A simulation method based on the combination of timing data of the trailing suction hopper dredger's boom and key process frames.

Abstract

This invention discloses a simulation method based on virtual construction of the trailing suction hopper dredger's boom timing data and key process frames, comprising the following steps: Step 1: Establishing a virtual construction environment and creating an information model layer according to working conditions; Step 2: Extracting the boom system's dredging operation timing data segments; Step 3: Establishing the association between the timing data and the BIM model; Step 4: Selecting the boom system's process frames; Step 5: Screening frames; Step 6: Optimizing process frames; Step 7: Creating transition frames, adjusting the time interval between transition frames, and testing the animation; Step 8: Combining virtual reality scenes; Step 9: Simulation. This application utilizes 3D simulation and visualization technology to create a virtual underwater dredging operation environment. Construction workers can evaluate the dredging process in this virtual environment, solving the difficulty of process control caused by the complexity and invisibility of the underwater environment. It also facilitates operators in optimizing and adjusting process parameters, improving construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of virtual construction application technology, and in particular to a simulation method based on virtual construction that combines the timing data of the trailing suction hopper dredger's boom with key process frames. Background Technology

[0002] Virtual construction technology has made some progress in the shipbuilding industry, such as in ship design evaluation, construction process optimization, and engineering vessel construction simulation. However, there is still room for improvement, especially in engineering vessel construction simulation and operational support simulation technologies. Trailing suction hopper dredgers are engineering vessels used for underwater dredging operations. The complexity and invisibility of the underwater environment increase the difficulty of process control and dredging operations. The trailing arm system is the main dredging equipment of the trailing suction hopper dredger for underwater dredging operations, and the control of key process parameters such as its displacement and angle is of paramount importance.

[0003] The simulation of the trailing suction hopper dredger's boom system based on virtual construction realistically simulates the underwater dredging operation environment, providing a visual virtual display for construction personnel. This facilitates the pre-evaluation and optimization of process plans and can also be used for operator training and education, improving their familiarity with and ability to cope with underwater operations.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the general background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] To address the problems existing in the prior art, the purpose of this invention is to provide a simulation method based on the combination of timing data of the trailing suction hopper dredger's boom and key process frames in virtual construction, so as to solve the problem of how to determine, intuitively understand and master the optimal boom posture of the trailing suction hopper dredger under construction according to the target engineering conditions.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A simulation method based on the combination of timing data and key process frames of a trailing suction hopper dredger's boom in virtual construction includes the following steps:

[0008] Step 1: Establish a virtual construction environment and create information model layers based on working conditions; the information model layers include a hydrological information model layer, a geographic information model layer, and a BIM model layer; the hydrological information model includes wind, wave, current, and tide level information models; the geographic information model includes a soil information model, which is created in layers according to the design layer thickness; the BIM model is a trailing suction hopper dredger model; the trailing suction hopper dredger model includes a dredger arm system;

[0009] Step 2: Extract the dredging operation time sequence data segment of the rake arm system; the data segment contains the complete process data of the rake arm system from the suction inlet to the rake head landing, rake arm posture adjustment, rake raising, and rake arm retraction; the complete process data mainly includes the angle and displacement change data of each component of the rake arm system;

[0010] Step 3: Establish the relationship between the time series data and the BIM model; the relationship includes the relative positional relationship between the suction pipe elbow and the suction port, the relative positional relationship between the radial auger and the upper rake pipe, the relative positional relationship between the upper rake pipe and the universal joint, the relative positional relationship between the universal joint and the rotating pipe, the relative positional relationship between the rotating pipe and the lower rake pipe, and the relative positional relationship between the lower rake pipe and the rake head.

[0011] Step 4: Select the process frame of the rake arm system; the process frame of the rake arm system includes the node frames corresponding to each 0.5m change in displacement and 1° change in angle during the process from the start of the action to the completion of the action;

[0012] Step 5: Screening frame; The screening frame is the key process frame for screening, including the suction port being in place, the upper rake pipe having an angle of 30° with the horizon, the lower rake pipe having an angle of 30° with the horizon, and the rake head being flush with the seabed;

[0013] Step 6: Process frame optimization;

[0014] 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 process of creation and testing until the animation is smooth and the number of keyframes is optimal.

[0015] Step 8: Virtual reality scene combination; the scene combination includes a virtual combination of hydrological information, geographic model information, and time-series historical data of the rake arm system;

[0016] Step 9: Simulation.

[0017] Furthermore, step 1 is specifically implemented through the following steps:

[0018] Step 1.1: Establish a BIM model of the key process equipment for the trailing suction hopper dredger; the process equipment is the trailing arm system;

[0019] Step 1.2: Establish a soil geographic information model, which is established layer by layer according to the design layer thickness;

[0020] Step 1.3: Input the RVT format BIM model and SHP format geographic information model file into the virtual construction system for model conversion, and output the BCM format model file;

[0021] Step 1.4: Establish a simulation environment for the dredger's hook arm system in the project management terminal of the virtual construction system, and establish information model layers according to the working conditions; the information model layers include hydrological information model layers, geographic information model layers, and BIM model layers; the hydrological information model layers include four types of layers: wind, waves, current, and tide level; the geographic information model layers are established in layers corresponding to the soil geographic information model.

[0022] Further: Step 2 is implemented through the following steps:

[0023] Step 2.1: Output the sensor data of the rake arm system; export the sensor data as an Excel file;

[0024] Step 2.2: Select the dredging operation time sequence data segment of the rake arm system; the data segment includes the complete process data of the rake arm system from the suction inlet to the rake head landing, rake arm posture adjustment, rake raising, and rake arm retraction; the complete process data includes the angle and displacement change data of each component of the rake arm system;

[0025] Step 2.3: Remove invalid data; the invalid data includes data that changes more than twice the average value within 2 seconds, data that has not changed within 1.5 hours, and data that the rake arm system identifies as an abnormal warning.

[0026] Step 2.4: Extract the effective dredging operation time sequence data segment of the rake arm system.

[0027] Further: Step 3 is implemented through the following steps:

[0028] Step 3.1: Establish the correlation between the time-series displacement data and the BIM model of the rake arm system; the correlation includes the unconstrained relationship between the suction pipe elbow and the suction port, the axial following relationship between the radial auger and 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;

[0029] Step 3.2: Establish the correlation between the time-series angle data and the BIM model of the rake arm system; the correlation 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 planar rotation relationship between the vertical axis, the axial rotation relationship between the universal joint and the rotating pipe and the planar rotation relationship between 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.

[0030] Further: Step 4 is implemented through the following steps:

[0031] Step 4.1: Establish the process frame of the rake arm system corresponding to the dredging operation time sequence data segment of the rake arm system; the dredging operation time sequence data segment of the rake arm system is the valid data segment extracted in step 2.4; the process frame of the rake arm system is the position and angle of the rake arm system at the selected time point;

[0032] Step 4.2: Select the process frame of the rake arm system; the process frame of the rake arm system includes the node frames corresponding to each 0.5m change in displacement and 1° change in angle during the process from the start of the action to the completion of the action of the rake arm system;

[0033] Step 4.3: Combine the process frames of the rake arm system selected in Step 4.2 to form a timing process frame set.

[0034] Further: Step 6 is implemented through the following steps:

[0035] Step 6.1: Using the model posture corresponding to the key process frame as the node position, select ten rake arm system process frames forward and backward as intermediate processes;

[0036] Step 6.2: Remove duplicate rake arm system process frames selected between each critical process frame;

[0037] Step 6.3: According to the time sequence frame position, add inflection point frames for every 2m change in displacement and every 10° change in angle;

[0038] Step 6.4: Record the optimized process frame.

[0039] Further: Step 8 is implemented through the following steps:

[0040] Step 8.1: Establish three modules in the virtual construction scenario: the three modules include a digital baseboard interactive interface, a simulation module, and a data calculation module;

[0041] Step 8.2: Create hydrological information layers for wind, waves, current, and tide levels respectively on the digital baseboard interactive interface;

[0042] Step 8.3: Create soil information layers in the digital base plate interactive interface according to the design cutting thickness;

[0043] Step 8.4: Transmit the rake arm posture data to the simulation module, select the corresponding hydrological information layer and soil information layer, and perform 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 movement. The ending point of the entire process is the point where the rake head touches the selected soil information layer.

[0044] Further: Step 9 is implemented through the following steps:

[0045] Step 9.1: Establish the association between the BIM model and the time series data of the rake arm system in the simulation module;

[0046] Step 9.2: Repeat steps 6-7 until the animation is smooth and the number of keyframes is optimal;

[0047] Step 9.3: Repeat steps 8.2-8.4 until the design dredging depth of the soil information layer is simulated;

[0048] Step 9.4: The data calculation module calculates and provides the optimal rake arm posture data during the simulation process.

[0049] By adopting the above technical solution, the present invention has the following beneficial effects:

[0050] This invention uses 3D simulation and visualization technology to create a virtual underwater dredging operation environment. Construction workers can evaluate the dredging process in this virtual environment, which solves the difficulty of process control caused by the complexity and invisibility of the underwater environment. At the same time, it makes it easier for operators to optimize and adjust process parameters, thereby improving construction efficiency. Attached Figure Description

[0051] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0052] Figure 1 This is a technical architecture diagram of the simulation method for combining the timing data of the trailing suction hopper dredger's arm with key process frames based on virtual construction, as described in this invention.

[0053] Figure 2 This is a diagram showing the composition of the trailing suction hopper dredger's drag arm system of the present invention. Detailed Implementation

[0054] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0056] Combination Figure 1-2As shown, this invention provides a simulation method based on the combination of timing data of the trailing suction hopper dredger's boom and key process frames, which includes the following steps:

[0057] Step 1: Establish a virtual construction environment and create information model layers according to working conditions; the information model layers include hydrological information model layers, geographic information model layers, and BIM model layers; the hydrological information model includes wind, wave, current, and tide information models; the geographic information model includes soil information models, which are created in layers according to the design layer thickness; the BIM model is a trailing suction hopper dredger model; the trailing suction hopper dredger model includes a dredger arm system; the dredger arm system includes a suction pipe elbow 1, a radial auger 2, a corrugated pipe 3, an upper dredger pipe 4, a lifting ring 5, a universal joint 6, a rotating pipe 7, a lower dredger pipe 8, a pivot pin 9, a high-pressure flushing pipe system 10, anti-collision rubber blocks 11, and a dredger head 12.

[0058] Step 2: Extract the time sequence data segment of the dredging operation of the rake arm system; the data segment includes the complete process data of the rake arm system from the position of the suction inlet to the landing of the rake head, the adjustment of the rake arm posture, the raising of the rake, and the retraction of the rake arm; the complete process data mainly includes the angle and displacement change data of each component of the rake arm system.

[0059] Step 3: Establish the association between time-series data and the BIM model; the association includes the relative positional relationship between the suction pipe elbow and the suction port, the relative positional relationship between the radial auger and the upper rake pipe, the relative positional relationship between the upper rake pipe and the universal joint, the relative positional relationship between the universal joint and the rotating pipe, the relative positional relationship between the rotating pipe and the lower rake pipe, and the relative positional relationship between the lower rake pipe and the rake head.

[0060] Step 4: Select the process frame of the rake arm system; the process frame of the rake arm system includes the node frames corresponding to the displacement change of 0.5m and the angle change of 1° during the process from the start of the action to the completion of the action.

[0061] Step 5: Screening frame; The screening frame is the key process frame for screening, including the suction port being in place, the upper rake pipe having an angle of 30° with the horizon, the lower rake pipe having an angle of 30° with the horizon, and the rake head being flush with the seabed.

[0062] Step 6: Process frame optimization;

[0063] 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 process of creation and testing until the animation is smooth and the number of keyframes is optimal.

[0064] Step 8: Virtual reality scene combination; the scene combination includes a virtual combination of hydrological information, geographic model information, and time-series historical data of the rake arm system.

[0065] Step 9: Simulation.

[0066] Step 1 is implemented through the following steps:

[0067] Step 1.1: Establish a BIM model of the key process equipment for the trailing suction hopper dredger; the process equipment is the trailing arm system;

[0068] Step 1.2: Establish a soil geographic information model, which is established layer by layer according to the design layer thickness;

[0069] Step 1.3: Input the RVT format BIM model and SHP format geographic information model file into the virtual construction system for model conversion, and output the BCM format model file;

[0070] Step 1.4: Establish a simulation environment for the dredger's hook arm system in the project management terminal of the virtual construction system, and establish information model layers according to the working conditions; the information model layers include hydrological information model layers, geographic information model layers, and BIM model layers; the hydrological information model layers include four types of layers: wind, waves, current, and tide level; the geographic information model layers are established in layers corresponding to the soil geographic information model.

[0071] Step 2 is implemented through the following steps:

[0072] Step 2.1: Output the sensor data of the rake arm system; the sensor data is exported in Excel format, including the position of the suction pipe bend, the radial auger angle, the position and angle of the upper rake pipe, the position of the lifting ring, the position and angle of the universal joint, the angle of the rotating pipe, the position and angle of the lower rake pipe, and the position and angle of the rake head;

[0073] Step 2.2: Select the dredging operation time sequence data segment of the rake arm system; the data segment includes the complete process data of the rake arm system from the suction inlet to the rake head landing, rake arm posture adjustment, rake raising, and rake arm retraction; the complete process data mainly includes the angle and displacement change data of each component of the rake arm system;

[0074] Step 2.3: Remove invalid data; the invalid data includes data that changes more than twice the average value within 2 seconds, data that has not changed within 1.5 hours, and data that the rake arm system identifies as an abnormal warning.

[0075] Step 2.4: Extract the effective dredging operation time sequence data segment of the rake arm system.

[0076] Step 3 is implemented through the following steps:

[0077] Establish the correlation between time-series data and the BIM model; the correlation includes the relative positional relationship between the suction pipe elbow and the suction port, the relative positional relationship between the radial auger and the upper rake pipe, the relative positional relationship between the upper rake pipe and the universal joint, the relative positional relationship between the universal joint and the rotating pipe, the relative positional relationship between the rotating pipe and the lower rake pipe, and the relative positional relationship between the lower rake pipe and the rake head.

[0078] Step 3.1: Establish the correlation between the time-series displacement data and the BIM model of the rake arm system; the correlation includes the unconstrained relationship between the suction pipe elbow and the suction port, the axial following relationship between the radial auger and 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;

[0079] Step 3.2: Establish the correlation between the time-series angle data and the BIM model of the rake arm system; the correlation 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 planar rotation relationship between the vertical axis, the axial rotation relationship between the universal joint and the rotating pipe and the planar rotation relationship between 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.

[0080] Step 4 is implemented through the following steps:

[0081] Step 4.1: Establish the process frame of the rake arm system corresponding to the dredging operation time sequence data segment of the rake arm system; the dredging operation time sequence data segment of the rake arm system is the valid data segment extracted in step 2.4; the process frame of the rake arm system is the position and angle of the rake arm system at the selected time point;

[0082] Step 4.2: Select the process frame of the rake arm system; the process frame of the rake arm system includes the node frames corresponding to each 0.5m change in displacement and 1° change in angle during the process from the start of the action to the completion of the action of the rake arm system;

[0083] Step 4.3: Combine the process frames of the rake arm system selected in Step 4.2 to form a timing process frame set.

[0084] Step 6 is implemented through the following steps:

[0085] Step 6.1: Using the model posture corresponding to the key process frame as the node position, select ten rake arm system process frames forward and backward as intermediate processes;

[0086] Step 6.2: Remove duplicate rake arm system process frames selected between each critical process frame;

[0087] Step 6.3: According to the time sequence frame position, add inflection point frames for every 2m change in displacement and every 10° change in angle;

[0088] Step 6.4: Record the optimized process frame.

[0089] Step 8 is implemented through the following steps:

[0090] Step 8.1: Establish three modules in the virtual construction scenario: the three modules include a digital baseboard interactive interface, a simulation module, and a data calculation module;

[0091] Step 8.2: Create hydrological information layers for wind, waves, current, and tide levels respectively on the digital baseboard interactive interface;

[0092] Step 8.3: Create soil information layers in the digital base plate interactive interface according to the design cutting thickness;

[0093] Step 8.4: Transmit the rake arm posture data to the simulation module, select the corresponding hydrological information layer and soil information layer, and perform 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 point where the rake arm begins to move. The ending point of the entire process is the point where the rake head touches the selected soil information layer.

[0094] Step 9 is implemented through the following steps:

[0095] Step 9.1: Establish the association between the BIM model and the time series data of the rake arm system in the simulation module;

[0096] Step 9.2: Repeat steps 6 and 7 until the animation is smooth and the number of keyframes is optimal.

[0097] Step 9.3: Repeat steps 8.2-8.4 until the design dredging depth of the soil information layer is simulated;

[0098] Step 9.4: The data calculation module calculates and provides the optimal rake arm posture data during the simulation process.

[0099] Virtual construction technology provides important technical support for the shipbuilding industry, especially for underwater dredging operations using trailing suction hopper dredgers. Through simulation and modeling, it improves the quality and safety of construction, while also providing new solutions for operator training and the accumulation of excellent techniques.

[0100] This invention solves the problem of how to determine, intuitively understand, and master the optimal hook arm posture of the trailing suction hopper dredger based on the target engineering conditions.

[0101] This invention uses 3D simulation and visualization technology to create a virtual underwater dredging operation environment. Construction workers can evaluate the dredging process in this virtual environment, which solves the difficulty of process control caused by the complexity and invisibility of the underwater environment. At the same time, it makes it easier for operators to optimize and adjust process parameters, thereby improving construction efficiency.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions 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 simulation method for combining time-series data and key process frames of a trailing suction hopper dredger based on virtual construction, characterized in that, Includes the following steps: Step 1: Establish a virtual construction environment and create information model layers based on working conditions; the information model layers include a hydrological information model layer, a geographic information model layer, and a BIM model layer; the hydrological information model includes wind, wave, current, and tide level information models; the geographic information model includes a soil information model, which is created in layers according to the design layer thickness; the BIM model is a trailing suction hopper dredger model; the trailing suction hopper dredger model includes a dredger arm system; Step 2: Extract the dredging operation time sequence data segment of the rake arm system; the data segment contains the complete process data of the rake arm system from the suction inlet to the rake head landing, rake arm posture adjustment, rake raising, and rake arm retraction; the complete process data mainly includes the angle and displacement change data of each component of the rake arm system; Step 3: Establish the relationship between the time series data and the BIM model; the relationship includes the relative positional relationship between the suction pipe elbow and the suction port, the relative positional relationship between the radial auger and the upper rake pipe, the relative positional relationship between the upper rake pipe and the universal joint, the relative positional relationship between the universal joint and the rotating pipe, the relative positional relationship between the rotating pipe and the lower rake pipe, and the relative positional relationship between the lower rake pipe and the rake head. Step 4: Select the process frame of the rake arm system; the process frame of the rake arm system includes the node frames corresponding to each 0.5m change in displacement and 1° change in angle during the process from the start of the action to the completion of the action; Step 5: Screening frame; The screening frame is the key process frame for screening, including the suction port being in place, the upper rake pipe having an angle of 30° with the horizon, the lower rake pipe having an angle of 30° with the horizon, and the rake head being 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 process of creation and testing until the animation is smooth and the number of keyframes is optimal. Step 8: Virtual reality scene combination; the scene combination includes a virtual combination of hydrological information, geographic model information, and time-series historical data of the rake arm system; Step 9: Simulation.

2. The simulation method for combining timing data and key process frames of a trailing suction hopper dredger's boom based on virtual construction, as described in claim 1, is characterized in that... Step 1 is implemented through the following steps: Step 1.1: Establish a BIM model of the key process equipment for the trailing suction hopper dredger; the process equipment is the trailing arm system; Step 1.2: Establish a soil geographic information model, which is established layer by layer according to the design layer thickness; Step 1.3: Input the RVT format BIM model and SHP format geographic information model file into the virtual construction system for model conversion, and output the BCM format model file; Step 1.4: Establish a simulation environment for the dredger's hook arm system in the project management terminal of the virtual construction system, and establish information model layers according to the working conditions; the information model layers include hydrological information model layers, geographic information model layers, and BIM model layers; the hydrological information model layers include four types of layers: wind, waves, current, and tide level; the geographic information model layers are established in layers corresponding to the soil geographic information model.

3. The simulation method for combining timing data of the trailing suction hopper dredger's boom with key process frames based on virtual construction, as described in 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; export the sensor data as an Excel file; Step 2.2: Select the dredging operation time sequence data segment of the rake arm system; the data segment includes the complete process data of the rake arm system from the suction inlet to the rake head landing, rake arm posture adjustment, rake raising, and rake arm retraction; the complete process data includes the angle and displacement change data of each component of the rake arm system; Step 2.3: Remove invalid data; the invalid data includes data that changes more than twice the average value within 2 seconds, data that has not changed within 1.5 hours, and data that the rake arm system identifies as an abnormal warning. Step 2.4: Extract the effective dredging operation time sequence data segment of the rake arm system.

4. The simulation method for combining timing data of the trailing suction hopper dredger's boom with key process frames based on virtual construction, as described in claim 1, is characterized in that: Step 3 is implemented through the following steps: Step 3.1: Establish the correlation between the time-series displacement data and the BIM model of the rake arm system; the correlation includes the unconstrained relationship between the suction pipe elbow and the suction port, the axial following relationship between the radial auger and 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 correlation between the time-series angle data and the BIM model of the rake arm system; the correlation 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 planar rotation relationship between the vertical axis, the axial rotation relationship between the universal joint and the rotating pipe and the planar rotation relationship between 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 simulation method for combining timing data and key process frames of a trailing suction hopper dredger's boom based on virtual construction, as described in claim 1, is characterized in that: Step 4 is implemented through the following steps: Step 4.1: Establish the process frame of the rake arm system corresponding to the dredging operation time sequence data segment of the rake arm system; the dredging operation time sequence data segment of the rake arm system is the valid data segment extracted in step 2.4; the process frame of the rake arm system is the position and angle of the rake arm system at the selected time point; Step 4.2: Select the process frame of the rake arm system; the process frame of the rake arm system includes the node frames corresponding to each 0.5m change in displacement and 1° change in angle 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 process frames of the rake arm system selected in Step 4.2 to form a timing process frame set.

6. The simulation method for combining timing data of the trailing suction hopper dredger's boom with key process frames based on virtual construction, as described in claim 1, is characterized in that: Step 6 is implemented through the following steps: Step 6.1: Using the model posture corresponding to the key process frame as the node position, select ten rake arm system process frames forward and backward as intermediate processes; Step 6.2: Remove duplicate rake arm system process frames selected between each critical process frame; Step 6.3: According to the time sequence frame position, add inflection point frames for every 2m change in displacement and every 10° change in angle; Step 6.4: Record the optimized process frame.

7. The simulation method for combining timing data of the trailing suction hopper dredger's boom with key process frames based on virtual construction, as described in claim 1, is characterized in that: Step 8 is implemented through the following steps: Step 8.1: Establish three modules in the virtual construction scenario: the three modules include a digital baseboard interactive interface, a simulation module, and a data calculation module; Step 8.2: Create hydrological information layers for wind, waves, current, and tide levels respectively on the digital baseboard interactive interface; Step 8.3: Create soil information layers in the digital base plate interactive interface according to the design cutting thickness; Step 8.4: Transmit the rake arm posture data to the simulation module, select the corresponding hydrological information layer and soil information layer, and perform 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 entire process begins at the point where the rake arm starts moving; The endpoint of the entire process is the point where the rake head aligns with the selected soil information layer.

8. The simulation method for combining timing data of the trailing suction hopper dredger's boom with key process frames based on virtual construction, as described in claim 1, is characterized in that: Step 9 is implemented through the following steps: Step 9.1: Establish the association between the BIM model and the time series data of the rake arm system in the simulation module; Step 9.2: Repeat steps 6-7 until the animation is smooth and the number of keyframes is optimal; Step 9.3: Repeat steps 8.2-8.4 until the design dredging depth of the soil information layer is simulated; Step 9.4: The data calculation module calculates and provides the optimal rake arm posture data during the simulation process.

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