Calculation method for standardized drag head excavation model of drag suction dredger

Abstract

The invention belongs to the technical field of dredging engineering, and discloses a method for calculating a standardized drag head excavation model of a drag suction dredger, which comprises the following steps: determining a standardized drag head corresponding to the drag suction dredger based on water area position information of a current water area, and determining corresponding rake tooth information based on the standardized drag head; the rake tooth information and the water area position information calculate the mechanical ground breaking amount in unit time and a corresponding rake tooth ground breaking parameter table based on a mechanical ground breaking amount calculation model; on the basis of high-pressure water outlet characteristic information corresponding to the trailing suction dredger, the hydraulic ground breaking amount in unit time and a corresponding high-pressure water outlet characteristic table are calculated on the basis of a hydraulic ground breaking amount calculation model according to the high-pressure water outlet characteristic information; the hydrological environment information is divided into dredging influence grades according to the dredging requirements of the to-be-dragged suction area through a fuzzy function; and a multi-factor coupling excavation yield calculation model is established, and the excavation yield of the drag suction dredger under the action of the standardized drag head is obtained by considering the environmental constraint of the dredging influence level on the mechanical ground breaking amount and the hydraulic ground breaking amount in unit time.

Description

Technical Field

[0001] The invention relates to the technical field of dredging engineering, and more particularly to a method for calculating a digging model of a standardized drag head of a trailing suction hopper vessel. Background Art

[0002] The drag head is the main excavation equipment of the drag suction dredge, and its excavation performance is directly related to the construction efficiency of the drag suction dredge. In actual construction, in order to optimize the drag head output by adjusting the drag head operating parameters and realize the intelligentization of the drag head, it is necessary to master the relationship between the drag head operating parameters and the drag head output. However, the drag head has a complex structure and many operating parameters. Through a large amount of engineering measured data, the relationship between the operating parameters and the drag head output has been established, but this method is limited by the accuracy and range of the engineering data, especially once the parameters exceed the range of the measured data, the prediction accuracy of the method is greatly reduced. For example, Chinese patent CN116227183A, a method for calculating the excavation output of the drag head of a drag suction dredge, discloses the rake tooth breaking depth and the jet breaking depth, and combines experience for fitting, thereby generating fitting parameters and constructing an excavation output calculation model. This method is based on actual operation data and experience to find a mathematical model that can approximately describe the relationship between excavation output and breaking depth; However, in different hydrological environments, the existing trailing suction dredgers have the drag head stuck in the mud, which directly affects the drag and pulling force of the hull on the drag head. In addition, during operation, there is usually a certain relative displacement between the drag head and the hull in the horizontal direction. When the horizontal relative displacement exceeds the change based on past experience, the fitting parameters cannot integrate the errors caused by it, affecting the excavation accuracy.

[0003] In view of this, the present application proposes a calculation method for a standardized drag head excavation model of a trailing suction hopper vessel. Summary of the invention

[0004] In order to overcome the above defects of the prior art, the present invention proposes a method for calculating a standardized drag head excavation model of a trailing suction hopper vessel.

[0005] To achieve the above object, the present invention provides the following technical solution: The embodiment of the first aspect of the present invention proposes a method for calculating a standardized drag head excavation model of a trailing suction hopper vessel, comprising the following steps: Determine the standardized drag head corresponding to the trailing suction hopper based on the water area position information of the current water area, determine the corresponding rake tooth information based on the standardized drag head, substitute the rake tooth information and the water area position information into the mechanical earth breaking amount calculation model, and calculate the mechanical earth breaking amount per unit time and the corresponding rake tooth earth breaking parameter table based on the mechanical earth breaking amount calculation model; Based on the high-pressure water discharge characteristic information corresponding to the trailing suction hopper vessel, the high-pressure water discharge characteristic information is substituted into the hydraulic earth-breaking volume calculation model, and the hydraulic earth-breaking volume per unit time and the corresponding high-pressure water discharge characteristic table are calculated based on the hydraulic earth-breaking volume calculation model; The hydrological environment information is used to classify the dredging impact level of the dredging demand in the suction area through fuzzy function; A multi-factor coupling excavation output calculation model is established by parameter identification learning under uncertain external environment. The environmental constraints of dredging influence level on mechanical and hydraulic earth-breaking amount per unit time are considered to obtain the excavation output of the trailing suction hopper under the action of standardized drag head.

[0006] According to a preferred technical solution of the present invention, the water area location information includes water area topography, water area bottom type, water area depth and water flow speed; the determination logic of the rake tooth information is: Based on the current water area, an area to be dredged by suction is obtained, and the area to be dredged by suction is divided into a plurality of water area position information, and based on the current water area position information, a suction displacement value, a suction area value, a suction volume value, and a water area slope value corresponding to the current water area terrain are extracted, and based on the suction displacement value, the suction area value, the suction volume value, and the water area slope value, a suction terrain influence coefficient corresponding to the water area terrain is obtained; Based on prior knowledge, the influence coefficient of the bottom type, depth and flow velocity of the water area relative to the difficulty of dredging by a trailing suction hopper boat is obtained; The difficulty coefficient of raking suction is calculated after normalizing the influence coefficient of raking suction terrain, the influence coefficient of water bottom quality, the influence coefficient of water depth and the influence coefficient of water flow; The rake suction difficulty coefficient is divided into multiple rake suction difficulty intervals based on prior knowledge, and the rake suction difficulty interval corresponding to the current rake suction difficulty coefficient is obtained through comparative analysis, and the rake tooth information is determined based on the rake tooth difficulty interval; the rake tooth information includes the size of the rake tooth, the rake tooth structure, the rake tooth hardness, the working angle and the rotation speed of the rake tooth.

[0007] Based on a preferred technical solution of the present invention, the mechanical earth-breaking amount calculation model includes a drag head static earth-breaking model and a drag head dynamic earth-breaking model; According to the information of the rake teeth and the location of the water area, the static soil breaking model of the rake head is used to obtain the force of the rake teeth on the soil and the drag force and deviation resistance during the moving process; Based on the dynamics soil-breaking model of the rake head, the soil-breaking depth of the rake teeth is calculated from the law of energy conservation angle combined with the statics soil-breaking model; thus, the mechanical soil-breaking amount per unit time and the corresponding rake tooth soil-breaking parameter table are calculated; The rake tooth soil breaking parameter table includes rake tooth soil breaking parameters that affect the mechanical soil breaking amount and a rake suction influencing factor corresponding to each rake tooth soil breaking parameter.

[0008] Based on a preferred technical solution of the present invention, the logic for obtaining the high-pressure water outlet characteristic information is as follows: Extracting high-pressure water discharge characteristic information based on the experimental environment, wherein the experimental environment is a tester controlling the high-pressure water discharge simulation environment of the trailing hopper suction dredge and changing the changes of the hydraulic soil breaking influencing parameters of the trailing hopper suction dredge to collect the high-pressure water discharge characteristic information of the trailing hopper suction dredge; The high-pressure water discharge characteristic information includes but is not limited to the high-pressure water discharge flow rate, the high-pressure water discharge pipe diameter, the ship speed and the soil shear strength; the high-pressure water discharge flow rate includes the vertical water discharge flow rate, the horizontal water discharge flow rate and the water discharge ground breaking angle, and the water discharge ground breaking angle is the angle between the water discharge direction and the vertical direction; Based on the high-pressure water outlet characteristic information, the hydraulic ground-breaking amount per unit time under different states is obtained, and a high-pressure water outlet characteristic table is determined according to the hydraulic ground-breaking amount per unit time. The high-pressure water outlet characteristic table includes the high-pressure water outlet characteristic information that affects the hydraulic ground-breaking amount and the ground-breaking amount influencing factors corresponding to each high-pressure water outlet characteristic information.

[0009] Based on a preferred technical solution of the present invention, the logic for obtaining the dredging impact level is: Extracting hydrological impact characteristic parameters and characteristic parameter thresholds corresponding to the hydrological impact characteristic parameters according to historical hydrological environmental information, and generating a number of dredging impact levels for each hydrological impact characteristic parameter through a grade fuzzy function; The hydrological environment information corresponding to the water area location information is obtained, and the hydrological environment information is substituted into the grade fuzzy function to obtain the dredging impact grade corresponding to the current hydrological environment.

[0010] Based on a preferred technical solution of the present invention, the calculation logic of the excavation output of the trailing suction hopper under the action of the standardized drag head is: Construct an excavation output calculation model to analyze the mechanical earth-breaking volume per unit time corresponding to the rake tooth earth-breaking parameters and the hydraulic earth-breaking volume per unit time corresponding to the high-pressure water discharge characteristics under different dredging impact levels, and determine the corresponding earth-breaking impact coefficient based on the degree of change of the mechanical earth-breaking volume and the hydraulic earth-breaking volume per unit time; The constraint conditions are constructed by the earth-breaking influence coefficients corresponding to the mechanical earth-breaking amount and hydraulic earth-breaking amount per unit time. The maximum earth-breaking depth is taken as the objective function, and the excavation output of the trailing suction hopper under the action of the standardized drag head is output.

[0011] Based on a preferred technical solution of the present invention, another aspect of the acquisition logic of the dredging impact level is: Extracting hydrological impact characteristic parameters and characteristic impact factors corresponding to the hydrological impact characteristic parameters according to historical hydrological environmental information, and calculating the hydrological impact characteristic parameters and the corresponding characteristic impact factors through a weighted formula to obtain the hydrological impact parameters; Setting a hydrological impact threshold for the hydrological impact parameter based on prior knowledge, and dividing a number of dredging impact levels based on the hydrological impact threshold; Obtain the hydrological environment information corresponding to the water area location information, extract the corresponding hydrological impact characteristic parameters and the corresponding characteristic impact factors based on the hydrological environment information, and obtain the current hydrological impact parameters through weighted formula calculation; obtain the dredging impact level corresponding to the current hydrological environment based on the hydrological impact parameters.

[0012] The embodiment of the second aspect of the present invention proposes a calculation system for a standardized drag head excavation model of a trailing hopper vessel, which includes a mechanical earth-breaking analysis module, a hydraulic earth-breaking analysis module, a hydrological impact analysis module, and a production capacity calculation module based on the implementation of the calculation method of the standardized drag head excavation model of the trailing hopper vessel. The above modules are connected by wired and / or wireless means to realize data transmission between the modules. The mechanical earth-breaking analysis module determines the standardized rake head corresponding to the trailing suction hopper based on the water area location information of the current water area, determines the corresponding rake tooth information based on the standardized rake head, substitutes the rake tooth information and water area location information into the mechanical earth-breaking volume calculation model, calculates the mechanical earth-breaking volume per unit time and the corresponding rake tooth earth-breaking parameter table based on the mechanical earth-breaking volume calculation model; and sends the mechanical earth-breaking volume per unit time and the corresponding rake tooth earth-breaking parameter table to the capacity calculation module; The hydraulic earth-breaking analysis module substitutes the high-pressure water discharge characteristic information corresponding to the trailing suction hopper into the hydraulic earth-breaking volume calculation model, calculates the hydraulic earth-breaking volume per unit time and the corresponding high-pressure water discharge characteristic table based on the hydraulic earth-breaking volume calculation model; and sends the hydraulic earth-breaking volume per unit time and the corresponding high-pressure water discharge characteristic table to the capacity calculation module; The hydrological impact analysis module divides the dredging impact level according to the dredging demand of the suction area by using the fuzzy function, and sends the dredging impact level to the capacity calculation module; The capacity calculation module establishes a multi-factor coupling excavation production calculation model through parameter identification learning under an uncertain external environment, considers the environmental constraints of the dredging impact level on the mechanical and hydraulic earth-breaking volume per unit time, and obtains the excavation production of the trailing suction hopper under the action of the standardized drag head.

[0013] An embodiment of a third aspect of the present invention provides an electronic device, comprising: a processor and a memory, wherein the memory stores a computer program that can be called by the processor; The processor executes the method for calculating the mining model of the standardized drag head of a trailing suction hopper vessel by calling the computer program stored in the memory.

[0014] The embodiment of the fourth aspect of the present invention provides a computer-readable storage medium, characterized in that: instructions are stored therein, and when the instructions are executed on a computer, the computer executes the method for calculating the mining model of the standardized drag head of a trailing suction hopper vessel.

[0015] The technical effects and advantages of the method for calculating the digging model of the standardized drag head of a trailing suction hopper vessel of the present invention are as follows: The present invention comprehensively considers the influence of mechanical breaking of the earth, hydraulic breaking of the earth and the hydrological environment on the excavation process, and can more accurately predict and optimize the excavation output of the trailing suction dredger under the action of the standardized drag head, thereby improving its operating efficiency. On this basis, the uncertainty of the external environment is also considered, and a multi-factor coupled excavation output calculation model is established through parameter identification and learning, which is more flexible and adaptable, and can more accurately adjust the operating parameters of the trailing suction dredger, such as the type of rake teeth, high-pressure water discharge characteristics, etc., to maximize the excavation output, while avoiding unnecessary energy waste and equipment loss; it can achieve the best excavation effect under different environmental conditions, improve excavation efficiency, optimize operation strategies, enhance decision support, and promote the intelligent development of dredgers. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of a calculation system for a standardized drag head excavation model of a trailing suction hopper vessel of the present invention; Figure 2 It is a flow chart of a method for calculating a standardized drag head excavation model of a trailing suction hopper vessel of the present invention; Figure 3 The figure is a schematic diagram of the structure of an electronic device of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0018] Trailing suction dredger is an important equipment used for dredging water projects such as rivers, ports and waterways; its dredging output is affected by many factors, including the performance of the ship itself, the working environment, the operation mode, etc. In order to accurately evaluate the dredging output of the trailing suction dredger under the action of the standardized drag head, it is necessary to establish a multi-factor coupled dredging output calculation model.

[0019] Example 1

[0020] See also Figure 1 As shown, this embodiment provides a standardized drag head excavation model calculation system for a trailing suction hopper vessel, including a mechanical ground breaking analysis module 1, a hydraulic ground breaking analysis module 2, a hydrological impact analysis module 3 and a capacity calculation module 4, wherein the above modules are connected by wired and / or wireless means to realize data transmission between the modules; The mechanical earth-breaking analysis module 1 determines the standardized rake head corresponding to the trailing suction hopper based on the water area position information of the current water area, determines the corresponding rake tooth information based on the standardized rake head, substitutes the rake tooth information and the water area position information into the mechanical earth-breaking amount calculation model, calculates the mechanical earth-breaking amount per unit time and the corresponding rake tooth earth-breaking parameter table based on the mechanical earth-breaking amount calculation model; and sends the mechanical earth-breaking amount per unit time and the corresponding rake tooth earth-breaking parameter table to the capacity calculation module 4; It should be noted that the water area location information includes the water area topography, water area bottom type, water area depth and water flow speed. The water area topography includes the basic water area geology and the obstacles existing on the basic water area geology. The water area bottom type includes but is not limited to silt, clay and rock; The rake tooth information is the rake tooth related rake suction parameters pre-set by the technicians according to the standardized rake head; the rake tooth information includes the size of the rake tooth, the rake tooth structure, the rake tooth hardness, the working angle and the rotation speed of the rake tooth; The determination logic of the rake tooth information is: Based on the current water area, the area to be dredged by suction dredging is obtained, and the area to be dredged by suction dredging is divided into Water area location information, mark the current water area location information as , , ; Based on the water area terrain, the suction displacement value, suction area value, suction volume value and water area slope value corresponding to the current water area are extracted; based on the suction displacement value, suction area value, suction volume value and water area slope value Get the trailing suction terrain influence coefficient corresponding to the water area terrain ; ; In the formula , , and The value is , , , and are the suction displacement values , suction area value , suction volume value and water slope value The weight factor coefficient of Based on prior knowledge, the influence coefficient of the bottom type, depth and flow velocity of the water area relative to the difficulty of dredging by a trailing suction hopper boat is obtained; It should be noted that the reason for using prior knowledge here is that at the beginning of the experiment on the trailing hopper dredger, the influence coefficients of the water bottom type, water depth and water flow velocity on the dredging difficulty of the trailing hopper dredger were analyzed through machine learning models or mathematical statistics. Therefore, this part of theoretical knowledge can directly call on historical experimental data. However, this part of the experimental data itself has many influencing factors, and our experimental environment is not diverse, but analyzed in a certain safe working environment. Therefore, although there is a certain degree of randomness in the influence coefficient on our side, it can quickly and accurately obtain the estimated value of the influence coefficient of their mutual influence; therefore, in practical applications, it can also be subjectively assigned based on the experience of experts.

[0021] Specifically, softer substrates (such as sand) are easier to dig, while harder substrates (such as rock) are more difficult to dig, that is: Sandy substrate: Impact coefficient = 1.0 (or close to 1.0, indicating low digging difficulty); Clayey substrate: Impact coefficient = 1.5 (indicates that the difficulty of excavation is slightly higher than that of sandy substrate); Rocky substrate: Impact factor = 2.0 or higher (indicating greater difficulty in excavation).

[0022] Shallow water depths mean that the dredger can operate more directly and efficiently, whereas deeper water depths may require more energy and time to dredge, i.e.: Shallow water area (e.g. less than 5 meters): Impact coefficient = 1.0 (or slightly lower); Medium water depth area (e.g. 5-15 meters): influence coefficient = 1.2; Deep water areas (eg greater than 15 m): Impact factor = 1.5 or higher.

[0023] The faster the water flow, the more energy the dredger may need to overcome the resistance of the water flow, and the excavated materials may be more easily carried away by the water flow, that is: Slow water flow (e.g. less than 1 knot): influence coefficient = 1.0; Moderate water flow (such as 1-2 knots): influence coefficient = 1.3; Fast current (eg greater than 2 knots): Impact Factor = 1.6 or higher.

[0024] After normalizing the influence coefficient of the terrain, the influence coefficient of the bottom quality, the influence coefficient of the water depth and the influence coefficient of the water flow, the difficulty coefficient of the suction is calculated according to the formula ; ; In the formula , , and Value in , , , and The terrain influence coefficient of the suction , Water bottom influence coefficient , Water depth influence coefficient and water flow influence coefficient The weight factor coefficient of It should be noted that after mathematical processing of the influence coefficient of the raking suction terrain, the influence coefficient of the water bottom, the influence coefficient of the water depth and the influence coefficient of the water flow, it can be seen that at the same latitude, the larger the corresponding coefficients of the raking suction terrain influence coefficient, the influence coefficient of the water bottom, the influence coefficient of the water depth and the influence coefficient of the water flow, the greater the difficulty coefficient of the raking suction. The larger the value, the greater the performance requirements for the rake teeth; the difficulty coefficient of rake suction The smaller the rake teeth, the lower the performance requirements for the rake teeth. However, in actual applications, the more rake teeth there are, the larger the ground contact area is, and the shallower the depth of penetration into the soil will be. The fewer rake teeth there are, the deeper the penetration into the soil will be, but the overall amount of soil broken by the rake head per unit time will also be relatively small. Therefore, it is still necessary to divide the raking suction difficulty coefficient into multiple raking suction difficulty intervals through fuzzy functions, and configure different raking tooth information in the raking suction difficulty intervals that are not passed. This part is mainly based on a large amount of work data obtained in the actual application of the standardized raking head of the raking suction vessel, and then obtained through statistical analysis based on a large amount of work data by experts in this field.

[0025] Based on prior knowledge, the difficulty coefficient of rake suction is divided into multiple rake suction difficulty intervals, and the current rake suction difficulty coefficient is obtained through comparative analysis. The corresponding rake suction difficulty interval is based on which the rake tooth information is determined; the rake tooth information includes the size of the rake tooth, the rake tooth structure, the rake tooth hardness, the working angle and the rotation speed of the rake tooth.

[0026] It should be noted that the principle of determining the raking and suction difficulty range is: the raking and suction difficulty coefficient Greater than or equal to the minimum value of the current raking difficulty range and the raking difficulty coefficient Less than the maximum value of the raking difficulty range; The mechanical earth-breaking amount calculation model includes a harrow head static earth-breaking model and a harrow head dynamic earth-breaking model; Based on the static soil breaking model of the rake head, the force exerted by the rake teeth on the soil and the dragging force during the movement are calculated; Specifically, the vertical force is determined by the weight of the rake teeth and the support of the soil on the rake teeth, the horizontal force is the friction generated by the rake teeth cutting into the soil, and the drag force is the resistance of the soil to the rake teeth during the movement of the rake head.

[0027] The forces exerted by the rake teeth on the soil include vertical forces Horizontal force The friction coefficient between soil and rake teeth is calculated by the formula and drag force during travel ; ; ; in, is the drag coefficient, is the soil density, is the cross-sectional area of ​​the rake teeth, is the moving speed of the rake teeth; Based on the dynamic soil-breaking model of the rake head, the rake tooth soil-breaking depth is calculated from the law of energy conservation angle combined with the static soil-breaking model; thereby, the mechanical soil-breaking amount per unit time and the corresponding rake tooth soil-breaking parameter table are calculated, wherein the rake tooth soil-breaking parameters that affect the mechanical soil-breaking amount and the rake suction influencing factor corresponding to each rake tooth soil-breaking parameter are calculated.

[0028] Specifically, the dynamic model considers the consumption of kinetic energy when the rake teeth enter the soil. From the perspective of energy conservation, the kinetic energy of the rake teeth is converted into deformation energy and internal energy of the soil. ; Combining the statics model and the principle of energy conservation, the rake tooth breaking depth can be established. The calculation formula is: ; in, is the initial kinetic energy of the rake teeth, is the deformation energy of the soil, The heat energy generated by internal friction, It is the deviation resistance caused by external uncontrollable factors to the movement of the rake teeth.

[0029] It should be noted that: is the work done by soil resistance, It is the work done by the soil in response to external uncontrollable factors. In the actual modeling and calculation process, it can be known that the more rake teeth there are, the larger the ground contact area, and the shallower the depth of penetration into the soil; the fewer the number of rake teeth, the deeper the penetration into the soil, but the overall amount of soil broken by the rake head per unit time will also be relatively small. The penetration depth of the rake teeth mainly depends on the number of rake teeth, the penetration speed and the shear resistance of the soil. Therefore, the optimal number of rake teeth is different for different ships, different soils, and different rake tooth types; therefore, before using the standardized rake head of the dredge suction dredge, all foreseeable resistance will be converted into dragging force during the travel process, but the deviation resistance caused by external uncontrollable factors on the movement of the rake teeth will also be affected by many factors, such as hydrological environment information, equipment status information, operating technology, etc. Therefore, in actual applications, it is necessary to make comprehensive considerations and judgments based on the actual situation; The rake tooth earth-breaking parameter table calculated based on the mechanical earth-breaking volume calculation model can list the estimated mechanical earth-breaking volume per unit time under different rake tooth information and different water area location information. The estimated mechanical earth-breaking volume can be used as a reference to help operators or engineers quickly estimate the earth-breaking volume in actual operations.

[0030] The hydraulic earth-breaking analysis module 2 substitutes the high-pressure water discharge characteristic information corresponding to the trailing suction hopper into the hydraulic earth-breaking volume calculation model, calculates the hydraulic earth-breaking volume per unit time and the corresponding high-pressure water discharge characteristic table based on the hydraulic earth-breaking volume calculation model; and sends the hydraulic earth-breaking volume per unit time and the corresponding high-pressure water discharge characteristic table to the capacity calculation module 4; Specifically, the logic for obtaining the high-pressure water outlet characteristic information is as follows: Extracting high-pressure water discharge characteristic information based on the experimental environment, wherein the experimental environment is a tester controlling the high-pressure water discharge simulation environment of the trailing hopper suction dredge and changing the changes of the hydraulic soil breaking influencing parameters of the trailing hopper suction dredge to collect the high-pressure water discharge characteristic information of the trailing hopper suction dredge; The high-pressure water discharge characteristic information includes but is not limited to the high-pressure water discharge flow rate, the high-pressure water discharge pipe diameter, the ship speed and the soil shear strength; the high-pressure water discharge flow rate includes the vertical water discharge flow rate, the horizontal water discharge flow rate and the water discharge ground breaking angle, and the water discharge ground breaking angle is the angle between the water discharge direction and the vertical direction; Based on the high-pressure water discharge characteristic information, the hydraulic ground-breaking amount per unit time under different states is obtained, and a high-pressure water discharge characteristic table is determined according to the hydraulic ground-breaking amount per unit time, wherein the high-pressure water discharge characteristic table includes the high-pressure water discharge characteristic information affecting the hydraulic ground-breaking amount and the ground-breaking amount influencing factor corresponding to each high-pressure water discharge characteristic information; It should be noted that: field experiments are carried out under different conditions, actual soil-breaking data are collected, the experimental data are compared with the results of the calculation model, and the model is verified and calibrated to improve its accuracy; based on the verified calculation model, a soil-breaking rake tooth soil-breaking parameter table is developed, which can list the estimated soil-breaking volume under different high-pressure water outlet flow rates, water outlet soil-breaking angles, soil types and other conditions.

[0031] It should be noted that the calculation and actual effect of earth-breaking volume may be affected by many factors, such as soil unevenness, water flow instability, equipment wear, etc. Therefore, even with the calculation model and parameter table, it is necessary to flexibly adjust and operate according to the actual situation.

[0032] The hydrological impact analysis module 3 divides the dredging impact level according to the dredging demand of the suction area by using the fuzzy function, and sends the dredging impact level to the capacity calculation module 4; The logic for obtaining the dredging impact level is: Extracting hydrological impact characteristic parameters and characteristic parameter thresholds corresponding to the hydrological impact characteristic parameters according to historical hydrological environmental information, and generating a number of dredging impact levels for each hydrological impact characteristic parameter through a grade fuzzy function; Obtaining hydrological environment information corresponding to the water area location information, and substituting the hydrological environment information into a grade fuzzy function to obtain a dredging impact grade corresponding to the current hydrological environment; It should be noted that the dredging impact level is based on the impact of historical hydrological environment information on the dredging of the trailing suction hopper vessel, and the impact degree is represented by a characteristic parameter threshold.

[0033] During the research and development process, in order to facilitate calculation and statistics, a simpler method is provided. Without considering the ultimate accuracy, this method can be applied to most hydrological environments, as follows: Another aspect of the acquisition logic of the dredging impact level is: Extracting hydrological impact characteristic parameters and characteristic impact factors corresponding to the hydrological impact characteristic parameters according to historical hydrological environmental information, and calculating the hydrological impact characteristic parameters and the corresponding characteristic impact factors through a weighted formula to obtain the hydrological impact parameters; Setting a hydrological impact threshold for the hydrological impact parameter based on prior knowledge, and dividing a number of dredging impact levels based on the hydrological impact threshold; Obtain the hydrological environment information corresponding to the water area location information, extract the corresponding hydrological impact characteristic parameters and the corresponding characteristic impact factors based on the hydrological environment information, and obtain the current hydrological impact parameters through weighted formula calculation; obtain the dredging impact level corresponding to the current hydrological environment based on the hydrological impact parameters.

[0034] Capacity calculation module 4, parameter identification learning under uncertain external environment to establish a multi-factor coupling excavation production calculation model, considering the environmental constraints of dredging impact level on mechanical and hydraulic earth-breaking volume per unit time, to obtain the excavation production of the trailing suction hopper under the action of the standardized drag head.

[0035] The calculation logic of the dredging output of the trailing suction hopper under the action of the standardized drag head is: Construct an excavation output calculation model to analyze the mechanical earth-breaking volume per unit time corresponding to the rake tooth earth-breaking parameters and the hydraulic earth-breaking volume per unit time corresponding to the high-pressure water discharge characteristics under different dredging impact levels, and determine the corresponding earth-breaking impact coefficient based on the degree of change of the mechanical earth-breaking volume and the hydraulic earth-breaking volume per unit time; The constraint conditions are constructed by the earth-breaking influence coefficients corresponding to the mechanical earth-breaking amount and hydraulic earth-breaking amount per unit time. The maximum earth-breaking depth is taken as the objective function, and the excavation output of the trailing suction hopper under the action of the standardized drag head is output.

[0036] It should be noted that: the mechanical soil breaking analysis module 1 and the hydraulic soil breaking analysis module 2 respectively obtain the rake tooth soil breaking parameter table and the high pressure water discharge characteristic table; The rake tooth breaking soil parameter table corresponds to the rake tooth breaking soil parameters that affect the mechanical breaking soil amount and the rake suction influence factor corresponding to each rake tooth breaking soil parameter; The high-pressure water discharge characteristic table includes high-pressure water discharge characteristic information that affects the hydraulic ground breaking amount and ground breaking amount influencing factors corresponding to each high-pressure water discharge characteristic information; The drag suction influencing factors and earth-breaking amount influencing factors here are determined by experimental data, simulation results or expert evaluation; they are used to characterize the influencing factors of the standardized drag head of the drag suction dredge on the excavation output. However, with the development of science and technology, when it is necessary to carry out intelligent control of the standardized drag head of the drag suction dredge with higher precision, the determination of the existing influencing factors is defective. Therefore, when improving the existing technology, the influence of hydrological environment information on the operation of the standardized drag head of the drag suction dredge is included in the research and development direction, and the dredging influence level is divided based on the hydrological environment information; based on the dredging influence level, the rake tooth earth-breaking parameter table and the high-pressure water discharge characteristic table are updated in real time, and the mechanical earth-breaking amount and hydraulic earth-breaking amount per unit time are recalculated; The constraint conditions are constructed with the earth-breaking influence coefficients corresponding to the mechanical earth-breaking amount and hydraulic earth-breaking amount per unit time to ensure that the excavation process conforms to the actual situation and takes various influencing factors into account; the maximum earth-breaking depth is taken as the objective function, and the maximum earth-breaking depth is achieved within a given time by optimizing the combination of mechanical earth-breaking and hydraulic earth-breaking; based on the results of the optimization calculation, the excavation output of the trailing suction dredger under the action of the standardized drag head is output, which can better understand the excavation process, improve excavation efficiency, and optimize the operation strategy of the dredger.

[0037] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters and thresholds in the formula are set by technicians in this field according to actual conditions.

[0038] Example 2

[0039] See also Figure 2 As shown, the part not described in detail in this embodiment is described in Example 1, and a method for calculating a standardized drag head excavation model of a trailing suction hopper vessel is provided, comprising the following steps: Determine the standardized drag head corresponding to the trailing suction hopper based on the water area position information of the current water area, determine the corresponding rake tooth information based on the standardized drag head, substitute the rake tooth information and the water area position information into the mechanical earth breaking amount calculation model, and calculate the mechanical earth breaking amount per unit time and the corresponding rake tooth earth breaking parameter table based on the mechanical earth breaking amount calculation model; Based on the high-pressure water discharge characteristic information corresponding to the trailing suction hopper vessel, the high-pressure water discharge characteristic information is substituted into the hydraulic earth-breaking volume calculation model, and the hydraulic earth-breaking volume per unit time and the corresponding high-pressure water discharge characteristic table are calculated based on the hydraulic earth-breaking volume calculation model; The hydrological environment information is used to classify the dredging impact level of the dredging demand in the suction area through fuzzy function; A multi-factor coupling excavation output calculation model is established by parameter identification learning under uncertain external environment. The environmental constraints of dredging influence level on mechanical and hydraulic earth-breaking amount per unit time are considered to obtain the excavation output of the trailing suction hopper under the action of standardized drag head.

[0040] According to a preferred technical solution of the present invention, the water area location information includes water area topography, water area bottom type, water area depth and water flow speed; the determination logic of the rake tooth information is: Based on the current water area, an area to be dredged by suction is obtained, and the area to be dredged by suction is divided into a plurality of water area position information, and based on the current water area position information, a suction displacement value, a suction area value, a suction volume value, and a water area slope value corresponding to the current water area terrain are extracted, and based on the suction displacement value, the suction area value, the suction volume value, and the water area slope value, a suction terrain influence coefficient corresponding to the water area terrain is obtained; Based on prior knowledge, the influence coefficient of the bottom type, depth and flow velocity of the water area relative to the difficulty of dredging by a trailing suction hopper boat is obtained; The difficulty coefficient of raking suction is calculated after normalizing the influence coefficient of raking suction terrain, the influence coefficient of water bottom quality, the influence coefficient of water depth and the influence coefficient of water flow; The rake suction difficulty coefficient is divided into multiple rake suction difficulty intervals based on prior knowledge, and the rake suction difficulty interval corresponding to the current rake suction difficulty coefficient is obtained through comparative analysis, and the rake tooth information is determined based on the rake tooth difficulty interval; the rake tooth information includes the size of the rake tooth, the rake tooth structure, the rake tooth hardness, the working angle and the rotation speed of the rake tooth.

[0041] Based on a preferred technical solution of the present invention, the mechanical earth-breaking amount calculation model includes a drag head static earth-breaking model and a drag head dynamic earth-breaking model; According to the information of the rake teeth and the location of the water area, the static soil breaking model of the rake head is used to obtain the force of the rake teeth on the soil and the drag force and deviation resistance during the moving process; Based on the dynamics soil-breaking model of the rake head, the soil-breaking depth of the rake teeth is calculated from the law of energy conservation angle combined with the statics soil-breaking model; thus, the mechanical soil-breaking amount per unit time and the corresponding rake tooth soil-breaking parameter table are calculated; The rake tooth soil breaking parameter table includes rake tooth soil breaking parameters that affect the mechanical soil breaking amount and a rake suction influencing factor corresponding to each rake tooth soil breaking parameter.

[0042] Based on a preferred technical solution of the present invention, the logic for obtaining the high-pressure water outlet characteristic information is as follows: Extracting high-pressure water discharge characteristic information based on the experimental environment, wherein the experimental environment is a tester controlling the high-pressure water discharge simulation environment of the trailing hopper suction dredge and changing the changes of the hydraulic soil breaking influencing parameters of the trailing hopper suction dredge to collect the high-pressure water discharge characteristic information of the trailing hopper suction dredge; The high-pressure water discharge characteristic information includes but is not limited to the high-pressure water discharge flow rate, the high-pressure water discharge pipe diameter, the ship speed and the soil shear strength; the high-pressure water discharge flow rate includes the vertical water discharge flow rate, the horizontal water discharge flow rate and the water discharge ground breaking angle, and the water discharge ground breaking angle is the angle between the water discharge direction and the vertical direction; Based on the high-pressure water outlet characteristic information, the hydraulic ground-breaking amount per unit time under different states is obtained, and a high-pressure water outlet characteristic table is determined according to the hydraulic ground-breaking amount per unit time. The high-pressure water outlet characteristic table includes the high-pressure water outlet characteristic information that affects the hydraulic ground-breaking amount and the ground-breaking amount influencing factors corresponding to each high-pressure water outlet characteristic information.

[0043] Based on a preferred technical solution of the present invention, the logic for obtaining the dredging impact level is: Extracting hydrological impact characteristic parameters and characteristic parameter thresholds corresponding to the hydrological impact characteristic parameters according to historical hydrological environmental information, and generating a number of dredging impact levels for each hydrological impact characteristic parameter through a grade fuzzy function; The hydrological environment information corresponding to the water area location information is obtained, and the hydrological environment information is substituted into the grade fuzzy function to obtain the dredging impact grade corresponding to the current hydrological environment.

[0044] Based on a preferred technical solution of the present invention, the calculation logic of the excavation output of the trailing suction hopper under the action of the standardized drag head is: Construct an excavation output calculation model to analyze the mechanical earth-breaking volume per unit time corresponding to the rake tooth earth-breaking parameters and the hydraulic earth-breaking volume per unit time corresponding to the high-pressure water discharge characteristics under different dredging impact levels, and determine the corresponding earth-breaking impact coefficient based on the degree of change of the mechanical earth-breaking volume and the hydraulic earth-breaking volume per unit time; The constraint conditions are constructed by the earth-breaking influence coefficients corresponding to the mechanical earth-breaking amount and hydraulic earth-breaking amount per unit time. The maximum earth-breaking depth is taken as the objective function, and the excavation output of the trailing suction hopper under the action of the standardized drag head is output.

[0045] Based on a preferred technical solution of the present invention, another aspect of the acquisition logic of the dredging impact level is: Extracting hydrological impact characteristic parameters and characteristic impact factors corresponding to the hydrological impact characteristic parameters according to historical hydrological environmental information, and calculating the hydrological impact characteristic parameters and the corresponding characteristic impact factors through a weighted formula to obtain the hydrological impact parameters; Setting a hydrological impact threshold for the hydrological impact parameter based on prior knowledge, and dividing a number of dredging impact levels based on the hydrological impact threshold; Obtain the hydrological environment information corresponding to the water area location information, extract the corresponding hydrological impact characteristic parameters and the corresponding characteristic impact factors based on the hydrological environment information, and obtain the current hydrological impact parameters through weighted formula calculation; obtain the dredging impact level corresponding to the current hydrological environment based on the hydrological impact parameters.

[0046] Example 3

[0047] An electronic device according to an exemplary embodiment includes: a processor and a memory, wherein the memory stores a computer program that can be called by the processor; The processor executes the above-mentioned method for calculating the standardized drag head excavation model of the trailing suction hopper vessel by calling the computer program stored in the memory.

[0048] Figure 3 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. The electronic device may have relatively large differences due to different configurations or performances, and may include one or more processors (Central Processing Units, CPU) and one or more memories, wherein at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor to implement the calculation method of the standardized drag head excavation model of the trailing suction hopper vessel provided in the above-mentioned various method embodiments.

[0049] The electronic device may also include other components for realizing the functions of the device, for example, the electronic device may also have components such as a wired or wireless network interface and an input / output interface for input and output. The embodiments of the present application will not be described in detail here.

[0050] A computer-readable storage medium is characterized in that: instructions are stored therein, and when the instructions are run on a computer, the computer is enabled to execute the method for calculating the mining model of a standardized drag head of a trailing suction hopper vessel.

[0051] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the present invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0052] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0053] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0054] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for calculating a standardized drag head excavation model of a trailing suction hopper vessel, characterized in that: The following steps are involved: Determine the standardized drag head corresponding to the trailing suction hopper based on the water area position information of the current water area, determine the corresponding rake tooth information based on the standardized drag head, substitute the rake tooth information and the water area position information into the mechanical earth breaking amount calculation model, and calculate the mechanical earth breaking amount per unit time and the corresponding rake tooth earth breaking parameter table based on the mechanical earth breaking amount calculation model; Based on the high-pressure water discharge characteristic information corresponding to the trailing suction hopper vessel, the high-pressure water discharge characteristic information is substituted into the hydraulic earth-breaking volume calculation model, and the hydraulic earth-breaking volume per unit time and the corresponding high-pressure water discharge characteristic table are calculated based on the hydraulic earth-breaking volume calculation model; The hydrological environment information is used to classify the dredging impact level of the dredging demand in the suction area through fuzzy function; A multi-factor coupling excavation output calculation model is established by parameter identification learning under uncertain external environment. The environmental constraints of dredging influence level on mechanical and hydraulic earth-breaking amount per unit time are considered to obtain the excavation output of the trailing suction hopper under the action of standardized drag head.

2. The method for calculating the standardized drag head excavation model of a trailing suction hopper vessel according to claim 1, characterized in that: The water area location information includes water area topography, water area bottom type, water area depth and water flow speed; the determination logic of the rake tooth information is: Based on the current water area, an area to be dredged by suction is obtained, and the area to be dredged by suction is divided into a plurality of water area position information, and based on the current water area position information, a suction displacement value, a suction area value, a suction volume value, and a water area slope value corresponding to the current water area terrain are extracted, and based on the suction displacement value, the suction area value, the suction volume value, and the water area slope value, a suction terrain influence coefficient corresponding to the water area terrain is obtained; Based on prior knowledge, the influence coefficient of the bottom type, depth and flow velocity of the water area relative to the difficulty of dredging by a trailing suction hopper boat is obtained; The difficulty coefficient of raking suction is calculated after normalizing the influence coefficient of raking suction terrain, the influence coefficient of water bottom quality, the influence coefficient of water depth and the influence coefficient of water flow; The rake suction difficulty coefficient is divided into multiple rake suction difficulty intervals based on prior knowledge, and the rake suction difficulty interval corresponding to the current rake suction difficulty coefficient is obtained through comparative analysis, and the rake tooth information is determined based on the rake tooth difficulty interval; the rake tooth information includes the size of the rake tooth, the rake tooth structure, the rake tooth hardness, the working angle and the rotation speed of the rake tooth.

3. The method for calculating the standardized drag head excavation model of a trailing hopper vessel according to claim 2, characterized in that: The mechanical earth-breaking amount calculation model includes a harrow head static earth-breaking model and a harrow head dynamic earth-breaking model; According to the information of the rake teeth and the location of the water area, the static soil breaking model of the rake head is used to obtain the force of the rake teeth on the soil and the drag force and deviation resistance during the moving process; Based on the dynamics soil-breaking model of the rake head, the soil-breaking depth of the rake teeth is calculated from the law of energy conservation angle combined with the statics soil-breaking model; thus, the mechanical soil-breaking amount per unit time and the corresponding rake tooth soil-breaking parameter table are calculated; The rake tooth soil breaking parameter table includes rake tooth soil breaking parameters that affect the mechanical soil breaking amount and a rake suction influencing factor corresponding to each rake tooth soil breaking parameter.

4. The method for calculating the standardized drag head excavation model of a trailing suction hopper vessel according to claim 3 is characterized in that: The logic for obtaining the high-pressure water outlet characteristic information: Extracting high-pressure water discharge characteristic information based on the experimental environment, wherein the experimental environment is a tester controlling the high-pressure water discharge simulation environment of the trailing hopper suction dredge and changing the changes of the hydraulic soil breaking influencing parameters of the trailing hopper suction dredge to collect the high-pressure water discharge characteristic information of the trailing hopper suction dredge; The high-pressure water discharge characteristic information includes but is not limited to the high-pressure water discharge flow rate, the high-pressure water discharge pipe diameter, the ship speed and the soil shear strength; the high-pressure water discharge flow rate includes the vertical water discharge flow rate, the horizontal water discharge flow rate and the water discharge ground breaking angle, and the water discharge ground breaking angle is the angle between the water discharge direction and the vertical direction; Based on the high-pressure water outlet characteristic information, the hydraulic ground-breaking amount per unit time under different states is obtained, and a high-pressure water outlet characteristic table is determined according to the hydraulic ground-breaking amount per unit time. The high-pressure water outlet characteristic table includes the high-pressure water outlet characteristic information that affects the hydraulic ground-breaking amount and the ground-breaking amount influencing factors corresponding to each high-pressure water outlet characteristic information.

5. The method for calculating the standardized drag head excavation model of a trailing suction hopper vessel according to claim 4, characterized in that: The logic for obtaining the dredging impact level is: Extracting hydrological impact characteristic parameters and characteristic parameter thresholds corresponding to the hydrological impact characteristic parameters according to historical hydrological environmental information, and generating a number of dredging impact levels for each hydrological impact characteristic parameter through a grade fuzzy function; The hydrological environment information corresponding to the water area location information is obtained, and the hydrological environment information is substituted into the grade fuzzy function to obtain the dredging impact grade corresponding to the current hydrological environment.

6. The method for calculating the standardized drag head excavation model of a trailing hopper vessel according to claim 5, characterized in that: The calculation logic of the dredging output of the trailing suction hopper under the action of the standardized drag head is: Construct an excavation output calculation model to analyze the mechanical earth-breaking volume per unit time corresponding to the rake tooth earth-breaking parameters and the hydraulic earth-breaking volume per unit time corresponding to the high-pressure water discharge characteristics under different dredging impact levels, and determine the corresponding earth-breaking impact coefficient based on the degree of change of the mechanical earth-breaking volume and the hydraulic earth-breaking volume per unit time; The constraint conditions are constructed by the earth-breaking influence coefficients corresponding to the mechanical earth-breaking amount and hydraulic earth-breaking amount per unit time. The maximum earth-breaking depth is taken as the objective function, and the excavation output of the trailing suction hopper under the action of the standardized drag head is output.

7. The method for calculating the standardized drag head excavation model of a trailing hopper vessel according to claim 4, characterized in that: Another aspect of the acquisition logic of the dredging impact level is: Extracting hydrological impact characteristic parameters and characteristic impact factors corresponding to the hydrological impact characteristic parameters according to historical hydrological environmental information, and calculating the hydrological impact characteristic parameters and the corresponding characteristic impact factors through a weighted formula to obtain the hydrological impact parameters; Setting a hydrological impact threshold for the hydrological impact parameter based on prior knowledge, and dividing a number of dredging impact levels based on the hydrological impact threshold; Obtain the hydrological environment information corresponding to the water area location information, extract the corresponding hydrological impact characteristic parameters and the corresponding characteristic impact factors based on the hydrological environment information, and obtain the current hydrological impact parameters through weighted formula calculation; obtain the dredging impact level corresponding to the current hydrological environment based on the hydrological impact parameters.

8. The standardized drag head excavation model calculation system of the trailing suction hopper vessel is characterized by: The implementation of the calculation method of the standardized drag head excavation model of a trailing hopper vessel according to any one of claims 1 to 7 comprises a mechanical ground breaking analysis module (1), a hydraulic ground breaking analysis module (2), a hydrological impact analysis module (3) and a capacity calculation module (4), wherein the above modules are connected by wired and / or wireless means to realize data transmission between the modules; The mechanical earth-breaking analysis module (1) determines the standardized rake head corresponding to the trailing suction hopper vessel based on the water area position information of the current water area, determines the corresponding rake tooth information based on the standardized rake head, substitutes the rake tooth information and the water area position information into the mechanical earth-breaking amount calculation model, and calculates the mechanical earth-breaking amount per unit time and the corresponding rake tooth earth-breaking parameter table based on the mechanical earth-breaking amount calculation model; Send the mechanical earth-breaking amount per unit time and the corresponding rake tooth earth-breaking parameter table to the capacity calculation module (4); The hydraulic earth-breaking analysis module (2) substitutes the high-pressure water discharge characteristic information corresponding to the trailing suction hopper vessel into the hydraulic earth-breaking volume calculation model, calculates the hydraulic earth-breaking volume per unit time and the corresponding high-pressure water discharge characteristic table based on the hydraulic earth-breaking volume calculation model; and sends the hydraulic earth-breaking volume per unit time and the corresponding high-pressure water discharge characteristic table to the capacity calculation module (4); The hydrological impact analysis module (3) divides the hydrological environmental information into dredging impact levels according to the dredging demand of the suction area through a fuzzy function; and sends the dredging impact levels to the capacity calculation module (4); The capacity calculation module (4) establishes a multi-factor coupling excavation production calculation model through parameter identification learning under an uncertain external environment, considers the environmental constraints of the dredging impact level on the mechanical and hydraulic earth-breaking volume per unit time, and obtains the excavation production of the trailing suction hopper under the action of the standardized drag head.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores a computer program that can be called by the processor; The processor executes the method for calculating the mining model of the standardized drag head of a trailing hopper vessel according to any one of claims 1 to 7 by calling the computer program stored in the memory.

10. A computer-readable storage medium, characterized in that: Instructions are stored, and when the instructions are executed on a computer, the computer is caused to execute the method for calculating the mining model of the standardized drag head of a trailing hopper vessel according to any one of claims 1 to 7.

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