation model, calculates the hydraulic soil breaking volume per unit time and the corresponding high-pressure water discharge characteristic table; and sends the hydraulic soil breaking volume per unit time and the corresponding high-pressure water discharge characteristic table to the production capacity calculation module 4.

[0113] Specifically, the logic for obtaining the high-pressure water output characteristic information is as follows:

[0114] High-pressure water discharge characteristic information is extracted based on the experimental environment. The experimental environment is a simulated environment where the tester controls the high-pressure water discharge of the trailing suction hopper dredger. By changing the hydraulic soil breaking influence parameters of the trailing suction hopper dredger, the high-pressure water discharge characteristic information of the trailing suction hopper dredger is collected.

[0115] The high-pressure water discharge characteristic information includes, but is not limited to, high-pressure water discharge velocity, high-pressure water discharge pipe diameter, ship speed, and soil shear strength; the high-pressure water discharge velocity includes vertical water discharge velocity, horizontal water discharge velocity, and water discharge soil penetration angle, wherein the water discharge soil penetration angle is the angle between the water discharge direction and the vertical direction.

[0116] Based on the high-pressure water discharge characteristic information, a hydraulic soil breaking volume calculation model is used to obtain the hydraulic soil breaking volume per unit time under different conditions. The formula for the hydraulic soil breaking volume calculation model is as follows:

[0117]

[0118] Where G represents the hydraulic excavation depth, V1 is the high-pressure water velocity, d is the high-pressure water pipe diameter, V2 is the ship speed, M is the soil shear strength, a and b are fitting parameters obtained experimentally, and G0 is the weight of the unit soil pile. The value calculated by the formula preceding G0 is the hydraulic excavation depth, and G0 is a proposed reference value. The weight of the unit soil pile needs to consider the width and speed of the trailing suction hopper dredger, combined with the height and shape of the resulting soil pile. In other words, it needs to be determined through testing and experiments based on the actual hydraulic excavation conditions to ensure that the proposed reference value is objective and has a certain degree of average approximation.

[0119] After obtaining the hydraulic soil breaking volume per unit time under different conditions, a high-pressure water discharge characteristic table is determined based on the hydraulic soil breaking volume per unit time. The high-pressure water discharge characteristic table includes high-pressure water discharge characteristic information that affects the hydraulic soil breaking volume and soil breaking volume influencing factors corresponding to each high-pressure water discharge characteristic information.

[0120] It should be noted that: field experiments were conducted under different conditions to collect actual soil breaking data, and the experimental data were compared with the results of the calculation model to verify and calibrate the model in order to improve its accuracy; based on the verified calculation model, a soil breaking rake tooth breaking parameter table was developed, which can list the estimated soil breaking volume under different conditions such as high pressure water flow rate, water breaking angle, and soil type.

[0121] It is important to note that the calculation of the amount of soil to be excavated and the actual results can be affected by many factors, such as soil heterogeneity, water flow instability, and equipment wear. Therefore, even with a calculation model and parameter table, flexible adjustments and operations are necessary based on the actual situation.

[0122] The hydrological impact analysis module 3 processes hydrological environmental information using fuzzy functions to obtain the dredging impact level; the dredging impact level is then sent to the production capacity calculation module 4.

[0123] The logic for obtaining the impact level of dredging is as follows:

[0124] Based on historical hydrological and environmental information, hydrological impact characteristic parameters and their corresponding characteristic parameter thresholds are extracted, and several dredging impact levels are generated by using a hierarchical fuzzy function for each hydrological impact characteristic parameter.

[0125] Obtain the hydrological environment information corresponding to the water area location information, and substitute the hydrological environment information into the fuzzy function to obtain the dredging impact level corresponding to the current hydrological environment.

[0126] It should be noted that the dredging impact level is based on the degree of impact of historical hydrological environmental information on the dredging of trailing suction hopper dredgers, and the degree of impact is represented by a characteristic parameter threshold.

[0127] During the research and development process, to facilitate calculation and statistics, a simpler method of statistics is provided. Without considering extreme accuracy, this method is applicable to most hydrological environments, specifically as follows:

[0128] The logic for obtaining another aspect of the dredging impact level is as follows:

[0129] Hydrological impact characteristic parameters and their corresponding characteristic impact factors are extracted based on historical hydrological environmental information. The hydrological impact characteristic parameters and their corresponding characteristic impact factors are then calculated using a weighted formula to obtain the hydrological impact parameters.

[0130] Based on prior knowledge, hydrological impact thresholds are set for the hydrological impact parameters, and several dredging impact levels are divided based on the hydrological impact thresholds.

[0131] Obtain hydrological environmental information corresponding to the location of the water area, extract the corresponding hydrological impact characteristic parameters and corresponding characteristic impact factors based on the hydrological environmental information, and calculate the current hydrological impact parameters through a weighted formula; obtain the dredging impact level corresponding to the current hydrological environment based on the hydrological impact parameters.

[0132] Module 4, under uncertain external environments, establishes a multi-factor coupled excavation output calculation model through parameter identification and learning. This model considers the environmental constraints of the dredging impact level on the mechanical and hydraulic excavation volume per unit time, and finally calculates the excavation output of the trailing suction hopper dredger.

[0133] The calculation logic for the dredging output of the trailing suction hopper dredger is as follows:

[0134] A model for calculating excavation output was constructed. The mechanical excavation volume per unit time corresponding to the rake tooth breaking parameters and the hydraulic excavation volume per unit time corresponding to the high-pressure water discharge characteristics were analyzed under different dredging influence levels. The corresponding excavation influence coefficient was determined based on the degree of change of the mechanical and hydraulic excavation volumes per unit time.

[0135] Constraints are constructed using the soil breaking influence coefficients corresponding to the mechanical and hydraulic soil breaking volume per unit time. The objective function is the calculation formula for the maximum soil breaking depth, which outputs the dredging output of the trailing suction hopper dredger.

[0136] It should be noted that the mechanical soil breaking analysis module 1 and the hydraulic soil breaking analysis module 2 respectively obtain the rake tooth soil breaking parameter table and the high-pressure water discharge characteristic table;

[0137] The table of rake tooth breaking parameters corresponds to the rake tooth breaking parameters that affect the mechanical breaking amount and the rake suction influencing factor for each rake tooth breaking parameter.

[0138] The high-pressure water discharge characteristic table includes high-pressure water discharge characteristic information that affects the hydraulic soil breaking volume and soil breaking volume influencing factors corresponding to each high-pressure water discharge characteristic information.

[0139] The influencing factors of the trailing suction hopper and the soil breaking volume are determined through experimental data, simulation results, or expert evaluation. To a certain extent, these factors can indeed characterize the influencing factors of trailing suction hopper dredgers. However, with the development of science and technology, when higher precision intelligent control of trailing suction hopper dredgers is required, the determination of existing influencing factors has shortcomings. Therefore, when improving the existing technology, the degree of influence of hydrological environmental information on the operation of trailing suction hopper dredgers is incorporated into the research and development direction. Dredging impact levels are classified based on hydrological environmental information. Based on the dredging impact levels, the soil breaking parameter table of the rake teeth and the high-pressure water discharge characteristic table are updated in real time, and the mechanical soil breaking volume and hydraulic soil breaking volume per unit time are recalculated.

[0140] Constraints are constructed using the soil breaking influence coefficients corresponding to the mechanical and hydraulic soil breaking volumes per unit time to ensure that the excavation process conforms to the actual situation and takes into account various influencing factors. The calculation formula for the maximum soil breaking depth is used as the objective function. Within a given time, the maximum soil breaking depth is achieved by optimizing the combination of mechanical and hydraulic soil breaking. Based on the results of the optimization calculation, the excavation output of the trailing suction hopper dredger is output, which can better understand the excavation process, improve excavation efficiency, and optimize the operation strategy of the dredger.

[0141] The above formulas are all dimensionless calculations. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters and thresholds in the formulas are set by those skilled in the art according to the actual situation.

[0142] Meanwhile, the multi-factor coupled dredging output calculation system for the trailing suction hopper dredger also includes:

[0143] The real-time monitoring module is used to monitor the communication status parameters between the mechanical soil breaking analysis module, the hydraulic soil breaking analysis module, the hydrological impact analysis module, and the production capacity calculation module in real time; wherein, the communication status parameters include the number of communication connection interruptions, the communication connection recovery time, and the communication connection delay;

[0144] The first communication status evaluation parameter acquisition module is used to acquire the first communication status evaluation parameter using the number of communication connection interruptions and the communication connection recovery time of the communication status parameters; wherein, the first communication status evaluation parameter is acquired by the following formula:

[0145]

[0146] Among them, J 01 The parameter represents the first communication status evaluation parameter; n represents the number of communication units of time experienced during the communication operation between the mechanical groundbreaking analysis module, the hydraulic groundbreaking analysis module, the hydrological impact analysis module, and the production capacity calculation module, and the value of the communication unit of time ranges from 24h to 72h; N i N represents the number of communication connection interruptions occurring in the i-th communication unit of time; i-1 N represents the number of communication connection interruptions occurring in the (i-1)th communication unit of time; p N represents the average number of communication connection interruptions occurring over n communication units of time; z λ represents the median number of communication connection interruptions occurring within n communication units of time; i Let represent the compensation coefficient corresponding to the i-th communication unit time, and the compensation coefficient is obtained by the following formula:

[0147]

[0148] Where λ represents the compensation coefficient; N represents the number of communication connection interruptions per unit of time; T i T represents the communication connection recovery time corresponding to the i-th communication connection interruption; m represents the preset maximum allowable duration of communication interruption; p represents the occurrence rate of data transmission operations of the mechanical soil breaking analysis module, hydraulic soil breaking analysis module, and hydrological impact analysis module under the communication interruption state within the current communication unit time; T max T represents the maximum communication connection recovery time within a given communication unit of time; n This indicates the duration corresponding to a unit of communication time.

[0149] The first comparison module is used to compare the first communication status evaluation parameter with a preset first evaluation threshold.

[0150] The communication status evaluation module is used to determine that the communication status between the current mechanical ground breaking analysis module, hydraulic ground breaking analysis module, and hydrological impact analysis module and the production capacity calculation module is good when the first communication status evaluation parameter is not lower than the preset first evaluation threshold.

[0151] The communication status anomaly evaluation module is used to determine the anomaly of the communication status between the current mechanical groundbreaking analysis module, hydraulic groundbreaking analysis module, and hydrological impact analysis module and the production capacity calculation module when the first communication status evaluation parameter is lower than the preset first evaluation threshold.

[0152] The technical benefits of the above solution are as follows: Through the real-time monitoring module, the system can continuously monitor the communication status between the mechanical groundbreaking analysis module, the hydraulic groundbreaking analysis module, the hydrological impact analysis module, and the production capacity calculation module, including key parameters such as the number of communication connection interruptions, recovery time, and latency. This real-time monitoring provides crucial data support for the stable operation of the system.

[0153] The first communication status evaluation parameter acquisition module uses complex mathematical formulas to comprehensively consider the number of communication connection interruptions, recovery time, and the dynamic changes of these parameters (such as the increasing or decreasing trend of the number of interruptions and the difference in recovery time), and calculates the first communication status evaluation parameter (J01). This quantitative evaluation can more accurately reflect the quality of the communication status and avoid the limitations of subjective judgment.

[0154] Through the first comparison module and the communication status evaluation module, the system can automatically compare the calculated first communication status evaluation parameters with the preset first evaluation threshold, thereby intelligently determining whether the current communication status is good. This automated judgment mechanism improves the system's response speed and accuracy.

[0155] When the communication status is evaluated as poor, the communication status anomaly evaluation module will further utilize parameters such as communication connection recovery time and delay to determine the anomaly in the communication status. This helps to promptly identify and locate the cause of the communication failure, providing strong support for subsequent fault handling and maintenance work.

[0156] Overall, this technical solution comprehensively improves the stability and reliability of the multi-factor coupled dredging output calculation system for trailing suction hopper dredgers through real-time monitoring, precise quantification, intelligent judgment, and anomaly detection. It ensures smooth communication between system modules, reduces system anomalies or downtime caused by communication failures, thereby improving the overall system's operating efficiency and dredging output.

[0157] Supporting Decision-Making: Through in-depth analysis and evaluation of communication status, the system can also provide valuable reference information for decision-makers. For example, when anomalies in communication status are detected, decision-makers can quickly take intervention measures to avoid potential losses or risks. Simultaneously, the long-term accumulation of communication status data helps decision-makers better understand the system's operational status, providing data support for future system optimization and upgrades.

[0158] Specifically, the communication status anomaly evaluation module includes:

[0159] The data information extraction module is used to extract communication connection recovery time and communication connection delay;

[0160] The second communication status evaluation parameter acquisition module is used to acquire second communication status evaluation parameters using the communication connection recovery time and communication connection delay of the communication status parameters; wherein, the second communication status evaluation parameters are acquired by the following formula:

[0161]

[0162] Among them, J 02 The parameter represents the second communication status evaluation parameter; n represents the number of communication units of time experienced during the communication operation between the mechanical groundbreaking analysis module, the hydraulic groundbreaking analysis module, the hydrological impact analysis module, and the production capacity calculation module, and the value of the communication unit of time ranges from 24h to 72h; P ti P represents the average ratio of the communication connection delay to the communication connection recovery time corresponding to N communication connection interruptions within the i-th communication unit time; ni P represents the average ratio of the communication connection recovery time to the communication unit time corresponding to N communication connection interruptions within the i-th communication unit time; tmaxi P represents the maximum ratio of communication connection delay to communication connection recovery time among N communication connection interruptions within the i-th communication unit time. nmiP represents the ratio of the communication connection recovery time to the communication unit time corresponding to the maximum ratio of the communication connection delay to the communication connection recovery time among the N communication connection interruptions within the i-th communication unit time; nmaxi P represents the maximum ratio of the communication connection recovery time to the communication unit time among N communication connection interruptions within the i-th communication unit time; tmi This represents the ratio of communication connection delay to communication connection recovery time among the N communication connection interruptions within the i-th communication unit time, corresponding to the maximum ratio of communication connection recovery time to communication unit time.

[0163] The second comparison module is used to compare the second communication status evaluation parameter with a preset second evaluation threshold.

[0164] The first communication anomaly judgment module is used to determine that the communication status between the current mechanical ground breaking analysis module, hydraulic ground breaking analysis module, and hydrological impact analysis module and the production capacity calculation module is normal when the second communication status evaluation parameter is not lower than the preset second evaluation threshold.

[0165] The second communication anomaly judgment module is used to determine that there is an anomaly in the communication status between the current mechanical ground breaking analysis module, hydraulic ground breaking analysis module, and hydrological impact analysis module and the production capacity calculation module when the second communication status evaluation parameter is lower than the preset second evaluation threshold, and to issue an anomaly alarm.

[0166] The technical effect of the above solution is as follows: By introducing a second communication status evaluation parameter (J02), the solution further refines the evaluation of communication status. It not only considers the two key indicators of communication connection recovery time and communication connection delay, but also combines the average value, maximum value and their ratios in different communication units of time, thereby reflecting subtle changes in communication status more comprehensively and accurately.

[0167] The calculation of the second communication status evaluation parameter is complex and multi-dimensional, enabling the system to more sensitively detect abnormal changes in communication status. In particular, by comparing the ratio of communication delay to recovery time and the relative relationship between these ratios and communication unit time, the system can detect potential communication problems earlier, providing the possibility for timely measures.

[0168] Through the second comparison module and two communication anomaly judgment modules (first and second), the system realizes the hierarchical judgment of communication status. When the second communication status evaluation parameter is not lower than the preset second evaluation threshold, the system determines the communication status as "normal", which may mean that although there are some problems, they have not yet reached the level of serious anomaly; while when the evaluation parameter is lower than the threshold, it is determined as "anomaly exists" and an anomaly alarm is triggered, which helps to draw attention in a timely manner and take corresponding measures.

[0169] The design of the entire communication status anomaly evaluation module reflects the system's autonomy and intelligence. It can automatically extract data, calculate evaluation parameters, make comparisons and judgments, and issue anomaly alarms when necessary, completing comprehensive monitoring and evaluation of the communication status without manual intervention.

[0170] By conducting in-depth assessments of communication status and timely anomaly detection, this technical solution helps improve the overall performance and reliability of the multi-factor coupled dredging output calculation system for trailing suction hopper dredgers. It reduces system anomalies or downtime caused by communication failures, ensures smooth communication and data exchange between system modules, thereby improving system operating efficiency and dredging output.

[0171] When the system detects abnormal communication status, it not only issues alarms but also provides relevant assessment data and judgment results. This provides strong support for operations and maintenance personnel to quickly locate problems, analyze causes, and take effective measures, reducing the difficulty and cost of operations and maintenance.

[0172] Example 2

[0173] Please see Figure 2 As shown, for parts not described in detail in this embodiment, please refer to the description in Embodiment 1. A multi-factor coupled dredging output calculation method for trailing suction hopper dredgers is provided, including the following steps:

[0174] Based on the current water area location information, determine the corresponding rake tooth information of the trailing suction dredger. Substitute the rake tooth information and water area location information into the mechanical soil breaking calculation model to calculate the mechanical soil breaking volume per unit time and the corresponding rake tooth soil breaking parameter table.

[0175] Based on the high-pressure water discharge characteristic information of the trailing suction hopper dredger, the high-pressure water discharge characteristic information is substituted into the hydraulic soil breaking volume calculation model to calculate the hydraulic soil breaking volume per unit time and the corresponding high-pressure water discharge characteristic table.

[0176] Hydrological environmental information is processed using fuzzy functions, and the dredging impact level is classified according to the dredging demand in the dredging area.

[0177] In an uncertain external environment, a multi-factor coupled excavation output calculation model is established through parameter identification learning. This model considers the environmental constraints of the dredging impact level on the mechanical and hydraulic excavation volume per unit time, and finally calculates the excavation output of the trailing suction hopper dredger.

[0178] According to a preferred embodiment of the present invention, the water area location information includes water area topography, water area bottom sediment type, water area depth, and water flow velocity; the logic for determining the rake tooth information is as follows:

[0179] Based on the current water area, the area to be dredged by the suction hopper is obtained, and the area is divided into multiple water area location information. Based on the current water area location information, the suction hopper displacement value, suction hopper area value, suction hopper volume value, and water area slope value corresponding to the current water area topography are extracted. Based on the suction hopper displacement value, suction hopper area value, suction hopper volume value, and water area slope value, the suction hopper topography influence coefficient corresponding to the water area topography is obtained.

[0180] Based on prior knowledge, we obtain the influence coefficients of water bottom sediment type, water depth, and water flow velocity on the dredging difficulty of trailing suction hopper dredgers, as well as the water depth and water flow velocity.

[0181] The difficulty coefficient of the hopper is calculated after normalizing the topographic influence coefficient, water bottom sediment influence coefficient, water depth influence coefficient and water flow influence coefficient.

[0182] Based on prior knowledge, the difficulty coefficient of the harrow suction is divided into multiple harrow suction difficulty intervals. By comparison and analysis, the harrow suction difficulty interval corresponding to the current harrow suction difficulty coefficient is obtained. The harrow tooth information is determined based on the harrow suction difficulty interval. The harrow tooth information includes the size of the harrow tooth, the harrow tooth structure, the harrow tooth hardness, the working angle of the harrow tooth, and the rotation speed of the harrow tooth.

[0183] According to a preferred embodiment of the present invention, the mechanical soil breaking volume calculation model includes a rake head static soil breaking model and a rake head dynamic soil breaking model;

[0184] Based on the information of the rake teeth and the location of the water area, the force exerted by the rake teeth on the soil and the drag force and deviation resistance during the movement are obtained through the static soil breaking model of the rake head.

[0185] Based on the dynamic soil breaking model of the harrow head, combined with the law of conservation of energy and the static model of the harrow head, the soil breaking depth of the harrow teeth is calculated; thereby, the mechanical soil breaking volume per unit time and the corresponding harrow tooth soil breaking parameters are calculated, and a harrow tooth soil breaking parameter table is formed.

[0186] The table of rake tooth breaking parameters includes rake tooth breaking parameters that affect the amount of mechanical breaking and the rake suction influence factor corresponding to each rake tooth breaking parameter.

[0187] Based on a preferred embodiment of the present invention, the logic for obtaining the water high-pressure outlet characteristic information is as follows:

[0188] High-pressure water discharge characteristic information is extracted based on the experimental environment. The experimental environment is a simulated environment in which testers control the high-pressure water discharge of the trailing suction hopper dredger and collect high-pressure water discharge characteristic information of the trailing suction hopper dredger by changing the changes in the hydraulic soil breaking influence parameters of the trailing suction hopper dredger.

[0189] The high-pressure water discharge characteristic information includes, but is not limited to, high-pressure water discharge velocity, high-pressure water discharge pipe diameter, ship speed, and soil shear strength; the high-pressure water discharge velocity includes vertical water discharge velocity, horizontal water discharge velocity, and water discharge soil penetration angle, wherein the water discharge soil penetration angle is the angle between the water discharge direction and the vertical direction.

[0190] Based on the high-pressure water discharge characteristic information, the hydraulic soil breaking volume per unit time under different conditions is obtained, and a high-pressure water discharge characteristic table is determined according to the hydraulic soil breaking volume per unit time. The high-pressure water discharge characteristic table includes high-pressure water discharge characteristic information that affects the hydraulic soil breaking volume and soil breaking volume influence factor corresponding to each high-pressure water discharge characteristic information.

[0191] According to a preferred embodiment of the present invention, the logic for obtaining the dredging impact level is as follows:

[0192] Based on historical hydrological and environmental information, hydrological impact characteristic parameters and their corresponding characteristic parameter thresholds are extracted, and several dredging impact levels are generated by using a hierarchical fuzzy function for each hydrological impact characteristic parameter.

[0193] Obtain the hydrological environment information corresponding to the water area location information, and substitute the hydrological environment information into the fuzzy level function to obtain the dredging impact level corresponding to the current hydrological environment.

[0194] According to a preferred embodiment of the present invention, the calculation logic for the dredging output of the trailing suction hopper dredger is as follows:

[0195] A model for calculating excavation output was constructed. The mechanical excavation volume per unit time corresponding to the rake tooth breaking parameters and the hydraulic excavation volume per unit time corresponding to the high-pressure water discharge characteristics were analyzed under different dredging influence levels. The corresponding excavation influence coefficient was determined based on the degree of change of the mechanical and hydraulic excavation volumes per unit time.

[0196] Constraints are constructed using the soil breaking influence coefficients corresponding to the mechanical and hydraulic soil breaking volume per unit time. The objective function is the calculation formula for the maximum soil breaking depth, which outputs the dredging output of the trailing suction hopper dredger.

[0197] According to a preferred embodiment of the present invention, the logic for obtaining another aspect of the dredging impact level is as follows:

[0198] Hydrological impact characteristic parameters and their corresponding characteristic impact factors are extracted based on historical hydrological environmental information. The hydrological impact characteristic parameters and their corresponding characteristic impact factors are calculated by a weighted formula to obtain the hydrological impact parameters.

[0199] Based on prior knowledge, hydrological impact thresholds are set for the hydrological impact parameters, and several dredging impact levels are divided based on the hydrological impact thresholds.

[0200] Obtain hydrological environmental information corresponding to the location of the water area, extract the corresponding hydrological impact characteristic parameters and corresponding characteristic impact factors based on the hydrological environmental information, and calculate the current hydrological impact parameters through a weighted formula; obtain the dredging impact level corresponding to the current hydrological environment based on the hydrological impact parameters.

[0201] Example 3

[0202] An electronic device according to an exemplary embodiment includes: a processor and a memory, wherein the memory stores a computer program that can be called by the processor;

[0203] The processor executes the above-described method for calculating the multi-factor coupled dredging output of a trailing suction hopper dredger by calling the computer program stored in the memory.

[0204] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may vary considerably due to different configurations or performance. It may include one or more processors (Central Processing Units, CPU) and one or more memories. The memory stores at least one computer program, which is loaded and executed by the processor to implement the multi-factor coupled dredging output calculation method for trailing suction hopper dredgers provided in the above-described method embodiments.

[0205] The electronic device may also include other components for implementing the device's functions. For example, the electronic device may also have wired or wireless network interfaces and input / output interfaces for input and output. Further details regarding the embodiments described in this application will not be elaborated upon here.

[0206] A computer-readable storage medium, characterized in that it stores instructions that, when executed on a computer, cause the computer to perform the multi-factor coupled dredging output calculation method for a trailing suction hopper dredger.

[0207] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed in this invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0208] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0209] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0210] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-factor coupled dredging output calculation method for trailing suction hopper dredgers, characterized in that, Includes the following steps: Based on the current water area location information, determine the corresponding rake tooth information of the trailing suction dredger. Substitute the rake tooth information and water area location information into the mechanical soil breaking volume calculation model. Based on the mechanical soil breaking volume calculation model, calculate the mechanical soil breaking volume per unit time and the corresponding rake tooth soil breaking parameter table. The rake tooth soil breaking parameter table corresponds to the rake tooth soil breaking parameters that affect the mechanical soil breaking volume and the rake suction influencing factor corresponding to each rake tooth soil breaking parameter. Based on the high-pressure water discharge characteristic information corresponding to the trailing suction hopper dredger, the high-pressure water discharge characteristic information is substituted into the hydraulic soil breaking volume calculation model. Based on the hydraulic soil breaking volume calculation model, the hydraulic soil breaking volume per unit time and its corresponding high-pressure water discharge characteristic table are calculated. The high-pressure water discharge characteristic table includes high-pressure water discharge characteristic information that affects the hydraulic soil breaking volume and soil breaking volume influence factor corresponding to each high-pressure water discharge characteristic information. The trailing suction hopper influence factor and soil breaking volume influence factor are determined through experimental data, simulation results or expert evaluation. Hydrological environmental information is processed by fuzzy functions. Based on the dredging demand in the harrow suction area, the dredging impact level is divided. The harrow tooth breaking parameter table and high-pressure water discharge characteristic table are updated in real time based on the dredging impact level, and the mechanical breaking volume and hydraulic breaking volume per unit time are recalculated. A multi-factor coupled dredging output calculation model is established through parameter identification learning. Considering the environmental constraints of the dredging impact level on the mechanical and hydraulic excavation volume per unit time, the dredging output of the trailing suction hopper dredger is calculated. The calculation logic for the dredging output of the trailing suction hopper dredger is as follows: A model for calculating excavation output was constructed. The mechanical excavation volume per unit time corresponding to the rake tooth excavation parameters and the hydraulic excavation volume per unit time corresponding to the high-pressure water discharge characteristics were analyzed under different dredging impact levels. Based on the degree of change of the mechanical excavation volume per unit time corresponding to the rake tooth excavation parameters and the hydraulic excavation volume per unit time corresponding to the high-pressure water discharge characteristics, the excavation impact coefficients corresponding to the mechanical excavation volume and the hydraulic excavation volume were determined. The constraints are constructed using the soil breaking influence coefficients corresponding to the mechanical soil breaking volume and hydraulic soil breaking volume per unit time. The objective function is the calculation formula for the maximum soil breaking depth. The output is the dredging output of the trailing suction hopper dredger. The water area location information includes water area topography, water bottom type, water depth, and water flow velocity. The logic for determining the rake tooth information corresponding to the trailing suction hopper dredger based on the current water area location information is as follows: The area to be dredged by the suction hopper is obtained based on the current water area, and the area is divided into multiple water area location information. Based on the current water area location information, the suction hopper displacement value, suction hopper area value, suction hopper volume value and water area slope value corresponding to the current water area topography are extracted. Based on the suction hopper displacement value, suction hopper area value, suction hopper volume value and water area slope value, the suction hopper topography influence coefficient corresponding to the water area topography is obtained. Based on prior knowledge, we obtain the influence coefficients of water bottom sediment type, water depth, and water flow velocity on the dredging difficulty of trailing suction hopper dredgers, as well as the water depth and water flow velocity. After normalizing the topographic influence coefficient, bottom sediment influence coefficient, water depth influence coefficient, and water flow influence coefficient of the shovel, the shovel difficulty coefficient is calculated using the topographic influence coefficient, bottom sediment influence coefficient, water depth influence coefficient, and water flow influence coefficient of the shovel. Based on prior knowledge, the difficulty coefficient of the harrowing suction is divided into multiple harrowing suction difficulty intervals. By comparing and analyzing the harrowing suction difficulty coefficient corresponding to the current water location where harrow tooth information needs to be set with the harrowing suction difficulty intervals, the harrowing suction difficulty interval corresponding to the current water location where harrow tooth information needs to be set is obtained. The harrow tooth information is determined based on the harrowing suction difficulty interval in which the current water location where harrow tooth information needs to be set is located. The harrow tooth information includes the size of the harrow tooth, the harrow tooth structure, the harrow tooth hardness, the working angle of the harrow tooth, and the rotation speed.

2. The method for calculating the multi-factor coupled dredging output of a trailing suction hopper dredger according to claim 1, characterized in that, The mechanical soil breaking volume calculation model includes a rake head static soil breaking model and a rake head dynamic soil breaking model; Based on the information of the rake teeth and the location of the water area, the force exerted by the rake teeth on the soil and the drag force and deviation resistance during the movement are obtained through the static soil breaking model of the rake head. Based on the dynamic soil breaking model of the rake head, combined with the law of conservation of energy and the static soil breaking model, the soil breaking depth of the rake teeth is calculated; thereby, the mechanical soil breaking volume per unit time and the corresponding rake tooth soil breaking parameters are calculated, and a rake tooth soil breaking parameter table is formed. The table of rake tooth breaking parameters includes rake tooth breaking parameters that affect the amount of mechanical breaking and the rake suction influence factor corresponding to each rake tooth breaking parameter.

3. The method for calculating the multi-factor coupled dredging output of a trailing suction hopper dredger according to claim 2, characterized in that: The logic for obtaining the high-pressure water output characteristic information: Based on the experimental environment, high-pressure water discharge characteristic information was extracted. The changes in the hydraulic soil breaking influence parameters of the trailing suction hopper dredger were controlled to collect high-pressure water discharge characteristic information of the trailing suction hopper dredger. The high-pressure water discharge characteristic information includes high-pressure water discharge velocity, high-pressure water discharge pipe diameter, ship speed, and soil shear strength; the high-pressure water discharge velocity includes vertical water discharge velocity, horizontal water discharge velocity, and water discharge soil penetration angle, which is the angle between the water discharge direction and the vertical direction. Based on the high-pressure water discharge characteristic information, the hydraulic soil breaking volume per unit time under different conditions is obtained, and a high-pressure water discharge characteristic table is determined according to the hydraulic soil breaking volume per unit time. The high-pressure water discharge characteristic table includes high-pressure water discharge characteristic information that affects the hydraulic soil breaking volume and soil breaking volume influence factor corresponding to each high-pressure water discharge characteristic information.

4. The method for calculating the multi-factor coupled dredging output of a trailing suction hopper dredger according to claim 3, characterized in that, The logic for obtaining the impact level of dredging is as follows: Hydrological impact characteristic parameters and their corresponding threshold values ​​are extracted based on historical hydrological environmental information; several dredging impact levels are generated by combining each hydrological impact characteristic parameter with a graded fuzzy function. Obtain the hydrological environment information corresponding to the water area location information, and substitute the hydrological environment information into the fuzzy level function to obtain the dredging impact level corresponding to the current hydrological environment.

5. The method for calculating the multi-factor coupled dredging output of a trailing suction hopper dredger according to claim 3, characterized in that, The logic for obtaining another aspect of the dredging impact level is as follows: Hydrological impact characteristic parameters and their corresponding characteristic impact factors are extracted based on historical hydrological environmental information. The hydrological impact characteristic parameters and their corresponding characteristic impact factors are calculated using a weighted formula to obtain the hydrological impact parameters. Based on prior knowledge, hydrological impact thresholds are set for the hydrological impact characteristic parameters, and several dredging impact levels are divided based on the hydrological impact thresholds. Obtain hydrological environmental information corresponding to the location of the water body, extract the corresponding hydrological impact characteristic parameters and corresponding characteristic impact factors, and calculate the current hydrological impact parameters through a weighted formula; based on the hydrological impact parameters, obtain the dredging impact level corresponding to the current hydrological environment.

6. A multi-factor coupled dredging output calculation system for trailing suction hopper dredgers, characterized in that: The multi-factor coupled dredging output calculation system of the trailing suction hopper dredger includes a mechanical breaking analysis module (1), a hydraulic breaking analysis module (2), a hydrological impact analysis module (3), and an output calculation module (4). The mechanical breaking analysis module (1), the hydraulic breaking analysis module (2), and the hydrological impact analysis module (3) are connected to the output calculation module via wired and / or wireless means to realize data transmission. The mechanical soil breaking analysis module (1) determines the rake tooth information corresponding to the trailing suction dredger based on the current water area location information, substitutes the rake tooth information and water area location information into the mechanical soil breaking volume calculation model, and calculates the mechanical soil breaking volume per unit time and the corresponding rake tooth soil breaking parameter table. Send the mechanical soil breaking volume per unit time and the corresponding rake tooth soil breaking parameter table to the production capacity calculation module (4). The rake tooth soil breaking parameter table corresponds to the rake tooth soil breaking parameters that affect the mechanical soil breaking volume and the rake suction influence factor corresponding to each rake tooth soil breaking parameter. The hydraulic soil breaking analysis module (2) uses the high-pressure water discharge characteristic information corresponding to the trailing suction dredger to substitute the high-pressure water discharge characteristic information into the hydraulic soil breaking volume calculation model to calculate the hydraulic soil breaking volume per unit time and the corresponding high-pressure water discharge characteristic table; the hydraulic soil breaking volume per unit time and the corresponding high-pressure water discharge characteristic table are sent to the production capacity calculation module (4). The high-pressure water discharge characteristic table includes the high-pressure water discharge characteristic information that affects the hydraulic soil breaking volume and the soil breaking volume influence factor corresponding to each high-pressure water discharge characteristic information. The above-mentioned trailing suction dredger influence factor and soil breaking volume influence factor are determined by experimental data, simulation results or expert evaluation. The hydrological impact analysis module (3) processes the hydrological environment information through a fuzzy function, classifies the dredging impact level according to the dredging demand in the dredging area, updates the rake tooth breaking parameter table and high-pressure water discharge characteristic table in real time based on the dredging impact level, and recalculates the mechanical breaking volume and hydraulic breaking volume per unit time; and sends the dredging impact level to the production capacity calculation module (4). The production capacity calculation module (4) establishes a multi-factor coupled excavation production calculation model through parameter identification and learning. This model considers the environmental constraints of the dredging impact level on the mechanical and hydraulic excavation volume per unit time, and finally calculates the excavation production of the trailing suction hopper dredger. The calculation logic of the excavation production of the trailing suction hopper dredger is as follows: A model for calculating excavation output was constructed. The mechanical excavation volume per unit time corresponding to the rake tooth excavation parameters and the hydraulic excavation volume per unit time corresponding to the high-pressure water discharge characteristics were analyzed under different dredging impact levels. Based on the degree of change of the mechanical excavation volume per unit time corresponding to the rake tooth excavation parameters and the hydraulic excavation volume per unit time corresponding to the high-pressure water discharge characteristics, the excavation impact coefficients corresponding to the mechanical excavation volume and the hydraulic excavation volume were determined. The constraints are constructed using the soil breaking influence coefficients corresponding to the mechanical soil breaking volume and hydraulic soil breaking volume per unit time. The objective function is the calculation formula for the maximum soil breaking depth, and the dredging output of the trailing suction hopper dredger is output. The water area location information includes water area topography, water bottom type, water depth, and water flow velocity. The logic for determining the rake tooth information corresponding to the trailing suction hopper dredger based on the current water area location information is as follows: The area to be dredged by the suction hopper is obtained based on the current water area, and the area is divided into multiple water area location information. Based on the current water area location information, the suction hopper displacement value, suction hopper area value, suction hopper volume value and water area slope value corresponding to the current water area topography are extracted. Based on the suction hopper displacement value, suction hopper area value, suction hopper volume value and water area slope value, the suction hopper topography influence coefficient corresponding to the water area topography is obtained. Based on prior knowledge, we obtain the influence coefficients of water bottom sediment type, water depth, and water flow velocity on the dredging difficulty of trailing suction hopper dredgers, as well as the water depth and water flow velocity. After normalizing the topographic influence coefficient, bottom sediment influence coefficient, water depth influence coefficient, and water flow influence coefficient of the shovel, the shovel difficulty coefficient is calculated using the topographic influence coefficient, bottom sediment influence coefficient, water depth influence coefficient, and water flow influence coefficient of the shovel. Based on prior knowledge, the difficulty coefficient of the harrowing suction is divided into multiple harrowing suction difficulty intervals. By comparing and analyzing the harrowing suction difficulty coefficient corresponding to the current water location where harrow tooth information needs to be set with the harrowing suction difficulty intervals, the harrowing suction difficulty interval corresponding to the current water location where harrow tooth information needs to be set is obtained. The harrow tooth information is determined based on the harrowing suction difficulty interval in which the current water location where harrow tooth information needs to be set is located. The harrow tooth information includes the size of the harrow tooth, the harrow tooth structure, the harrow tooth hardness, the working angle of the harrow tooth, and the rotation speed.

7. The multi-factor coupled dredging output calculation system for trailing suction hopper dredgers according to claim 6, characterized in that, The multi-factor coupled dredging output calculation system for trailing suction hopper dredgers also includes: The real-time monitoring module is used to monitor the communication status parameters between the mechanical soil breaking analysis module (1), the hydraulic soil breaking analysis module (2), and the hydrological impact analysis module (3) and the production capacity calculation module (4) in real time; wherein, the communication status parameters include the number of communication connection interruptions, the communication connection recovery time, and the communication connection delay; The first communication status evaluation parameter acquisition module is used to acquire the first communication status evaluation parameter using the number of communication connection interruptions and the communication connection recovery time of the communication status parameters; wherein, the first communication status evaluation parameter is acquired by the following formula: Among them, J 01 The parameter represents the first communication status evaluation parameter; n represents the number of communication units of time experienced during the communication operation between the mechanical ground breaking analysis module (1), the hydraulic ground breaking analysis module (2), and the hydrological impact analysis module (3) and the production capacity calculation module (4), and the value range of the communication unit of time is 24h-72h; N i N represents the number of communication connection interruptions occurring in the i-th communication unit of time; i-1 N represents the number of communication connection interruptions occurring in the (i-1)th communication unit of time; p N represents the average number of communication connection interruptions occurring over n communication units of time; z λ represents the median number of communication connection interruptions occurring within n communication units of time; i Let represent the compensation coefficient corresponding to the i-th communication unit time, and the compensation coefficient is obtained by the following formula: Where λ represents the compensation coefficient; N represents the number of communication connection interruptions per unit of time; T i T represents the communication connection recovery time corresponding to the i-th communication connection interruption; m represents the preset maximum allowable duration of communication interruption; p represents the occurrence rate of data transmission operations of the mechanical soil breaking analysis module (1), hydraulic soil breaking analysis module (2), and hydrological impact analysis module (3) under the communication interruption state in the current communication unit time; T max T represents the maximum communication connection recovery time within a given communication unit of time; n This indicates the duration corresponding to a unit of communication time. The first comparison module is used to compare the first communication status evaluation parameter with a preset first evaluation threshold. The communication status evaluation module is used to determine that the communication status between the current mechanical soil breaking analysis module (1), hydraulic soil breaking analysis module (2) and hydrological impact analysis module (3) and the production capacity calculation module (4) is good when the first communication status evaluation parameter is not lower than the preset first evaluation threshold. The communication status anomaly evaluation module is used to determine the anomaly of the communication status between the current mechanical soil breaking analysis module (1), hydraulic soil breaking analysis module (2), and hydrological impact analysis module (3) and the production capacity calculation module (4) when the first communication status evaluation parameter is lower than the preset first evaluation threshold.

8. The multi-factor coupled dredging output calculation system for trailing suction hopper dredgers according to claim 7, characterized in that, The communication status anomaly evaluation module includes: The data information extraction module is used to extract communication connection recovery time and communication connection delay; The second communication status evaluation parameter acquisition module is used to acquire second communication status evaluation parameters using the communication connection recovery time and communication connection delay of the communication status parameters; wherein, the second communication status evaluation parameters are acquired by the following formula: Among them, J 02 The second communication status evaluation parameter is represented by n; n represents the number of communication unit times experienced during the communication operation between the mechanical ground breaking analysis module (1), the hydraulic ground breaking analysis module (2), and the hydrological impact analysis module (3) and the production capacity calculation module (4), and the value range of the communication unit time is 24h-72h; P ti P represents the average ratio of the communication connection delay to the communication connection recovery time corresponding to N communication connection interruptions within the i-th communication unit time; ni P represents the average ratio of the communication connection recovery time to the communication unit time corresponding to N communication connection interruptions within the i-th communication unit time; tmaxi P represents the maximum ratio of communication connection delay to communication connection recovery time among N communication connection interruptions within the i-th communication unit time; nmi P represents the ratio of the communication connection recovery time to the communication unit time corresponding to the maximum ratio of the communication connection delay to the communication connection recovery time among the N communication connection interruptions within the i-th communication unit time; nmaxi P represents the maximum ratio of the communication connection recovery time to the communication unit time among N communication connection interruptions within the i-th communication unit time; tmi This represents the ratio of communication connection delay to communication connection recovery time among the N communication connection interruptions within the i-th communication unit time, corresponding to the maximum ratio of communication connection recovery time to communication unit time. The second comparison module is used to compare the second communication status evaluation parameter with a preset second evaluation threshold. The first communication anomaly judgment module is used to determine that the communication status between the current mechanical soil breaking analysis module (1), hydraulic soil breaking analysis module (2) and hydrological impact analysis module (3) and the production capacity calculation module (4) is normal when the second communication status evaluation parameter is not lower than the preset second evaluation threshold. The second communication anomaly judgment module is used to determine that there is an anomaly in the communication status between the current mechanical soil breaking analysis module (1), hydraulic soil breaking analysis module (2) and hydrological impact analysis module (3) and the production capacity calculation module (4) when the second communication status evaluation parameter is lower than the preset second evaluation threshold, and to issue an anomaly alarm.

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