Geological body change simulation and excavation volume calculation system based on reamer movement

Abstract

The invention relates to a geologic body change simulation and excavation volume calculation system based on reamer movement. Comprising a cutter suction dredger data receiving module, a dredging geology creating module, a model rendering and data analysis and calculation module, a reamer motion trail calculation and recording module, a geologic body model real-time dynamic change module, a dredging volume calculation and transmission module and a data monitoring and visualization system. According to the method, the three-dimensional model of the geologic body in dredging engineering is generated, the motion trail of the reamer is recorded and calculated in real time, the geologic body after interaction of the reamer and the geologic body is dynamically changed, and the dredging volume is calculated in real time according to the volume change of the three-dimensional model of the geologic body which is sectioned front and back. The real-time monitoring and simulation of the change condition of the geologic body in the reamer movement process and the calculation of the dredging engineering amount are realized, and the device can be widely applied to the fields of dredging engineering, ports, channels, rivers, lakes and seas and the like.

Description

Technical Field

[0001] The invention relates to the technical fields of dredging, ships and geological engineering, and in particular to a geological body change simulation and dredging volume calculation system based on reamer movement. Background Art

[0002] There has been no unified method and rules for the establishment of a three-dimensional geological model, but the three-dimensional geological model is an important link that cannot be obtained in the construction process. At the same time, the movement of the auger in the dredging project and the monitoring and calculation of the geological changes caused by it are a key link. The existing technology mainly relies on offline data and post-processing methods, which makes it difficult to achieve real-time monitoring and calculation, especially for the changes in the three-dimensional model of the geological body during the movement of the auger, resulting in a lack of timely feedback and adjustment mechanisms during the actual construction process. The shortcomings of the existing technology are that it is impossible to simulate and calculate the geological changes caused by the movement of the auger in the geological body and the real-time calculation of the excavation volume, making it difficult to judge the construction quality and efficiency. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a geological body change simulation and dredging volume calculation system based on the movement of the auger. By generating a three-dimensional model of the geological body in the dredging project and recording and calculating the movement trajectory of the auger in real time, the geological body after the interaction between the auger and the geological body is dynamically changed, and the dredging volume is calculated in real time according to the volume change of the three-dimensional model of the geological body cut before and after.

[0004] The present invention is achieved through the following technical solutions:

[0005] A geological body change simulation and excavation volume calculation system based on reamer movement, comprising:

[0006] Cutter suction boat data receiving module collects ship operation data in real time;

[0007] A dredging geology creation module generates three-dimensional point cloud data of a geological body, processes the three-dimensional point cloud data to form a surface model, and closes the data to form a three-dimensional geological body model;

[0008] The model rendering and data analysis and calculation module is used to build a three-dimensional engine, analyze and calculate the ship operation data, form a format that can be displayed in a three-dimensional view, and analyze and cache the data of the three-dimensional geological model;

[0009] Calculating and recording the motion trajectory of the reamer, performing calculations based on the ship operation data to generate the three-dimensional coordinates of the reamer, and continuously recording the three-dimensional coordinates of the reamer in the display area to form the motion trajectory of the reamer;

[0010] A real-time dynamic change module for the geological body model performs a real-time sectioning operation on the interactive part between the three-dimensional geological body model and the reamer at a fixed position according to the movement trajectory of the reamer;

[0011] The dredging volume calculation and transmission module calculates the dredging volume after sectioning according to the volume change of the three-dimensional geological body model before and after sectioning, and transmits the dredging volume in real time.

[0012] According to the above technical solution, preferably, in the dredger suction dredge data receiving module, the ship operation data includes auger X, auger Y, auger radius, traverse speed, bridge angle, bridge length, forward pitch, tide level, ship draft, and compass angle.

[0013] According to the above technical solution, preferably, the dredger suction vessel data receiving module also includes reamer data, and the reamer data includes reamer curvature radius and reamer inclination angle.

[0014] According to the above technical solution, preferably, in the dredger suction vessel data receiving module, the received ship operation data is cleaned and filtered and the data is classified and converted.

[0015] According to the above technical solution, preferably, in the dredging geological creation module, three-dimensional point cloud data of the geological body is generated based on the geological drilling data and the interpolation algorithm, and then the three-dimensional point cloud data is processed using the Delaunay triangulation method to form a surface model, which is closed into a three-dimensional geological model.

[0016] According to the above technical solution, preferably, in the real-time dynamic change module of the geological body model, after the interaction between the geological body and the reamer is completed, a sectioned geological body is formed, and the sectioned geological body is used for the next interaction with the reamer to realize the real-time sectioning operation of the geological body.

[0017] According to the above technical solution, preferably, in the dredging volume calculation and transmission module, the volume change of the three-dimensional geological body model after the first sectioning and the second sectioning of the geological body is used to calculate the dredging volume and retain the accuracy.

[0018] According to the above technical solution, preferably, the system disclosed in this application also includes:

[0019] The data monitoring and visualization system is used to display detailed data during the operation of the auger, including matching the ship operation data of the dredger suction vessel with the auger movement trajectory, displaying the change in the dredged volume and a line graph of the change in the dredged volume over time. The data monitoring and visualization system can also export the detailed data during the operation of the auger in CSV format.

[0020] The beneficial effects of the present invention are:

[0021] The present invention adopts TCP / IP mode for data transmission, which is stable and can obtain ship-related data in real time. It uses Python programming language and pyvista three-dimensional visualization engine library to realize real-time monitoring and simulation of geological body changes during reamer movement and calculation of dredging engineering quantity. It can calculate the dredging volume in the early stage of dredging, which has important reference significance for subsequent ship productivity judgment.

[0022] All data in the present invention are presented on a panel, which monitors the ship's operating status and volume calculation at any time, and displays the entire excavation process in three-dimensional visualization, which is vivid and convenient for personnel to understand and display related results. It can be widely used in dredging projects, ports and waterways, rivers, lakes and seas and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the system architecture of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and the best embodiment. Based on the embodiments in the invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the invention.

[0025] Embodiment 1: As shown in the figure, the present invention comprises:

[0026] (1) The dredger data receiving module collects ship operation data in real time. It connects the construction parameters of the dredger through TCP / IP, cleans and filters the received ship JSON data, and classifies and transforms the data.

[0027] Among them, the ship operation data includes auger X, auger Y, auger radius, traverse speed, bridge angle, bridge length, forward pitch, tide level, ship draft, compass angle, and auger data. The auger data includes auger curvature radius and auger inclination angle. The establishment of the auger is based on data-driven, and the auger model is automatically adjusted by using the auger curvature radius and auger inclination angle.

[0028] In addition, the ship IoT data module uses dual threads to receive and send data without affecting each other, which can prevent data blocking when the data processing speed cannot reach the data receiving frequency.

[0029] (2) A dredging geological creation module generates three-dimensional point cloud data of a geological body, processes the three-dimensional point cloud data to form a surface model, and closes the data to form a three-dimensional geological body model.

[0030] Specifically, the geological drilling data is first imported, and then the coordinates X, Y, and Z of each layer of geological data are formed by analyzing the attribute table. The spline interpolation method is then used to encrypt the points to form point cloud data. The Delaunay triangulation method is then used to process the point data to form a surface model. Finally, the surface model is merged up and down and closed on all sides to form a three-dimensional geological body model.

[0031] (3) Model rendering and data analysis and calculation module, using pyvista to build a three-dimensional engine, analyze and calculate the ship operation data, form a format that can be displayed in a three-dimensional view, analyze and cache the data of the three-dimensional geological model, so that the form and structure of the data can maximize the use of computer hardware resources and can perform a simulation display of real effects.

[0032] (4) Calculation and recording of the reamer motion trajectory, receiving data in real time through TCP / IP network communication, performing calculations based on the ship operation data, generating the reamer three-dimensional coordinates (x, y, z), and continuously recording the reamer three-dimensional coordinates in the display area to form the reamer motion trajectory.

[0033] (5) A real-time dynamic change module of the geological body model performs a real-time sectioning operation on the part of the three-dimensional geological body model and the reamer interaction at a fixed position according to the reamer motion trajectory. Specifically, after the geological body and the reamer interact, a sectioned geological body is formed, and the sectioned geological body is used for the next interaction with the reamer to realize the real-time sectioning operation of the geological body.

[0034] (6) The dredging volume calculation and transmission module calculates the dredging volume after sectioning based on the volume change of the three-dimensional geological model before and after sectioning. That is, the dredging volume is calculated and the accuracy is retained by using the volume change of the three-dimensional geological model after the first sectioning and the second sectioning. At the same time, after each real-time calculation is completed, the data will be sent back to the dredger so that other software and systems can call it.

[0035] (7) A data monitoring and visualization system for displaying detailed data during the operation of the auger, including matching the operation data of the dredger with the movement trajectory of the auger, displaying the change in the dredged volume, and a line graph showing the change in the dredged volume over time. The data monitoring and visualization system can also export the detailed data during the operation of the auger in CSV format.

[0036] The data monitoring and visualization system can display input parameters and output results synchronously, so as to show the influence of the construction parameters of the cutter suction dredger on the dredging volume and adjust the construction parameters. At the same time, the corresponding relationship between key parameters, time and dredging volume can be dynamically displayed with a visual chart to show the productivity of certain time periods. In addition, all input and output as well as time parameters can be exported to CSV format at a certain time, so as to ensure the backup of historical data and prevent the loss and damage of data after the program crashes.

[0037] Embodiment 2:

[0038] Cutter suction vessel data receiving module: This module is mainly used for data transmission between ships, including the ship's own posture positioning, the auger's posture positioning and external environmental factors. These parameters are closely related to the dredging process, including auger X, auger Y, auger radius, traverse speed, bridge angle, bridge length, forward step, tide level, ship draft, compass angle. These data can be used to determine the actual movement of the auger. During the calculation process, due to the complexity of the model calculation, the data processing and sending speed are often unable to synchronize with the received data, so a multi-threaded approach is used to improve the accuracy and integrity of data docking.

[0039] Geological body generation: The three-dimensional point cloud data of the geological body is generated by using drilling data, interpolation algorithm and Delaunay triangulation method, and then pyvista is used for model rendering and visualization. The geological body generation module is characterized by first loading the conversion hole data table to form the coordinates X, Y, and Z of each layer of geological data. The structure table of its stratigraphic data is as follows.

[0040] Table 1 Drilling information structure table

[0041] Field Name Data Types Hole No. Text Drilling name Text Drilling depth float Ground elevation float X coordinate float Y coordinate float

[0042] Table 2 Rock formation information structure table

[0043]

[0044]

[0045] Table 3 Rock layer attributes

[0046] Field Name Data Types Type No. Int Geotechnical Type Text color Text Property Description Text

[0047] The distribution of initial geological points is formed by the drilling data table. These geological points represent different soil layer thicknesses and coordinates. Then the spline interpolation method is used to encrypt the points.

[0048]

[0049] Where, j = 1, 2, ..., N, N is the number of points involved in the calculation; λ j are the coefficients obtained by solving the linear equations; r j is the distance from point (x,y) to the jth point.

[0050] After point encryption, the surface model is created using the Delaunay triangulation method. The surfaces are then closed laterally using the Delaunay triangulation method to form a body. Finally, each type of rock layer is given a different color to form a three-dimensional dredging geological model.

[0051] Model rendering and data analysis and calculation: Use pyvista to build a three-dimensional engine, analyze and calculate the cutter suction vessel IoT data, form a format that can be displayed in a three-dimensional view, and make real-time adjustments to the model based on the parameters of the cutter suction vessel IoT data; analyze and cache the geological three-dimensional model data, and cache the real-time changes of the geological three-dimensional data to reduce the flickering of model changes. At the same time, enable 3D acceleration to maximize the use of computer hardware resources to ensure the realistic and beautiful display effect.

[0052] Calculation and recording of reamer trajectory: The ship's motion data is received in real time through TCP / IP network communication, including transverse speed, bridge angle, forward step, tide level, ship draft and other data to record the calculated path. The path is displayed in the display area. The reamer's motion trajectory is the key to calculating the volume. According to the transmitted data, the reamer's x, y, and z coordinates are calculated according to the reamer depth calculation formula.

[0053] .=. ％ -arctan(4566789:; / =)

[0054]

[0055] B=4>m@=×sin.+F-(G-BF)-BH

[0056] Cutterdis is the vertical distance from the center of the reamer to the trunnion. ％ is the bridge angle, . is the corrected bridge angle, 4>m@= is the temporary bridge length used for calculation, R is the radius of the auger circle, H is the height from the zero point of the trunnion draft sensor to the center of the trunnion, DR is the trunnion draft value, DT is the tide value or elevation value, D is the auger excavation depth, and L is the bridge length. The x, y, and z coordinates form points of the same size, and finally form the motion trajectory of the auger, showing the area and part of the interaction between the auger and the geology.

[0057] Real-time dynamic change module of geological body model: According to the motion trajectory of the reamer, the geological body at a fixed position is cut in real time, and the change of geological volume after cutting is calculated. Geological body cutting is based on the outer contour of the reamer, and real-time cutting and real-time volume calculation are performed when the reamer moves in real time. The main process of cutting operation is: for any cutting plane β: f(x,y,z)=ax+by+cz+d=0, it divides the three-dimensional model into two parts: f(x,y,z)=ax+by+cz+d>0 and f(x,y,z)=ax+by+cz+d<0. A cube with B as a face can be generated according to the β plane. This cube contains the part of the model where f(x,y,z)>0 or "f(x,y,z)<0. The model can be cut by using this cube and the model for calculation. After cutting once, the new model is used as the basis for the next cutting. It is iterated in sequence. On the motion trajectory of the reamer, the part that interacts with the geological model will have the effect of real-time cutting.

[0058] Calculation and transmission of dredging volume: Since the geological model is based on the Delaunay triangulation network, for a closed polyhedron composed of triangular faces, its volume can be calculated using the following steps: select a reference point O, form a tetrahedron with each triangular face and the origin, calculate the volume of each tetrahedron, and accumulate all tetrahedrons.

[0059] The volume calculation formula of a tetrahedron is:

[0060]

[0061] in The origin points to the triangle vertex M respectively. # , M & , M ' Vector.

[0062] The volume of the model before and after the change can be calculated based on the changes in the geological body model. The volume of the model after the change minus the volume of the model before the change can be used to obtain the volume of the excavated volume. After obtaining the excavated volume, it can be transmitted back to the dredger suction dredger in real time, so that the dredger suction dredger can perform other applications on the volume.

[0063] Data monitoring and visualization:

[0064] The pyvista library is used to update the visualization interface of geological bodies and cutters in real time, showing changes in volume and key parameters in the operation of the cutter suction dredger. Data monitoring is mainly to display detailed data during the operation of the cutter, including one-to-one matching of ship construction data and the trajectory of the cutter, while also being able to discover specific nodes of data change and make corresponding adjustments. Visualization is the generation of a dynamic line graph of time and volume, making the relationship between the output of the dredging process and time clear at a glance, and also showing the productivity during the excavation process.

[0065] The present invention adopts TCP / IP to transmit data, which has stable transmission and can obtain ship-related data in real time. The three-dimensional model of the borehole enables project personnel to accurately grasp the underwater geological conditions. The Python programming language and the pyvista three-dimensional visualization engine library are used to realize real-time monitoring and simulation of the changes in the geological body during the movement of the reamer, as well as the calculation of the dredging engineering volume. The dredging volume can be calculated in the early stage of dredging and excavation, which has important reference significance for the subsequent ship productivity judgment. In addition, all data in the present invention are presented on the panel, which monitors the ship's operating status and volume calculation at any time, and displays the entire excavation process in three-dimensional visualization, which is vivid and convenient for personnel to understand and display related results. The PC end adopts the form of free installation, and the free installation application can be directly run without a complicated installation process, which is simpler and more convenient.

[0066] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A geological body change simulation and excavation volume calculation system based on reamer movement, characterized in that: include: Cutter suction boat data receiving module collects ship operation data in real time; A dredging geology creation module generates three-dimensional point cloud data of a geological body, processes the three-dimensional point cloud data to form a surface model, and closes the data to form a three-dimensional geological body model; The model rendering and data analysis and calculation module is used to build a three-dimensional engine, analyze and calculate the ship operation data, form a format that can be displayed in a three-dimensional view, and analyze and cache the data of the three-dimensional geological model; Calculating and recording the motion trajectory of the reamer, performing calculations based on the ship operation data to generate the three-dimensional coordinates of the reamer, and continuously recording the three-dimensional coordinates of the reamer in the display area to form the motion trajectory of the reamer; A real-time dynamic change module for the geological body model performs a real-time sectioning operation on the interactive part between the three-dimensional geological body model and the reamer at a fixed position according to the movement trajectory of the reamer; The dredging volume calculation and transmission module calculates the dredging volume after sectioning according to the volume change of the three-dimensional geological body model before and after sectioning, and transmits the dredging volume in real time.

2. The system for simulating geological body changes and calculating excavation volume based on reamer motion according to claim 1, characterized in that: In the dredger suction vessel data receiving module, the ship operation data includes auger X, auger Y, auger radius, traverse speed, bridge angle, bridge length, forward pitch, tide level, ship draft, and compass angle.

3. The system for simulating geological body changes and calculating excavation volume based on reamer motion according to claim 2, characterized in that: The dredger suction vessel data receiving module also includes reamer data, and the reamer data includes reamer curvature radius and reamer inclination angle.

4. The system for simulating geological body changes and calculating excavation volume based on reamer motion according to claim 1, characterized in that: In the dredger suction vessel data receiving module, the received ship operation data is cleaned and filtered and the data is classified and converted.

5. The system for simulating geological body changes and calculating excavation volume based on reamer motion according to claim 1, characterized in that: In the dredging geology creation module, three-dimensional point cloud data of the geological body is generated based on geological drilling data and interpolation algorithm, and then the three-dimensional point cloud data is processed using the Delaunay triangulation method to form a surface model, which is closed into a three-dimensional geological model.

6. The system for simulating geological body changes and calculating excavation volume based on reamer motion according to claim 5, characterized in that: In the real-time dynamic change module of the geological body model, after the interaction between the geological body and the reamer is completed, a sectioned geological body is formed, and the sectioned geological body is used for the next interaction with the reamer to realize the real-time sectioning operation of the geological body.

7. The system for simulating geological body changes and calculating dredging volume based on reamer motion according to claim 6, characterized in that: In the dredging volume calculation and transmission module, the volume change of the three-dimensional geological body model after the first sectioning and the second sectioning of the geological body is used to calculate the dredging volume and retain the accuracy.

8. The system for simulating geological body changes and calculating dredging volume based on reamer motion according to any one of claims 1 to 7, characterized in that: Also includes: The data monitoring and visualization system is used to display detailed data during the operation of the auger, including matching the ship operation data of the dredger with the movement trajectory of the auger, displaying the changes in the dredged volume and a line graph of the dredged volume changing over time.

9. The system for simulating geological body changes and calculating dredging volume based on reamer motion according to claim 8, characterized in that: The data monitoring and visualization system can export detailed data of the reamer operation process in CSV format.

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