Simulation simulation method for combination of time sequence data and key process frames of drag arm of drag suction hopper dredger based on virtual construction

Abstract

The invention discloses a drag suction hopper dredger drag arm time sequence data and key process frame combination simulation method based on virtual construction, which comprises the following steps of: 1, establishing a virtual construction environment, and establishing an information model layer according to working conditions; 2, extracting a dredging operation time sequence data segment of the rake arm system; 3, establishing an association relationship between the time sequence data and the BIM model; 4, selecting a rake arm system process frame; step 5, screening frames; step 6, optimizing the process frame; 7, creating transition frames, adjusting the time interval between the transition frames, and testing the animation; 8, combining virtual reality scenes; and step 9, carrying out analogue simulation. Through the three-dimensional simulation and visualization technology and the virtual underwater dredging operation environment, a construction worker can evaluate the dredging process in the virtual environment, the process control difficulty caused by the complexity and invisibility of the underwater environment is solved, meanwhile, an operator can conveniently optimize and adjust process parameters, and the construction efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of virtual construction application, and in particular to a virtual construction-based simulation method for combining timing data of a rake arm of a trailing suction dredger with key process frames. Background Art

[0002] The application of virtual construction technology in the shipbuilding industry has made some progress, such as ship design evaluation, construction process optimization, engineering ship construction simulation, etc., but there is still room for improvement, especially in engineering ship construction simulation, operation and operation guarantee simulation technology, etc. Trailing suction hopper dredger is an engineering ship used for underwater dredging operations. Due to the complexity and invisibility of the underwater environment, the process control is difficult and the dredging operation is more difficult. The rake arm system is the main dredging equipment used by the trailing suction hopper dredger for underwater dredging operations, and the control of key process parameters such as displacement and angle is of utmost importance.

[0003] The simulation of the dredger's rake arm system based on virtual construction can realistically simulate the underwater dredging operation environment and provide construction personnel with a visual virtual display, which is convenient for pre-evaluation and optimization of process plans. It can also be used for operator training and education to improve their familiarity with and ability to cope with underwater operations.

[0004] The information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0005] In view of the problems existing in the prior art, the purpose of the present invention is to provide a simulation method for the combination of timing data of the rake arm of a trailing suction hopper dredger and key process frames based on virtual construction, so as to solve the difficult problem of how to determine and intuitively understand and master the optimal rake arm posture of the trailing suction hopper dredger according to the target engineering conditions.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A method for simulating the combination of time series data and key process frames of a trailing suction dredger based on virtual construction comprises the following steps: Step 1: Establish a virtual construction environment, and establish an information model layer according to working conditions; the information model layer includes a hydrological information model layer, a geographic information model layer and a BIM model layer; the hydrological information model includes wind, wave, flow and tide information models; the geographic information model includes a soil information model, and the soil information model is established in layers according to the designed layer thickness; the BIM model is a trailing suction dredger model; the trailing suction dredger model includes a rake arm system; Step 2: Extract the time series data segment of the dredging operation of the rake arm system; the data segment includes the whole process data of the complete operation cycle of the rake arm system from the suction port to the landing of the rake head, the rake arm posture adjustment, the rake raising and the rake arm retracting; the whole process data mainly includes the angle and displacement change data of each component of the rake arm system; Step 3: Establish an association relationship between the time series data and the BIM model; the association relationship includes the relative position relationship between the suction pipe elbow and the suction port, the relative position relationship between the radial arm and the upper rake pipe, the relative position relationship between the upper rake pipe and the universal joint, the relative position relationship between the universal joint and the rotating pipe, the relative position relationship between the rotating pipe and the lower rake pipe, and the relative position relationship between the lower rake pipe and the rake head; Step 4: Select the rake arm system process frame; the rake arm system process frame includes the node frame corresponding to each displacement change of 0.5m and each angle change of 1° during the process from the start of the action to the completion of the action of the rake arm system; Step 5: Screen frame; the screen frame is a key process frame for screening, including a suction port in place, an angle of 30° between the upper rake pipe and the horizon, an angle of 30° between the lower rake pipe and the horizon, and a rake head flush with the seabed; Step 6: Process frame optimization; Step 7: Create transition frames, adjust the time interval between transition frames, and test the animation; the process of creating transition frames is a cyclical and repeated process of creation and testing until the animation is smooth and the number of key frames is optimal; Step 8: virtual reality scene combination; the scene combination includes a virtual combination of hydrological information, geographic model information, and rake arm system time series historical data; Step 9: Simulation.

[0007] Further, step 1 is specifically implemented by the following steps: Step 1.1: Establish a BIM model of key process machinery and equipment of a trailing suction dredger; the process machinery and equipment is a rake arm system; Step 1.2: Establishing a soil geographic information model, wherein the soil geographic information model is established in layers according to the designed layer thickness; Step 1.3: Input the rvt format BIM model and the SHP format geographic information model file into the virtual construction system for model conversion, and output it as a bcm format model file; Step 1.4: Establish a simulation environment for the rake arm system of a trailing suction dredger on the project management end of the virtual construction system, and establish an information model layer according to the working conditions; the information model layer includes a hydrological information model layer, a geographic information model layer and a BIM model layer; the hydrological information model layer includes four types of layers: wind, wave, flow and tide level; the geographic information model layer is established in layers corresponding to the soil geographic information model.

[0008] Further: Step 2 is specifically implemented through the following steps: Step 2.1: Output the sensor data of the rake arm system; the sensor data is exported to an Excel format; Step 2.2: Select the time series data segment of the dredging operation of the rake arm system; the data segment includes the whole process data of the complete operation cycle of the rake arm system from the suction port to the landing of the rake head, the rake arm posture adjustment, the rake raising and the rake arm retracting; the whole process data includes the angle and displacement change data of each component of the rake arm system; Step 2.3: Eliminate invalid data; the invalid data includes data with a mutation exceeding 2 times the average value within 2 seconds, data with no change within 1.5 hours, and data identified as warning abnormalities by the rake arm system; Step 2.4: Extract the effective rake arm system dredging operation time series data segment.

[0009] Further: Step 3 is specifically implemented through the following steps: Step 3.1: Establish the association relationship between the time series displacement data and the BIM model of the rake arm system; the association relationship includes the unconstrained relationship between the suction pipe elbow and the suction port, the radial twist arm and the axial following relationship between the upper rake pipe, the contact surface following relationship between the upper rake pipe and the universal joint, the contact surface following relationship between the universal joint and the rotating pipe, the following relationship between the rotating pipe and the lower rake pipe, and the following relationship between the lower rake pipe and the rake head; Step 3.2: Establish the association relationship between the time series angle data and the BIM model of the rake arm system; the association relationship includes the axial rotation relationship between the suction pipe elbow and the suction port, the axial rotation relationship between the radial arm and the upper rake pipe, the axial rotation relationship between the upper rake pipe and the universal joint and the plane rotation relationship about the vertical axis, the axial rotation relationship between the universal joint and the rotating pipe and the plane rotation relationship about the vertical axis, the axial rotation relationship between the rotating pipe and the lower rake pipe, and the following relationship between the lower rake pipe and the rake head.

[0010] Further: Step 4 is specifically implemented through the following steps: Step 4.1: Establishing a rake arm system dredging operation time series data segment corresponding to the rake arm system process frame; the rake arm system dredging operation time series data segment is the valid data segment extracted in step 2.4; the rake arm system process frame is the position and angle of the rake arm system at the selected time point; Step 4.2: Select the rake arm system process frame; the rake arm system process frame includes the node frame corresponding to each displacement change of 0.5m and each angle change of 1° during the process from the start of the action to the completion of the action of the rake arm system; Step 4.3: Combine the rake arm system process frames selected in step 4.2 to form a sequential process frame set.

[0011] Further: Step 6 is specifically implemented by the following steps: Step 6.1: Taking the model posture corresponding to the key process frame as the node position, ten rake arm system process frames are selected forward and backward as the intermediate process; Step 6.2: Remove the rake arm system process frames that are repeatedly selected between the key process frames; Step 6.3: According to the time sequence frame position, add the inflection point frame for every 2m change in displacement and every 10° change in angle; Step 6.4: Record the optimized process frame.

[0012] Further: Step 8 is specifically implemented by the following steps: Step 8.1: Establish three modules in the virtual construction scene: the three modules include a digital baseboard interactive interface, a simulation module, and a data calculation module; Step 8.2: Create wind, wave, current and tide level hydrological information layers in the digital baseboard interactive interface; Step 8.3: Create a soil information layer in layers according to the designed cutting thickness in the digital baseplate interactive interface; Step 8.4: The rake arm posture data is transmitted to the simulation module, and the corresponding hydrological information layer and soil information layer are selected for simulation; the simulation includes the entire process of the position and angle changes of the rake arm system under the influence of the selected hydrological information layer; the starting point of the entire process is the starting point of the rake arm; the end point of the entire process is the fitting point between the rake head and the selected soil information layer.

[0013] Further: Step 9 is specifically implemented by the following steps: Step 9.1: Establish the association relationship between the BIM model and the time series data of the rake arm system in the simulation module; Step 9.2: Repeat Step 6-Step 7 until the animation is smooth and the number of keyframes is optimal; Step 9.3: Repeat steps 8.2 to 8.4 until the designed dredging depth of the soil information layer is simulated; Step 9.4: Calculate the optimal rake arm posture data during the simulation process in the data calculation module.

[0014] By adopting the above technical solution, the present invention has the following beneficial effects: The present invention uses three-dimensional simulation and visualization technology to create a virtual underwater dredging operation environment. Construction workers can evaluate the dredging process in the virtual environment, which solves the difficulty of process control caused by the complexity and invisibility of the underwater environment. At the same time, it is convenient for operators to optimize and adjust process parameters and improve construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 This is a technical architecture diagram of the virtual construction-based simulation method for the combined simulation of the timing data and key process frames of the rake arm of a trailing suction dredger described in the present invention.

[0017] Figure 2 It is a composition diagram of the rake arm system of the trailing suction dredger of the present invention. DETAILED DESCRIPTION

[0018] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0020] Combination Figure 1-2 As shown, the present invention provides a method for simulating the combination of timing data and key process frames of a trailing suction dredger based on virtual construction, which includes the following steps: Step 1: Establish a virtual construction environment, and establish an information model layer according to working conditions; the information model layer includes a hydrological information model layer, a geographic information model layer and a BIM model layer; the hydrological information model includes wind, wave, flow and tide information models; the geographic information model includes a soil information model, and the soil information model is established in layers according to the designed layer thickness; the BIM model is a trailing suction dredger model; the trailing suction dredger model includes a rake arm system; the rake arm system includes a suction pipe elbow 1, a radial arm 2, a bellows 3, an upper rake pipe 4, a lifting ring 5, a universal joint 6, a rotating pipe 7, a lower rake pipe 8, a shaft pin 9, a high-pressure flushing pipe system 10, an anti-collision rubber block 11 and a rake head 12.

[0021] Step 2: Extract the time series data segment of the dredging operation of the rake arm system; the data segment is the full process data of the complete operation cycle of the rake arm system from the suction port to the landing of the rake head, the rake arm posture adjustment, the rake raising, and the rake arm retracting; the full process data mainly includes the angle and displacement change data of each component of the rake arm system.

[0022] Step 3: Establish an association relationship between the time series data and the BIM model; the association relationship includes the relative position relationship between the suction pipe elbow and the suction port, the relative position relationship between the radial arm and the upper rake pipe, the relative position relationship between the upper rake pipe and the universal joint, the relative position relationship between the universal joint and the rotating pipe, the relative position relationship between the rotating pipe and the lower rake pipe, and the relative position relationship between the lower rake pipe and the rake head.

[0023] Step 4: Select the rake arm system process frame; the rake arm system process frame includes the node frames corresponding to each displacement change of 0.5m and each angle change of 1° during the process from the start of the action to the completion of the action of the rake arm system.

[0024] Step 5: Screen frame; the screen frame is a key process frame for screening, including a suction port in place, an upper rake pipe at an angle of 30° to the horizon, a lower rake pipe at an angle of 30° to the horizon, and a rake head flush with the seabed.

[0025] Step 6: Process frame optimization; Step 7: Create transition frames, adjust the time interval between transition frames, and test the animation; the process of creating transition frames is a cyclical and repetitive process of creation and testing until the animation is smooth and the number of key frames is optimal.

[0026] Step 8: Virtual reality scene combination; the scene combination includes a virtual combination of hydrological information, geographic model information, and rake arm system time series historical data.

[0027] Step 9: Simulation.

[0028] Step 1 is implemented through the following steps: Step 1.1: Establish a BIM model of key process machinery and equipment of a trailing suction dredger; the process machinery and equipment is a rake arm system; Step 1.2: Establishing a soil geographic information model, wherein the soil geographic information model is established in layers according to the designed layer thickness; Step 1.3: Input the rvt format BIM model and the SHP format geographic information model file into the virtual construction system for model conversion, and output it as a bcm format model file; Step 1.4: Establish a simulation environment for the rake arm system of a trailing suction dredger on the project management end of the virtual construction system, and establish an information model layer according to the working conditions; the information model layer includes a hydrological information model layer, a geographic information model layer and a BIM model layer; the hydrological information model layer includes four types of layers: wind, wave, flow and tide level; the geographic information model layer is established in layers corresponding to the soil geographic information model.

[0029] Step 2 is implemented through the following steps: Step 2.1: Output the sensor data of the rake arm system; the sensor data is exported into an Excel format, including the suction pipe elbow position, radial arm angle, upper rake pipe position and angle, lifting ring position, universal joint position and angle, rotating pipe angle, lower rake pipe position and angle, and rake head position and angle; Step 2.2: Select the time series data segment of the dredging operation of the rake arm system; the data segment includes the whole process data of the complete operation cycle of the rake arm system from the suction port to the landing of the rake head, the rake arm posture adjustment, the rake raising, and the rake arm retracting; the whole process data mainly includes the angle and displacement change data of each component of the rake arm system; Step 2.3: Eliminate invalid data; the invalid data includes data with a mutation exceeding 2 times the average value within 2 seconds, data with no change within 1.5 hours, and data identified as warning abnormalities by the rake arm system; Step 2.4: Extract the effective rake arm system dredging operation time series data segment.

[0030] Step 3 is implemented through the following steps: Establish an association relationship between time series data and the BIM model; the association relationship includes the relative position relationship between the suction pipe elbow and the suction port, the relative position relationship between the radial winch arm and the upper rake pipe, the relative position relationship between the upper rake pipe and the universal joint, the relative position relationship between the universal joint and the rotating pipe, the relative position relationship between the rotating pipe and the lower rake pipe, and the relative position relationship between the lower rake pipe and the rake head.

[0031] Step 3.1: Establish the association relationship between the time series displacement data and the BIM model of the rake arm system; the association relationship includes the unconstrained relationship between the suction pipe elbow and the suction port, the radial twist arm and the axial following relationship between the upper rake pipe, the contact surface following relationship between the upper rake pipe and the universal joint, the contact surface following relationship between the universal joint and the rotating pipe, the following relationship between the rotating pipe and the lower rake pipe, and the following relationship between the lower rake pipe and the rake head; Step 3.2: Establish the association relationship between the time series angle data and the BIM model of the rake arm system; the association relationship includes the axial rotation relationship between the suction pipe elbow and the suction port, the axial rotation relationship between the radial arm and the upper rake pipe, the axial rotation relationship between the upper rake pipe and the universal joint and the plane rotation relationship about the vertical axis, the axial rotation relationship between the universal joint and the rotating pipe and the plane rotation relationship about the vertical axis, the axial rotation relationship between the rotating pipe and the lower rake pipe, and the following relationship between the lower rake pipe and the rake head.

[0032] Step 4 is implemented through the following steps: Step 4.1: Establishing a rake arm system dredging operation time series data segment corresponding to the rake arm system process frame; the rake arm system dredging operation time series data segment is the valid data segment extracted in step 2.4; the rake arm system process frame is the position and angle of the rake arm system at the selected time point; Step 4.2: Select the rake arm system process frame; the rake arm system process frame includes the node frame corresponding to each displacement change of 0.5m and each angle change of 1° during the process from the start of the action to the completion of the action of the rake arm system; Step 4.3: Combine the rake arm system process frames selected in step 4.2 to form a sequential process frame set.

[0033] Step 6 is implemented by the following steps: Step 6.1: Taking the model posture corresponding to the key process frame as the node position, ten rake arm system process frames are selected forward and backward as the intermediate process; Step 6.2: Remove the rake arm system process frames that are repeatedly selected between the key process frames; Step 6.3: According to the time sequence frame position, add the inflection point frame for every 2m change in displacement and every 10° change in angle; Step 6.4: Record the optimized process frame.

[0034] Step 8 is implemented by the following steps: Step 8.1: Establish three modules in the virtual construction scene: the three modules include a digital baseboard interactive interface, a simulation module, and a data calculation module; Step 8.2: Create wind, wave, current and tide level hydrological information layers in the digital baseboard interactive interface; Step 8.3: Create a soil information layer in layers according to the designed cutting thickness in the digital baseplate interactive interface; Step 8.4: The rake arm posture data is transmitted to the simulation module, and the corresponding hydrological information layer and soil information layer are selected to perform simulation; the simulation includes the whole process of the position and angle change of the rake arm system under the influence of the selected hydrological information layer; the starting point of the whole process is the starting point of the rake arm; the end point of the whole process is the fitting point between the rake head and the selected soil information layer; Step 9 is implemented by the following steps: Step 9.1: Establish the association relationship between the BIM model and the time series data of the rake arm system in the simulation module; Step 9.2: Repeat Step 6-Step 7 until the animation is smooth and the number of keyframes is optimal Step 9.3: Repeat steps 8.2 to 8.4 until the designed dredging depth of the soil information layer is simulated; Step 9.4: Calculate the optimal rake arm posture data during the simulation process in the data calculation module.

[0035] Virtual construction technology provides important technical support for the shipbuilding industry, especially for underwater dredging operations of trailing suction hopper dredgers. Through simulation and emulation, it improves the quality and safety of construction. It also provides new solutions for operator training and the accumulation of excellent technology.

[0036] The invention solves the difficult problem of how to determine and intuitively understand and master the optimal rake arm posture of the trailing suction hopper vessel to be built according to the target engineering working conditions.

[0037] The present invention uses three-dimensional simulation and visualization technology to create a virtual underwater dredging operation environment. Construction workers can evaluate the dredging process in the virtual environment, which solves the difficulty of process control caused by the complexity and invisibility of the underwater environment. At the same time, it is convenient for operators to optimize and adjust process parameters and improve construction efficiency.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A virtual construction-based simulation method for combining the timing data of the rake arm of a trailing suction dredger with key process frames, characterized in that: The following steps are involved: Step 1: Establish a virtual construction environment, and establish an information model layer according to working conditions; the information model layer includes a hydrological information model layer, a geographic information model layer and a BIM model layer; the hydrological information model includes wind, wave, flow and tide information models; the geographic information model includes a soil information model, and the soil information model is established in layers according to the designed layer thickness; the BIM model is a trailing suction dredger model; the trailing suction dredger model includes a rake arm system; Step 2: Extract the time series data segment of the dredging operation of the rake arm system; the data segment includes the whole process data of the complete operation cycle of the rake arm system from the suction port to the landing of the rake head, the rake arm posture adjustment, the rake raising and the rake arm retracting; the whole process data mainly includes the angle and displacement change data of each component of the rake arm system; Step 3: Establish an association relationship between the time series data and the BIM model; the association relationship includes the relative position relationship between the suction pipe elbow and the suction port, the relative position relationship between the radial arm and the upper rake pipe, the relative position relationship between the upper rake pipe and the universal joint, the relative position relationship between the universal joint and the rotating pipe, the relative position relationship between the rotating pipe and the lower rake pipe, and the relative position relationship between the lower rake pipe and the rake head; Step 4: Select the rake arm system process frame; the rake arm system process frame includes the node frame corresponding to each displacement change of 0.5m and each angle change of 1° during the process from the start of the action to the completion of the action of the rake arm system; Step 5: Screen frame; the screen frame is a key process frame for screening, including a suction port in place, an angle of 30° between the upper rake pipe and the horizon, an angle of 30° between the lower rake pipe and the horizon, and a rake head flush with the seabed; Step 6: Process frame optimization; Step 7: Create transition frames, adjust the time interval between transition frames, and test the animation; the process of creating transition frames is a cyclical and repeated process of creation and testing until the animation is smooth and the number of key frames is optimal; Step 8: virtual reality scene combination; the scene combination includes a virtual combination of hydrological information, geographic model information, and rake arm system time series historical data; Step 9: Simulation.

2. The method for simulating the combination of timing data and key process frames of a trailing suction dredger based on virtual construction according to claim 1 is characterized in that: Step 1 is implemented through the following steps: Step 1.1: Establish a BIM model of key process machinery and equipment of a trailing suction dredger; the process machinery and equipment is a rake arm system; Step 1.2: Establishing a soil geographic information model, wherein the soil geographic information model is established in layers according to the designed layer thickness; Step 1.3: Input the rvt format BIM model and the SHP format geographic information model file into the virtual construction system for model conversion, and output it as a bcm format model file; Step 1.4: Establish a simulation environment for the rake arm system of a trailing suction dredger on the project management end of the virtual construction system, and establish an information model layer according to the working conditions; the information model layer includes a hydrological information model layer, a geographic information model layer and a BIM model layer; the hydrological information model layer includes four types of layers: wind, wave, flow and tide level; the geographic information model layer is established in layers corresponding to the soil geographic information model.

3. The method for simulating the combination of time series data and key process frames of a trailing suction dredger based on virtual construction according to claim 1 is characterized in that: Step 2 is implemented through the following steps: Step 2.1: Output the sensor data of the rake arm system; the sensor data is exported to an Excel format; Step 2.2: Select the time series data segment of the dredging operation of the rake arm system; the data segment includes the whole process data of the complete operation cycle of the rake arm system from the suction port to the landing of the rake head, the rake arm posture adjustment, the rake raising and the rake arm retracting; the whole process data includes the angle and displacement change data of each component of the rake arm system; Step 2.3: Eliminate invalid data; the invalid data includes data with a mutation exceeding 2 times the average value within 2 seconds, data with no change within 1.5 hours, and data identified as warning abnormalities by the rake arm system; Step 2.4: Extract the effective rake arm system dredging operation time series data segment.

4. The method for simulating the combination of timing data and key process frames of a trailing suction dredger based on virtual construction according to claim 1 is characterized in that: Step 3 is implemented through the following steps: Step 3.1: Establish the association relationship between the time series displacement data and the BIM model of the rake arm system; the association relationship includes the unconstrained relationship between the suction pipe elbow and the suction port, the radial twist arm and the axial following relationship between the upper rake pipe, the contact surface following relationship between the upper rake pipe and the universal joint, the contact surface following relationship between the universal joint and the rotating pipe, the following relationship between the rotating pipe and the lower rake pipe, and the following relationship between the lower rake pipe and the rake head; Step 3.2: Establish the association relationship between the time series angle data and the BIM model of the rake arm system; the association relationship includes the axial rotation relationship between the suction pipe elbow and the suction port, the axial rotation relationship between the radial arm and the upper rake pipe, the axial rotation relationship between the upper rake pipe and the universal joint and the plane rotation relationship about the vertical axis, the axial rotation relationship between the universal joint and the rotating pipe and the plane rotation relationship about the vertical axis, the axial rotation relationship between the rotating pipe and the lower rake pipe, and the following relationship between the lower rake pipe and the rake head.

5. The method for simulating the combination of time series data and key process frames of a trailing suction dredger based on virtual construction according to claim 1 is characterized by: Step 4 is implemented through the following steps: Step 4.1: Establishing a rake arm system dredging operation time series data segment corresponding to the rake arm system process frame; the rake arm system dredging operation time series data segment is the valid data segment extracted in step 2.4; the rake arm system process frame is the position and angle of the rake arm system at the selected time point; Step 4.2: Select the rake arm system process frame; the rake arm system process frame includes the node frame corresponding to each displacement change of 0.5m and each angle change of 1° during the process from the start of the action to the completion of the action of the rake arm system; Step 4.3: Combine the rake arm system process frames selected in step 4.2 to form a sequential process frame set.

6. The method for simulating the combination of time series data and key process frames of a trailing suction dredger based on virtual construction according to claim 1 is characterized in that: Step 6 is implemented by the following steps: Step 6.1: Taking the model posture corresponding to the key process frame as the node position, ten rake arm system process frames are selected forward and backward as the intermediate process; Step 6.2: Remove the rake arm system process frames that are repeatedly selected between the key process frames; Step 6.3: According to the time sequence frame position, add the inflection point frame for every 2m change in displacement and every 10° change in angle; Step 6.4: Record the optimized process frame.

7. The method for simulating the combination of timing data and key process frames of a trailing suction dredger based on virtual construction according to claim 1 is characterized in that: Step 8 is implemented by the following steps: Step 8.1: Establish three modules in the virtual construction scene: the three modules include a digital baseboard interactive interface, a simulation module, and a data calculation module; Step 8.2: Create wind, wave, current and tide level hydrological information layers in the digital baseboard interactive interface; Step 8.3: Create a soil information layer in layers according to the designed cutting thickness in the digital baseplate interactive interface; Step 8.4: The rake arm posture data is transmitted to the simulation module, and the corresponding hydrological information layer and soil information layer are selected to perform simulation; the simulation includes the whole process of the position and angle change of the rake arm system under the influence of the selected hydrological information layer; The starting point of the whole process is the starting point of the rake arm; The end point of the whole process is the point where the rake head fits the selected soil information layer.

8. The method for simulating the combination of time series data and key process frames of a trailing suction dredger based on virtual construction according to claim 1 is characterized by: Step 9 is implemented by the following steps: Step 9.1: Establish the association relationship between the BIM model and the time series data of the rake arm system in the simulation module; Step 9.2: Repeat Step 6-Step 7 until the animation is smooth and the number of keyframes is optimal; Step 9.3: Repeat steps 8.2 to 8.4 until the designed dredging depth of the soil information layer is simulated; Step 9.4: Calculate the optimal rake arm posture data during the simulation process in the data calculation module.

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