Intelligent sensing and coping method for pipe blockage of dredging ship

Abstract

The invention discloses an intelligent sensing and coping method for pipe blockage of a dredging ship. The method comprises the following steps: a pipe blockage pre-alarm process: calling dredge pump discharge pressure and in-pipe flow velocity data measured by a sensor; performing trend identification according to the dredge pump discharge pressure and in-pipe flow velocity data; data fluctuation of normal construction is filtered in a delayed mode, and if the pipe blocking trend still exists after delay, a pipe blocking pre-alarm is given out. The initial opening degree of a pumping cabin door and the initial opening degree of a pumping cabin water diversion gate valve at the starting moment of the pipe blocking pretreatment process are recorded; reducing the opening degree of a pumping cabin door and increasing the opening degree of a pumping cabin water diversion gate valve; judging whether the pipe blocking pre-alarm exists or not, and if the judgment result is yes, adjusting the opening again; and if the judgment result is negative and the result after time delay is still negative, the initial opening degree of the pumping cabin door is recovered, and the initial opening degree of the pumping cabin water diversion gate valve is recovered. According to the method, the tedious period of manual judgment and processing can be omitted, preprocessing is carried out before the pipe blocking phenomenon is formed, and the pipe blocking probability is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of dredging engineering, and in particular relates to an intelligent sensing and coping method for pipe blockage of a dredging vessel. Background Art

[0002] Dredging refers to the earthwork engineering carried out by dredging boats or other machines and manual underwater excavation to widen and deepen the water area. It is one of the main means to develop, improve and maintain waterways and port waters. In dredging engineering, the mud, sand, and stones at the bottom of the waterway or port waters are excavated and processed according to the specified scope and depth. By changing the geometric boundaries of the river flow, the internal structure of the water flow is changed, the sedimentation is reduced, and the waterway stability is maintained.

[0003] A trailing suction hopper dredger is a special engineering vessel used in dredging projects that has multiple functions such as navigation, dredging, lightering, and filling. It is usually equipped with special devices such as mud pumps, high-pressure flushing pumps, water sealing pumps, A-frames, winches, rake heads, rake pipes, mud tanks, mud doors, chamber doors, gate valves, etc. There are five main working conditions for a trailing suction hopper dredger: dredging, mud door unloading, bow blowing unloading, free navigation, and mud-carrying navigation. Among them, the working methods of bow blowing unloading are as follows: Figure 6 As shown: first, the sand bed deposited in the mud tank is dispersed by high-pressure water flushing to form a mud-water mixture; then the pumping door is opened, and the mud-water mixture falls into the gate valve pipeline through the pumping door, and at the same time, seawater enters the gate valve pipeline through the pumping tank water gate valve; the mud diluted by seawater is transported to the shore mud discharge area through the first-stage tank pump and the second-stage tank pump.

[0004] Under bow blowing mud unloading conditions, since the mud discharge pipeline is long and irregular, the mud-water mixture gradually settles during the discharge process, slowly accumulates at some points with slower flow rates, and finally blocks the shore discharge pipeline (i.e. "pipe blocking"). If a blockage is formed at a certain point in the shore discharge pipeline, the flow rate of the mud-water mixture in the pipe will decrease, which will accelerate the sedimentation of other positions in the shore discharge pipeline, causing large-scale blockage of the pipeline. At the same time, the mud pump discharge pressure rises, and when it exceeds the maximum pressure limit of the pipeline, a pipe burst will occur. Therefore, if pipe blocking occurs during the construction process, it will cause great damage to the ship-end dredging equipment and shore discharge pipeline, and the settled mud and sand will greatly increase the difficulty of equipment maintenance and pipeline dredging, seriously affecting the efficiency, cost and safety of the dredging project.

[0005] In order to reduce the occurrence of pipe blockage, it is necessary to monitor the mud flow in the shore discharge pipeline in real time. However, due to the long shore discharge pipeline, it is difficult to fully and comprehensively monitor the flow rate, concentration and sedimentation of the mud-water mixture at various locations in the pipeline. In the prior art, the situation in the shore discharge pipeline is generally inferred by the measured values ​​of the ship-end sensor, such as the mud pump discharge pressure, flow rate, concentration, etc., but this method still has some difficult problems to solve in actual implementation: on the one hand, pipe blockage is caused by multiple factors and multiple variables, and it is difficult to accurately judge based on the change of a single variable. Construction personnel need to pay attention to the changes of multiple parameters for a long time and rely on experience to make timely and accurate judgments, which is extremely difficult and has very large uncertainty. On the other hand, the data changes caused by pipe blockage often overlap with the data changes caused by normal construction. For example, pipe blockage will cause the discharge pressure of the mud pump in the cabin to rise, while the normal construction of the pumping door is too large, resulting in a high concentration of the mud-water mixture, which will also cause the discharge pressure of the mud pump in the cabin to rise, which makes it more difficult to judge pipe blockage and increases the probability of misjudgment. In addition, the results obtained by the reverse inference method have a large delay, and manual judgment is difficult and takes a long time, making it difficult to take timely measures. Even if the pipe blockage fault is accurately determined, the best time to deal with it is often missed.

[0006] Therefore, pipe blockage has always been a major problem affecting dredging construction, and there is currently no good prevention and solution. Summary of the invention

[0007] The present invention is made to solve the above-mentioned problem, and aims to provide an intelligent sensing and response method for pipe blockage of a dredging vessel.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] An intelligent perception and response method for pipe blockage of a dredging ship includes a pipe blockage pre-alarm process and a pipe blockage pre-treatment process, wherein:

[0010] The pipe blockage warning process includes:

[0011] Step S1-1: Retrieving the discharge pressure data of the mud pump in the cabin and the flow velocity data in the shore discharge pipeline detected by the sensor on the dredging vessel at a fixed frequency;

[0012] Step S1-2: Perform trend identification based on the mud pump discharge pressure and the flow rate data in the pipe to determine whether there is a pipe blocking trend. If there is a pipe blocking trend, proceed to step S1-3; if there is no pipe blocking trend, return to step S1-1;

[0013] Step S1-3: filtering the data fluctuations of normal construction by delaying t1. If the pipe blocking trend still exists after delaying t1, a pipe blocking pre-alarm is issued, and the pipe blocking pre-alarm process returns to step S1-1 to continue the cycle;

[0014] The pipe blocking pretreatment process includes:

[0015] Step S2-1: Record the initial opening Y1 of the chamber door and the initial opening Y2 of the chamber water gate valve at the start of the pipe blocking pretreatment process;

[0016] Step S2-2: reducing the opening of the draw-off door and increasing the opening of the draw-off pilot valve;

[0017] Step S2-3: Determine whether the pipe blockage pre-alarm still exists. If the determination result is yes, return to step S2-2 to adjust the opening again; if the determination result is no, delay t2, and if the determination result is still no, proceed to step S2-4;

[0018] Step S2-4: restore the initial opening of the chamber door to Y1 and the initial opening of the chamber water pumping gate valve to Y2. During this process, if the pipe blocking pre-alarm is triggered again and the pipe blocking pre-alarm still exists after the delay t3, return to step S2-1 and repeat the pipe blocking pre-processing process; if the pipe blocking alarm disappears after the delay t3, continue to restore the opening of the chamber door and the chamber water pumping gate valve. After the restoration is completed, the pipe blocking pre-processing process ends.

[0019] Furthermore, in step S1-2, trend identification is performed based on the mud pump discharge pressure and the flow rate data in the pipe. When any of the following conditions is met, it is determined that there is a pipe blocking trend; if all conditions are not met, it is determined that there is no pipe blocking trend.

[0020] Trend identification conditions include:

[0021] Condition (1): According to the current mud pump discharge pressure P measured by the sensor T1 and the previous mud pump discharge pressure P T0 , calculate the discharge pressure change ΔP, and compare the discharge pressure change ΔP with the preset maximum discharge pressure change P Δmax Compare and satisfy ΔP=(P T1 -P T0 )>P Δmax ;

[0022] Condition (2): According to the current mud flow rate v measured by the sensor T1 and the previous mud velocity v T0 Calculate the flow velocity change Δv and compare the flow velocity change Δv with the preset minimum flow velocity change v Δmin Compare and satisfy

[0023] Δv=(v T1 -v T0 )<v Δmin ;

[0024] Condition (3): Set the current mud pump discharge pressure to P T1The pre-set pre-alarm pressure relief value P warning Compare and satisfy P T1 >P warning ;

[0025] Condition (4): The current mud flow rate v T1 Compared with the pre-set pre-alarm flow rate value v warning Compare and satisfy v T1 <v warning .

[0026] Furthermore, the maximum discharge pressure change P Δmax is a positive value;

[0027] Minimum flow rate change v Δmin is a negative value;

[0028] Pre-alarm pressure relief value P warning Less than the maximum pressure limit P of the shore discharge pipeline alarm ;

[0029] Pre-alarm flow rate value v warn ing is greater than the minimum practical flow rate v p .

[0030] Furthermore, the minimum practical flow rate v p =K v *v c , where K v is the proportionality coefficient, v c is the critical flow velocity;

[0031] The critical flow rate is calculated by the following empirical formula:

[0032] v c =(90*C vd ) 1 / 3 *g 1 / 4 *D 1 / 2 *v t 1 / 2 *d m -1 / 4

[0033] In the formula, the critical flow velocity v c The unit is m / s; C vd is the volume density of soil particles, in g / cm 3 ; g is the acceleration due to gravity, unit is m / s 2 ; D is the inner diameter of the pipe, unit: m; v t is the particle settling velocity, in m / s; d m The unit is mm for the average particle size.

[0034] Further, according to the dredged soil quality, silt sand takes K v=1.20, medium coarse sand takes K v =1.25, gravel takes K v =1.30.

[0035] Preferably, the duration of t1, t2 and t3 is 3s to 10s.

[0036] Furthermore, the intelligent perception and response method for pipe blockage of dredging vessels also includes a pipe blockage alarm process and a pipe blockage processing process, wherein:

[0037] The pipe blockage alarm process includes:

[0038] Step S3-1: Retrieving the mud pump discharge pressure and flow rate data in the pipe detected by the sensor on the dredging vessel at a fixed frequency;

[0039] Step S3-2: Determine whether the pipe is blocked according to the data detected by the sensor. If there is a pipe blockage, proceed to step S3-3; if there is no pipe blockage, return to step S3-1;

[0040] Step S3-3: Filter the data fluctuations of normal construction by delaying t4. If the pipe blocking phenomenon still exists after delaying t4, a pipe blocking alarm is issued, and the pipe blocking alarm process returns to step S3-1 to continue the cycle;

[0041] The pipe blockage treatment process includes:

[0042] Step S4-1: Record the initial opening Y3 of the mud pump suction gate valve and the initial speed W of the mud pump at the start of the pipe blockage treatment process;

[0043] Step S4-2: Determine the current mud pump discharge pressure P T1 Whether it exceeds the preset maximum pressure limit P alarm If the result is yes, then the opening of the mud pump suction gate valve is increased alone; if the result is no, then the mud pump speed is increased while increasing the opening of the mud pump suction gate valve;

[0044] Step S4-3: Determine whether the pipe blocking alarm still exists. If the result is yes, return to step S4-2; if the result is no, delay t5, and if the result is still no, go to step S4-4;

[0045] Step S4-4: restore the mud pump suction gate valve to its initial opening Y3 and the mud pump to its initial speed W. During this process, if the pipe blockage alarm is triggered again and the pipe blockage alarm still exists after a delay of t6, return to step S4-1 and repeat the pipe blockage processing flow; if the pipe blockage alarm disappears after a delay of t6, continue to restore the mud pump suction gate valve opening and the mud pump speed. After the restoration is completed, the pipe blockage processing flow ends.

[0046] Furthermore, in step S3-2, pipe blockage is determined based on the data detected by the sensor. When any of the following conditions is met, it is determined that pipe blockage exists; if all conditions are not met, it is determined that there is no pipe blockage;

[0047] The criteria for determining pipe blockage include:

[0048] Condition (1): The continuous execution time of the pipe blocking pretreatment process reaches the predetermined time T x , the pipe blocking warning alarm still exists;

[0049] Condition (2): The current mud flow rate v T1 With the preset minimum practical flow rate v p Compare and satisfy v T1 <v p .

[0050] Preferably, the duration of t4, t5 and t6 is 3s to 10s.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] 1. The intelligent perception and response method for dredging vessel pipe blockage of the present invention uses the discharge pressure of the mud pump in the cabin and the flow rate in the pipe of the shore discharge pipeline detected by the sensor to identify the pipe blockage trend, eliminating the lengthy cycle of manual judgment and processing, and can effectively reduce the harm caused by pipe blockage to construction.

[0053] 2. The intelligent perception and response method for pipe blockage of dredging vessels of the present invention utilizes "trend recognition" as an auxiliary judgment condition for pipe blockage early warning, which can ignore the complex and diverse causes of "trend" formation and quickly perform pre-processing before the "pipe blockage phenomenon" occurs, thereby effectively reducing the probability of pipe blockage. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a control flow chart of the intelligent perception and response method of pipe blockage of a dredging ship according to the present invention;

[0055] Figure 2 It is a flow chart of the pipe blockage pre-alarm process;

[0056] Figure 3 It is a flow chart of the pipe blocking pretreatment process;

[0057] Figure 4 It is a flow chart of the pipe blocking alarm process;

[0058] Figure 5 It is a flow chart of the pipe blockage treatment process;

[0059] Figure 6 This is a schematic diagram of the bow blowing and mud unloading working mode. DETAILED DESCRIPTION

[0060] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments and the accompanying drawings specifically illustrate the intelligent perception and response method of pipe blockage of a dredging vessel of the present invention.

[0061] Example

[0062] There are usually two types of bow blowing and mud unloading construction processes: manual control and intelligent control. Manual control means that the bow blowing process is completed by manually controlling the size of the opening of the drawer door, the opening sequence, the speed of the high-pressure flushing pump, the opening of the drawer water gate valve, the opening of the mud pump suction gate valve and other actions. Intelligent control includes fully automatic process control and intelligent optimization control. Fully automatic process control means that according to the bow blowing process and logical timing, the gate valve flushing pump, the sealing water pump, the lubrication cooling unit, the mud pump, the high-pressure flushing pump, the drawer door, the drawer water valve and other equipment are fully automatically controlled to complete the bow blowing process. In this process, intelligent optimization controls the size of the drawer door, the opening sequence, and the opening of the drawer water gate valve to control the mud concentration in the shore discharge pipeline, and at the same time adjusts the mud flow rate in the shore discharge pipeline by controlling the mud pump speed to complete the bow blowing mud unloading process of discharging the mud from the ship end to the shore end.

[0063] In view of the fact that traditional manual control and intelligent control are difficult to determine pipe blockage failures, and it is difficult to make effective treatment in time after the determination, the inventor has designed and developed a pipe blockage intelligent perception and response module based on the original hardware equipment and control system of the dredging ship. The module runs in a fixed cycle, and by calling the monitoring results of the sensors on the ship, it can judge and perceive the pipe blockage situation, and intervene in the treatment at the first time, control and adjust the equipment to alleviate and eliminate the pipe blockage problem, eliminating the lengthy cycle of manual judgment and treatment, and reducing the harm caused by pipe blockage to construction. When applied, manual control authority>pipe blockage intelligent perception and response module control authority>intelligent control authority, when there are problems that cannot be handled by automatic control or equipment failure, etc., manual control can be taken over.

[0064] During the construction of bow blowing and mud unloading, pipe blockage is caused by multiple factors and variables, among which the main ones that are easy to monitor and can be used to judge pipe blockage failure are discharge pressure and flow rate.

[0065] "Discharge pressure" is the discharge pressure of the mud pump, which indicates the total pressure energy of the delivered liquid after passing through the pump. It is the sum of its suction pressure and the pressure difference (lift) generated after the delivered liquid flows through the impeller. When the mud concentration changes, the discharge pressure changes accordingly; in addition, when there are sediments in the shore discharge pipeline to form a blockage, it will also cause the discharge pressure to rise. However, the shore discharge pipeline has a maximum pressure limit. When the mud pump discharge pressure is greater than the maximum pressure limit of the shore discharge pipeline P alarm It is very likely to cause a pipe burst, and then form a passive pipe blockage at the rear end of the explosion point.

[0066] "Flow rate" refers to the speed at which mud (mud-water mixture) moves in the bank discharge pipeline. Water, as a medium, carries mud and sand to overcome the resistance of the pipeline. When the mud-water mixture is at a certain speed, it can just overcome the resistance of the pipeline and be discharged to the shore end, which is the critical flow rate. When the actual flow rate of the mud is lower than the critical flow rate, it will quickly settle in the pipeline to form a blockage. On the contrary, when the actual flow rate is greater than the critical flow rate, no blockage will be formed in the pipeline, but the mud pump power consumption will be higher.

[0067] Based on existing research, the critical flow velocity can be calculated by the following empirical formula:

[0068] v c =(90*C vd ) 1 / 3 *g 1 / 4 *D 1 / 2 *v t 1 / 2 *d m -1 / 4

[0069] In the formula, v c is the critical velocity, in m / s; C vd is the volume density of soil particles, in g / cm 3 ; g is the acceleration due to gravity, unit is m / s 2 ; D is the inner diameter of the pipe, unit: m; v t is the particle settling velocity, in m / s; d m The unit is mm for the average particle size.

[0070] Critical flow velocity v c The theoretical value calculated based on pipeline resistance, in actual engineering, should be appropriately enlarged to practical flow velocity according to dredged soil quality. Minimum practical flow velocity v p =K v *v c , where K v is the proportionality coefficient, and K is taken for silt sand v =1.20, medium coarse sand takes K v =1.25, gravel takes K v =1.30.

[0071] like Figure 1 As shown, this embodiment provides an intelligent perception and response method for pipe blockage of a dredging ship, which controls the execution of ship equipment through the program of the pipe blockage intelligent perception and response module, including a pipe blockage pre-alarm process and a pipe blockage pretreatment process.

[0072] Among them, Figure 2 As shown in the figure, the pipe blocking warning process includes:

[0073] Step S1-1: Retrieving the discharge pressure data of the mud pump in the cabin and the flow velocity data in the shore discharge pipeline detected by the sensor on the dredging vessel at a fixed frequency;

[0074] Step S1-2: Perform trend identification based on the mud pump discharge pressure and the flow rate data in the pipe. If there is a pipe blocking trend, proceed to step S1-3; if there is no pipe blocking trend, return to step S1-1;

[0075] Specifically, trend identification is performed based on the mud pump discharge pressure and the flow rate data in the pipe. When any of the following conditions is met, it is determined that there is a pipe blocking trend; if all conditions are not met, it is determined that there is no pipe blocking trend for the time being.

[0076] Trend identification conditions include:

[0077] Condition (1): According to the current mud pump discharge pressure P measured by the sensor T1 and the previous mud pump discharge pressure P T0 Calculate the discharge pressure change ΔP and compare the discharge pressure change ΔP with the preset maximum discharge pressure change P Δmax (P Δmax >0) to satisfy ΔP=(P T1 -P T0 )>P Δmax >0;

[0078] Since the cycle of the pipe blockage intelligent perception and response module is fixed, that is, the frequency of the module to retrieve sensor detection data is fixed, the discharge pressure change can be regarded as the discharge pressure change rate, reflecting the discharge pressure acceleration / deceleration. In actual situations, the mud pump discharge pressure value is a continuously changing curve, and the discharge pressure change rate is the slope of the discharge pressure curve at the current moment, reflecting the severity of the discharge pressure change, that is, the steepness of the discharge pressure curve change. When the discharge pressure change ΔP=P T1 -P T0 When it is too large, it indicates that the discharge pressure increases rapidly. Even if the current mud pump discharge pressure P T1 Does not exceed the alarm setting value P alarm , without intervention, it will exceed the alarm setting value P at some point in the future alarm Therefore, choosing a suitable P Δmax The numerical value can be used as an auxiliary judgment condition for pipe blockage early alarm.

[0079] Condition (2): According to the current mud flow rate v measured by the sensor T1 and the previous mud velocity v T0 Calculate the flow velocity change Δv and compare the flow velocity change Δv with the preset minimum flow velocity change v Δmin (v Δmin <0) to satisfy Δv=(v T1 -v T0 )<v Δmin <0;

[0080] Since the cycle of the pipe blockage intelligent perception and response module is fixed, that is, the frequency of the module to retrieve sensor detection data is fixed, the flow velocity change can be regarded as the flow velocity change rate, reflecting the flow velocity acceleration / deceleration. In actual situations, the mud flow velocity is a continuously changing curve, and the flow velocity change rate is the slope of the flow velocity curve at the current moment, reflecting the severity of the flow velocity change, that is, the steepness of the flow velocity curve change. When the flow velocity change Δv = v T1 -v T0 Too small (negative number), indicating that the flow rate is decreasing rapidly, even if the mud flow rate at the current moment is not less than the minimum practical flow rate v p , without intervention, will also decrease to the minimum practical flow rate v at some point in the future p Therefore, select the appropriate v Δmin It can be used as an auxiliary judgment condition for pipe blockage early alarm.

[0081] Condition (3): Set the current mud pump discharge pressure to P T1 The pre-set pre-alarm pressure relief value P warning (P warning <P alarm ) to compare and satisfy P T1 >P warning ;

[0082] The maximum pressure limit of the shore discharge pipeline is P alarm In actual situations, the mud pump discharge pressure is used as an auxiliary judgment condition for pipe blockage failure. In order to make early judgment and pre-processing, a pressure limit P less than the maximum pressure limit of the shore discharge pipeline is introduced. alarm The pre-alarm pressure relief value P warning When P T1 >P warning When , it is considered that there is a high possibility of blockage in the bank discharge pipeline.

[0083] Condition (4): The current mud flow rate v T1 Compared with the pre-set pre-alarm flow rate value v warning (v warning >v p ) to compare and satisfy v T1 <v warning ;

[0084] Minimum practical flow rate v p It can be used as the only deterministic condition for pipe blockage judgment. In order to make early judgment and pre-processing, the minimum practical flow rate v is introduced. p The pre-alarm flow rate value v warning , take v warning =v p *k, where v p is the minimum practical flow rate, k is the amplification factor, k>1.T1 <v warning , it is believed that the silt in the mud will settle quickly in the pipe, causing a greater risk of pipe blockage.

[0085] In practical applications, in addition to the above four conditions, other trend identification conditions can be added as needed. Similarly, when any of the conditions is met, it is judged that there is a pipe blocking trend; if all conditions are not met, it is judged that there is no pipe blocking trend.

[0086] Step S1-3: Filter the data fluctuations of normal construction by delaying t1. If the pipe blocking trend still exists after delaying t1, a pipe blocking pre-alarm is issued. After the pipe blocking pre-alarm is triggered, manual processing is performed by human intervention or the program automatically runs the pipe blocking pre-processing process to alleviate and eliminate the pipe blocking trend; the pipe blocking pre-alarm process returns to step S1-1 to continue the cycle.

[0087] While the pipe blocking pretreatment process is in progress, the pipe blocking pre-alarm process continues to maintain a cyclic operation.

[0088] like Figure 3 As shown in the figure, the pipe blocking pretreatment process includes:

[0089] Step S2-1: Record the initial opening Y1 of the chamber door and the initial opening Y2 of the chamber water gate valve at the start of the pipe blocking pretreatment process;

[0090] Step S2-2: reducing the opening of the draw-off door and increasing the opening of the draw-off pilot valve;

[0091] Specifically, the process of reducing the opening of the pumping door includes: judging whether the current opening of the pumping door reaches the preset first limit opening Z1, and if the judgment result is no, reducing the opening of the pumping door at a speed of X1%. This process can reduce the speed at which the mud in the mud tank falls into the gate valve pipeline, gradually reduce the mud concentration in the bank discharge pipeline, and speed up the flow rate.

[0092] The process of increasing the opening of the pilot valve for pumping out the cabin includes: judging whether the current opening of the pilot valve for pumping out the cabin exceeds the first limit opening Z2 set in advance, and if the judgment result is no, increasing the opening of the pilot valve for pumping out the cabin at a speed of X2%. This process can speed up the speed of seawater outside the cabin entering the valve pipeline, gradually reduce the mud concentration in the shore discharge pipeline, and speed up the flow rate.

[0093] Step S2-3: Determine whether the pipe blockage pre-alarm still exists. If the judgment result is yes, return to step S2-2 to adjust the opening again; if the judgment result is no, delay t2, if the result is still no, enter step S2-4, if the result becomes yes, return to step S2-2 to adjust the opening again;

[0094] Step S2-4: restore the initial opening of the chamber door to Y1, and restore the initial opening of the chamber water pumping gate valve to Y2. During this process, if the pipe blocking pre-alarm is triggered again, and the pipe blocking pre-alarm still exists after the delay t3, return to step S2-1 and repeat the pipe blocking pre-processing process; if the pipe blocking alarm disappears after the delay t3, continue to restore the opening of the chamber door and the chamber water pumping gate valve. After the restoration is completed, the pipe blocking pre-processing process ends.

[0095] Specifically, when the pumping door is restored to its initial opening, the pumping door opening is gradually increased at a speed of X3% until its initial opening is Y1, and the action is stopped. This process can increase the speed at which the mud in the mud tank falls into the gate valve pipeline, increase the mud concentration in the bank discharge pipeline, and increase production.

[0096] During the process of restoring the initial opening of the pilot gate valve, the pilot gate valve opening is gradually reduced at a rate of X4% until it reaches its initial opening Y2, and then stops. This process can reduce the flow of seawater entering the gate valve pipeline, increase the mud concentration in the bank discharge pipeline, and increase production.

[0097] Among them, X1%, X2%, X3% and X4% are all set values, which are determined through debugging tests in actual applications. By setting the X1 (X2 / X3 / X4) flow rate on the hydraulic system proportional amplification card, the equipment can be opened at a speed of X1% (X2% / X3% / X4%).

[0098] In the pipe blockage pre-alarm process and the pipe blockage pre-processing process, the durations of t1, t2 and t3 are all greater than the sensor detection data retrieval cycle, preferably 3s to 10s.

[0099] Furthermore, the intelligent perception and response method for pipe blockage of a dredging vessel in this embodiment also includes a pipe blockage alarm process and a pipe blockage processing process. The pipe blockage alarm process and the pipe blockage pre-alarm process can be performed simultaneously without interfering with each other.

[0100] like Figure 4 As shown in the figure, the pipe blocking alarm process includes:

[0101] Step S3-1: Retrieving the mud pump discharge pressure and flow rate data in the pipe detected by the sensor on the dredging vessel at a fixed frequency;

[0102] Step S3-2: Perform pipe blockage determination based on the data detected by the sensor to determine whether there is pipe blockage. If there is pipe blockage, proceed to step S3-3; if there is no pipe blockage, return to step S3-1;

[0103] Specifically, the pipe blockage is determined based on the data detected by the sensor. When any of the following conditions is met, it is determined that the pipe is blocked; if all conditions are not met, it is determined that the pipe is not blocked.

[0104] The criteria for determining pipe blockage include:

[0105] Condition (1): The continuous execution time of the pipe blocking pretreatment process reaches the predetermined time T x , the pipe blocking warning alarm still exists;

[0106] Condition (2): The current mud flow rate v T1 With the preset minimum practical flow rate v p Compare and satisfy v T1 <v p When the mud flow rate v T1 If it is too small, it can be considered that there is local blockage in the shore discharge pipeline, and the sedimentation of mud in the pipe will be accelerated.

[0107] Step S3-3: Filter the data fluctuations of normal construction by delaying t4. If the pipe blocking phenomenon still exists after delaying t4, a pipe blocking alarm is issued. After the pipe blocking alarm is triggered, manual processing is performed by human intervention or the program automatically runs the pipe blocking processing process to alleviate and eliminate the pipe blocking phenomenon; the pipe blocking alarm process returns to step S3-1 to continue the cycle.

[0108] While the pipe blockage handling process is in progress, the pipe blockage alarm process continues to maintain a loop operation.

[0109] like Figure 5 As shown in the figure, the pipe blocking treatment process includes:

[0110] Step S4-1: Record the initial opening Y3 of the mud pump suction gate valve and the initial speed W of the mud pump at the start of the pipe blockage treatment process;

[0111] Step S4-2: Determine the current mud pump discharge pressure P T1 Whether it exceeds the preset maximum pressure limit P alarm If the result is yes, then increase the opening of the mud pump suction gate valve alone to reduce the risk of bursting of the bank discharge pipeline; if the result is no, increase the mud pump speed while increasing the opening of the mud pump suction gate valve to clear the blockage as soon as possible;

[0112] Specifically, the process of increasing the opening of the mud pump suction gate valve is as follows: determine whether the current opening of the mud pump suction gate valve reaches the preset third limit opening Z3, and if the judgment result is no, increase the opening of the mud pump suction gate valve at a rate of X5%. This process can skip the section of pipeline where the pumping cabin water gate valve and the pumping cabin door opening are opened, and directly introduce seawater from the mud pump inlet, gradually reduce the mud concentration in the shore discharge pipeline, and speed up the flow rate.

[0113] The process of increasing the mud pump speed is: judging whether the current mud pump speed reaches the preset limit speed Z4, if the judgment result is no, then increasing the mud pump speed by X6%. This process speeds up the mud flow rate in the bank discharge pipeline by increasing the mud pump speed, and can gradually take away the sediment in the bank discharge pipeline.

[0114] Step S4-3: Determine whether the pipe blocking alarm still exists. If the result is yes, return to step S4-2; if the result is no, delay t5, if the result is still no, enter step S4-4, if the judgment result becomes yes, return to step S4-2;

[0115] Step S4-4: restore the mud pump suction gate valve to its initial opening Y3 and the mud pump to its initial speed W. During this process, if the pipe blockage alarm is triggered again and the pipe blockage alarm still exists after a delay of t6, return to step S4-1 and repeat the pipe blockage processing flow; if the pipe blockage alarm disappears after a delay of t6, continue to restore the mud pump suction gate valve opening and the mud pump speed. After the restoration is completed, the pipe blockage processing flow ends.

[0116] Specifically, the process of restoring the initial opening of the mud pump suction gate valve is as follows: gradually reduce the opening of the mud pump suction gate valve at a speed of X7% until it reaches its initial opening Y3 and stops. This process gradually reduces the flow of seawater entering the gate valve pipeline, increases the mud concentration in the shore discharge pipeline, and increases production.

[0117] The process of the mud pump restoring its initial speed is: gradually reduce the mud pump speed at a speed of X8% until it reaches its initial speed W and stops. This process gradually reduces the flow rate of the mud-water mixture in the gate valve pipeline, reduces the mud pump power, reduces the mud pump discharge pressure, increases the mud concentration in the bank discharge pipeline, and increases production.

[0118] Among them, X5%, X6%, X7% and X8% are all set values, which are determined through debugging tests in actual applications. By setting the X5 (X6 / X7 / X8) flow rate on the hydraulic system proportional amplification card, the equipment can be opened at a speed of X5% (X6% / X7% / X8%).

[0119] Furthermore, in the pipe blockage alarm process and the pipe blockage processing process, the durations of t4, t5 and t6 are all greater than the retrieval cycle of the sensor detection data, preferably 3s to 10s.

[0120] Compared with the traditional "pipe blockage-identification-processing" threshold judgment and post-processing mode, the pipe blockage perception and response method provided by the present invention adopts a hybrid mode combining "trend recognition-preprocessing" and "pipe blockage recognition-processing" to determine the pipe blockage status and make effective treatment. In the present invention, "trend recognition" is used as an auxiliary means. Before accurately determining the pipe blockage fault, the trend of pipe blockage is determined by monitoring the discharge pressure of the ship-end mud pump and the rate of change of the mud flow rate to make pretreatment. Pipe blockage is caused by multiple factors and multiple variables. By using "trend recognition" as an auxiliary judgment condition for pipe blockage pre-alarm, the cause of the "trend" can be ignored. The use of program preprocessing before the "pipe blockage" result is formed can effectively reduce the probability of pipe blockage. When the pretreatment is ineffective or the flow rate is lower than the minimum practical flow rate v pWhen a pipe is blocked, it is identified as a pipe blocking fault so that it can be dealt with in a timely manner, eliminating the lengthy cycle of manual judgment and processing, and effectively reducing the harm caused by pipe blocking to construction.

[0121] The above-mentioned embodiments are preferred examples of the present invention and are not intended to limit the protection scope of the present invention.

Claims

1. An intelligent perception and response method for dredging ship pipe blockage, characterized in that: It includes pipe blockage pre-alarm process and pipe blockage pre-treatment process, among which: The pipe blocking early warning process includes: Step S1-1: Retrieving the discharge pressure data of the mud pump in the cabin and the flow velocity data in the shore discharge pipeline detected by the sensor on the dredging vessel at a fixed frequency; Step S1-2: Perform trend identification based on the discharge pressure of the mud pump and the flow rate data in the pipe. If there is a pipe blocking trend, proceed to step S1-3; if there is no pipe blocking trend, return to step S1-1; Step S1-3: filtering the data fluctuations of normal construction by delaying t1. If the pipe blocking trend still exists after delaying t1, a pipe blocking pre-alarm is issued, and the pipe blocking pre-alarm process returns to step S1-1 to continue the cycle; The pipe blocking pretreatment process includes: Step S2-1: recording the initial opening Y1 of the chamber pumping door and the initial opening Y2 of the chamber pumping water gate valve at the start time of the pipe blocking pretreatment process; Step S2-2: reducing the opening of the chamber pumping door and increasing the opening of the chamber pumping water gate valve; Step S2-3: Determine whether the pipe blockage pre-alarm still exists. If the determination result is yes, return to step S2-2 to adjust the opening again; if the determination result is no, delay t2, and if the determination result is still no, proceed to step S2-4; Step S2-4: restore the initial opening of the chamber door to Y1 and the initial opening of the chamber water pumping gate valve to Y2. During this process, if the pipe blocking pre-alarm is triggered again and the pipe blocking pre-alarm still exists after a delay of t3, return to step S2-1 and repeat the pipe blocking pre-processing process; if the pipe blocking alarm disappears after a delay of t3, continue to restore the openings of the chamber door and the chamber water pumping gate valve. After the restoration is completed, the pipe blocking pre-processing process ends.

2. The intelligent perception and response method for dredging vessel pipe blockage according to claim 1 is characterized by: In step S1-2, trend identification is performed based on the mud pump discharge pressure and the flow velocity data in the pipe, and when any of the following conditions is met, it is determined that there is a pipe blocking trend; If all conditions are not met, it is judged that there is no pipe blocking trend. Trend identification conditions include: Condition (1): According to the current mud pump discharge pressure P measured by the sensor T1 and the previous mud pump discharge pressure P T0 , calculate the discharge pressure change ΔP, and compare the discharge pressure change ΔP with the preset maximum discharge pressure change P Δmax Compare and satisfy ΔP=(P T1 -P T0 )>P Δmax ; Condition (2): According to the current mud flow rate v measured by the sensor T1 and the previous mud flow rate v T0 Calculate the flow velocity change Δv and compare the flow velocity change Δv with the preset minimum flow velocity change v Δmin Compare and satisfy Δv=(v T1 -v T0 )<v Δmin ; Condition (3): Set the current mud pump discharge pressure to P T1 The pre-set pre-alarm pressure relief value P warning Compare and satisfy P T1 >P warning ; Condition (4): The current mud flow rate v T1 Compared with the pre-set pre-alarm flow rate value v warning Compare and satisfy v T1 <v warning .

3. The intelligent perception and response method for dredging vessel pipe blockage according to claim 2 is characterized by: The maximum discharge pressure change P Δmax is a positive value; The minimum flow rate change v Δmin is a negative value; The pre-alarm pressure relief value P warning Less than the maximum pressure limit P of the shore discharge pipeline alarm ; The pre-alarm flow rate value v warning Greater than the minimum practical flow rate v p .

4. The intelligent perception and response method for dredging vessel pipe blockage according to claim 3 is characterized by: The minimum practical flow rate v p =K v *v c , where K v is the proportionality coefficient, v c is the critical flow velocity; The critical flow rate is calculated by the following empirical formula: v c =(90*C vd ) 1 / 3 *g 1 / 4 *D 1 / 2 *v t 1 / 2 *d m -1 / 4 In the formula, the critical flow velocity v c The unit is m / s; C vd is the volume density of soil particles, in g / cm 3 ; g is the acceleration due to gravity, unit is m / s 2 ; D is the inner diameter of the pipe, in m; v t is the particle settling velocity, in m / s; d m The unit is mm for the average particle size.

5. The intelligent perception and response method for dredging vessel pipe blockage according to claim 4 is characterized by: According to the dredged soil quality, silt sand takes K v =1.20, medium coarse sand takes K v =1.25, gravel takes K v =1.

30.

6. The intelligent perception and response method for dredging vessel pipe blockage according to claim 2 is characterized by: in, The duration of t1, t2 and t3 is 3s to 10s.

7. The intelligent perception and response method for dredging vessel pipe blockage according to claim 1 is characterized in that: It also includes pipe blockage alarm process and pipe blockage handling process, including: The pipe blocking alarm process includes: Step S3-1: Retrieving the mud pump discharge pressure and flow rate data in the pipe detected by the sensor on the dredging vessel at a fixed frequency; Step S3-2: Determine whether the pipe is blocked according to the data detected by the sensor. If there is a blockage, proceed to step S3-3; if there is no blockage, return to step S3-1; Step S3-3: filtering the data fluctuations of normal construction by delaying t4. If the pipe blocking phenomenon still exists after delaying t4, a pipe blocking alarm is issued, and the pipe blocking alarm process returns to step S3-1 to continue the cycle; The pipe blocking treatment process includes: Step S4-1: recording the initial opening Y3 of the mud pump suction gate valve and the initial speed W of the mud pump at the start of the pipe blocking treatment process; Step S4-2: Determine the current mud pump discharge pressure P T1 Whether it exceeds the preset maximum pressure limit P alarm If the result is yes, then the opening of the mud pump suction gate valve is increased alone; if the result is no, then the speed of the mud pump is increased while increasing the opening of the mud pump suction gate valve; Step S4-3: Determine whether the pipe blocking alarm still exists. If the result is yes, return to step S4-2; if the result is no, delay t5, and if the result is still no, go to step S4-4; Step S4-4: restore the mud pump suction gate valve to its initial opening Y3 and the mud pump to its initial speed W. During this process, if the pipe blockage alarm is triggered again and the pipe blockage alarm still exists after a delay of t6, return to step S4-1 and repeat the pipe blockage processing flow; if the pipe blockage alarm disappears after a delay of t6, continue to restore the mud pump suction gate valve opening and the mud pump speed. After the restoration is completed, the pipe blockage processing flow ends.

8. The intelligent perception and response method for dredging vessel pipe blockage according to claim 7 is characterized by: In step S3-2, pipe blockage is determined based on the data detected by the sensor, and when any of the following conditions is met, it is determined that pipe blockage exists; If all conditions are not met, it is judged that the pipe is not blocked; The criteria for determining pipe blockage include: Condition (1): The continuous execution time of the pipe blocking pretreatment process reaches the predetermined time T x , the pipe blocking warning alarm still exists; Condition (2): The current mud flow rate v T1 With the preset minimum practical flow rate v p Compare and satisfy v T1 <v p .

9. The intelligent perception and response method for dredging vessel pipe blockage according to claim 7 is characterized by: in, The duration of t4, t5 and t6 is 3s to 10s.

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