Slurry discharge control method, device and equipment for cutter suction dredger

Abstract

The invention provides a mud discharge control method, device and equipment for a cutter suction dredger, and relates to the technical field of dredging control, and the method comprises the steps that the target discharge position of mud excavated by the cutter suction dredger is obtained; matching a target mud conveying pipeline corresponding to the target discharge position from the configured comparison table of different discharge positions and corresponding mud conveying pipelines; generating a first control parameter based on the target sludge conveying pipeline; on the basis of the first control parameter, the mud inlet pipeline is controlled to communicate with the target mud conveying pipeline, so that mud excavated by the mud excavating assembly is conveyed to the target mud conveying pipeline through the mud inlet pipeline; generating a second control parameter based on the target discharge position and the target sludge conveying pipeline; and on the basis of the second control parameter, all mud pumps located on the target mud conveying pipeline are controlled to convey the mud to the target discharging position. The mud discharging distance can be dynamically adjusted through combination of different types and different numbers of short-section mud pipes and different numbers of mud pumps.

Description

Technical Field

[0001] The present application relates to the technical field of dredging control, and in particular to a method, device and equipment for controlling mud discharge of a cutter suction dredger. Background Art

[0002] The cutter suction dredger uses a rotating cutter to loosen the soil on the riverbed or the seabed, mixes it with water into mud, and sucks it into the pump body through the mud suction pipe and sends it to the mud discharge area through the mud discharge pipe. Existing ships generally have fixed mud pumps and mud pipes arranged on board, which result in the ship's mud discharge distance being fixed and unable to adjust the distance according to actual scenarios; at the same time, when the mud discharge distance is short, the fixed mud pump wastes a lot of power, and continuous high-power output causes the equipment to be easily damaged, and the mud pipe wears relatively large; when the mud discharge distance is far, the fixed mud pump has insufficient power, and it is necessary to install a relay pump on the land mud pipe to increase the mud discharge distance. However, this method is only suitable for use in inland river construction. When dredgers are in offshore islands, coastal areas, etc., where it is impossible to arrange land mud pipes, there is no condition to install relay pumps to increase the mud transportation distance, and they can only use barge transfer, which is costly. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a mud discharge control method, device and equipment for a cutter suction dredger, so as to solve the above-mentioned problems existing in the prior art, and the number of mud pumps involved in mud discharge and the corresponding mud delivery pipelines can be dynamically adjusted according to the mud discharge spacing.

[0004] In a first aspect, a method for controlling mud discharge of a cutter suction dredger is provided, which is applied to the cutter suction dredger, wherein the cutter suction dredger is provided with a dredging assembly; one end of the dredging assembly is connected to one end of a mud inlet pipe; the method may include:

[0005] Obtaining a target discharge position of the mud dredged by the cutter suction dredger;

[0006] Matching the target mud delivery pipeline corresponding to the target discharge position from the comparison table of different discharge positions and corresponding mud delivery pipelines;

[0007] Based on the target mud pipeline, generating a first control parameter;

[0008] Based on the first control parameter, controlling the mud inlet pipeline to communicate with the target mud delivery pipeline, so that the mud excavated by the dredging assembly is transported to the target mud delivery pipeline through the mud inlet pipeline;

[0009] generating a second control parameter based on the target discharge position and the target mud delivery pipeline;

[0010] Based on the second control parameter, each mud pump located on the target mud delivery pipeline is controlled to deliver the mud to the target discharge location.

[0011] In an optional implementation, the first control parameter includes the type, quantity and position of the short-jointed mud pipe;

[0012] The target discharge position includes: a target discharge direction and a target discharge distance.

[0013] In an optional implementation, generating a first control parameter based on the target mud pipeline includes:

[0014] Matching the target short-joint mud pipe information corresponding to the target mud pipe from a pre-constructed comparison table of different mud pipes and corresponding short-joint mud pipe information; wherein the target short-joint mud pipe information includes: the type, quantity and position of the short-joint mud pipe;

[0015] The target short-joint mud pipe information is used as the first control parameter.

[0016] In an optional implementation, based on the target discharge position and the target mud delivery pipeline, generating a second control parameter includes:

[0017] Acquire the mud pump position of each mud pump located on the target mud conveying pipeline;

[0018] For any mud pump position, matching the target discharge distance with the target mud pump power corresponding to the mud pump position from a comparison table of different discharge distances, different mud pump positions and corresponding mud pump powers;

[0019] Using the target mud pump power as a control parameter of the mud pump corresponding to the mud pump position;

[0020] A second control parameter is generated based on the control parameters of each mud pump on the target mud transport pipeline.

[0021] In an optional implementation, the cutter suction dredger is further provided with a bridge; the bridge is provided with a mud inlet pipeline, a first gate valve, a first mud pump and a shrimp joint hose in sequence;

[0022] The other end of the mud inlet pipe is connected to the suction end of the first mud pump; the discharge end of the first mud pump is connected to one end of the shrimp hose;

[0023] The first gate valve is arranged on the mud inlet pipeline; the second gate valve is arranged on the shrimp joint hose.

[0024] In an optional implementation, the cutter suction dredger is further provided with a plurality of mud delivery pipelines and a plurality of mud discharge joints;

[0025] Any mud discharge joint corresponds to at least one mud delivery pipeline; the number of mud pumps on different mud delivery pipelines is different to adapt to different target discharge locations.

[0026] In an optional implementation, any mud delivery pipeline includes at least one third gate valve and at least one type of short-jointed mud pipe;

[0027] The other end of the shrimp-joint hose is connected to one end of a short-joint mud pipe in any mud conveying pipeline.

[0028] In a second aspect, a mud discharge control device for a cutter suction dredger is provided, and the device may include:

[0029] an acquisition unit, for acquiring a target discharge position of the mud dredged by the cutter suction dredger; wherein the cutter suction dredger is provided with a dredging assembly; one end of the dredging assembly is connected to one end of a mud inlet pipe;

[0030] A matching unit, used for matching a target mud delivery pipeline corresponding to the target discharge position from a comparison table of different discharge positions and corresponding mud delivery pipelines configured;

[0031] A first generating unit, configured to generate a first control parameter based on the target mud conveying pipeline;

[0032] A first control unit is used to control the mud inlet pipeline and the target mud delivery pipeline to communicate based on the first control parameter, so that the mud excavated by the dredging assembly is transported to the target mud delivery pipeline through the mud inlet pipeline;

[0033] A second generating unit, configured to generate a second control parameter based on the target discharge position and the target mud delivery pipeline;

[0034] The second control unit is used to control each mud pump located on the target mud conveying pipeline to convey the mud to the target discharge position based on the second control parameter.

[0035] In a third aspect, an electronic device is provided, the electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0036] Memory, used to store computer programs;

[0037] The processor is used to implement any method step described in the first aspect when executing the program stored in the memory.

[0038] In a fourth aspect, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any method step described in the first aspect is implemented.

[0039] In this application, an underwater mud pump is arranged on the bridge, and two in-cabin mud pumps (i.e., the second mud pump and the third mud pump) are arranged on the main hull. By disassembling and installing the universal short-section mud pipe on the ship, mud discharge under the following three working conditions can be achieved: an underwater mud pump works alone (close-range construction); the underwater mud pump and an in-cabin pump work in series (long-distance construction); the underwater mud pump and two in-cabin pumps work in series (three pumps in series, ultra-long-distance construction).

[0040] The present application adjusts the discharge distance of the mud through short-section mud pipes of different types and numbers; there are only two general models of short-section mud pipes, which are convenient for maintenance and replacement; the discharge distance can be flexibly adjusted according to the working conditions. Under conditions with short distances, one underwater mud pump can be used, two pumps can be used in series for conditions with longer distances, and three pumps can be used in series for conditions with longer distances, thereby achieving energy conservation and emission reduction to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 A schematic structural diagram of a cutter suction dredger provided in an embodiment of the present application;

[0043] Figure 2 A schematic diagram of a short-section mud pipe provided in an embodiment of the present application;

[0044] Figure 3 A flow chart of a method for controlling mud discharge of a cutter suction dredger provided in an embodiment of the present application;

[0045] Figure 4 A schematic diagram of the mud delivery pipeline path when the mud discharge joint located on the left side of the hull is selected according to an embodiment of the present application;

[0046] Figure 5 A schematic diagram of the mud delivery pipeline path when the mud discharge joint located on the right side of the hull is selected according to an embodiment of the present application;

[0047] Figure 6 A schematic diagram of a mud delivery pipeline path when a mud discharge joint located at the rear of a hull and a medium delivery distance is selected according to an embodiment of the present application;

[0048] Figure 7 A schematic diagram of a mud delivery pipeline path when a mud discharge joint located at the rear of a hull and a long delivery distance is provided in an embodiment of the present application;

[0049] Figure 8 A schematic structural diagram of a mud discharge control device for a cutter suction dredger provided in an embodiment of the present application;

[0050] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0051] In the figure: 1. dredging assembly; 2. mud inlet pipe; 3. bridge; 4. first gate valve; 5. first mud pump; 6. shrimp-joint hose; 7. mud discharge joint; 8. second gate valve; 9. third gate valve; 10. mud discharge pipe; 11. short-section elbow; 12. short-section straight pipe; 13. second mud pump; 14. third mud pump; 15. first mud discharge pipe; 16. second mud discharge pipe. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] The mud discharge control method of the cutter suction dredger provided in the embodiment of the present application can be applied in the following aspects: Figure 1 In the cutter suction dredger shown, the cutter suction dredger is provided with a dredging assembly 1, a mud inlet pipeline 2, a bridge 3, a first gate valve 4, a first mud pump 5, a shrimp joint hose 6, a plurality of mud discharge joints 7, a plurality of mud delivery pipelines and a controller;

[0054] One end of the dredging assembly 1 is connected to one end of the mud inlet pipe 2; the other end of the mud inlet pipe 2 is connected to the suction end of the first mud pump 5; the discharge end of the first mud pump 5 is connected to one end of the shrimp hose 6; the other end of the shrimp hose 6 is connected to one end of the target mud delivery pipeline; the first gate valve 4 is arranged on the mud inlet pipe 2; the second gate valve 8 is arranged on the shrimp hose 6; any mud discharge joint corresponds to at least one mud delivery pipeline; the number of mud pumps arranged on different mud delivery pipelines is different to adapt to different target discharge positions; at least one third gate valve 9 is arranged on any mud delivery pipeline.

[0055] The dredging component 1 is used for breaking up the mud; the specific dredging component is a reamer head;

[0056] A first mud pump 5 is used to suck the mud crushed by the dredging assembly 1 into the mud inlet pipe 2;

[0057] The mud discharge joint 7 is used to transport the mud in the mud conveying pipeline to the barge or the floating mud pipe, so that the barge transports the mud to the mud discharge area, or the floating mud pipe discharges the mud to the mud discharge area.

[0058] The controller is used to control each gate valve and each mud pump.

[0059] In the embodiment of the present application, any mud transport pipeline includes at least one third gate valve 9, at least one type of short-section mud pipe and a mud discharge pipeline 10 for connecting the short-section mud pipe and the mud discharge joint 7; the other end of the shrimp-section hose 6 is connected to one end of the short-section mud pipe in any mud transport pipeline.

[0060] In the embodiments of the present application, Figure 2 As shown, the types of short-joint mud pipes include short-joint bent pipes 11 and short-joint straight pipes 12; the short-joint mud pipes are universal and can be connected to shrimp-joint hoses, mud inlet pipes, mud discharge pipes or floating mud pipes, etc.; Figure 1 The dotted circle in the middle is the type of short-section mud pipe required when the corresponding mud delivery pipeline is connected to the mud inlet pipeline.

[0061] In the embodiment of the present application, three mud discharge joints 7 can be set. Taking the bow direction of the cutter suction dredger as the front, the mud discharge joints 7 can be respectively on the left side of the hull, the right side of the hull or the rear of the hull (or the front of the hull).

[0062] In the embodiment of the present application, different mud pipelines correspond to different mud discharge distances. When the mud discharge distance is short, there is no need to set a mud pump in the mud pipeline, and the mud transportation can be completed by only using the first mud pump 5; when the mud discharge distance is medium, it is necessary to set a second mud pump 13 in the second mud discharge pipeline 16, and the second mud pump 13 and the first mud pump 5 are connected in series, and the two together complete the mud transportation; when the mud discharge distance is long, it is necessary to set a third mud pump 14 in the first mud discharge pipeline 15, and the third mud pump 14 is connected in series with the second mud pump 13 and the first mud pump 5, and the three together complete the mud transportation.

[0063] In the embodiment of the present application, the controller can be a physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and basic cloud computing services such as big data and artificial intelligence platforms. The terminal can be a user equipment (User Equipment, UE) such as a mobile phone, smart phone, laptop, digital broadcast receiver, personal digital assistant (PDA), tablet computer (PAD), handheld device, vehicle-mounted device, wearable device, computing device or other processing device connected to a wireless modem, mobile station (Mobile Station, MS), mobile terminal (Mobile Terminal), etc. The terminal and the server can be directly or indirectly connected by wired or wireless communication, which is not limited in this application.

[0064] The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application may be combined with each other if there is no conflict.

[0065] Figure 3 The present invention provides a flow chart of a method for controlling mud discharge from a cutter suction dredger. Figure 3 As shown, the method may include:

[0066] Step S310, obtaining a target discharge position of the mud dredged by the cutter suction dredger; matching a target mud delivery pipeline corresponding to the target discharge position from a comparison table of different configured discharge positions and corresponding mud delivery pipelines.

[0067] In an embodiment of the present application, the target discharge position includes: a target discharge direction and a target discharge distance; specifically, with the bow direction of the cutter suction dredger as the front, the target discharge direction is the left side of the hull, the right side of the hull or the rear of the hull; the target discharge distance is determined according to the actual application scenario.

[0068] In an embodiment of the present application, when the target discharge distance is less than the configured first distance threshold, the target discharge direction may be the left side of the hull, the right side of the hull, or the rear of the hull; when the target discharge distance is greater than the configured first distance threshold and less than the configured second distance threshold, the target discharge direction is the rear of the hull; when the target discharge distance is greater than the configured second distance threshold, the target discharge direction is the rear of the hull.

[0069] In actual application, when the target discharge direction is the left side or right side of the hull, the mud is discharged from the port side or starboard side to the barge, and the barge is used to transport the mud to the mud discharge area. At this time, the target discharge distance is shorter; that is, when a longer mud discharge (for example, 10 kilometers) is required, the target discharge direction cannot be the left side or right side of the hull.

[0070] In the embodiment of the present application, with the bow direction of the cutter suction dredger as the front, the cutter suction dredger is provided with a total of 5 mud delivery pipelines from left to right; among them, the leftmost and rightmost mud delivery pipelines correspond to the mud discharge joints arranged on the left and right sides of the hull respectively, and the middle three mud delivery pipelines correspond to the mud discharge joints arranged at the rear of the hull.

[0071] In an embodiment of the present application, when the target discharge distance is greater than the configured first distance threshold and less than the configured second distance threshold, the target discharge direction is behind the hull, and a mud pipeline with two mud pumps is selected from the mud pipelines whose corresponding mud discharge joints are behind the hull as the target mud pipeline; when the target discharge distance is greater than the configured second distance threshold, the target discharge direction is behind the hull, and a mud pipeline with three mud pumps is selected from the mud pipelines whose corresponding mud discharge joints are behind the hull as the target mud pipeline; thereby realizing the supply of mud with different discharge distances by different numbers of mud pumps, while ensuring the successful transportation of mud, maximizing energy conservation and emission reduction.

[0072] In an embodiment of the present application, when two mud pumps are provided in the mud pipeline, one mud pump is located on the bridge and the other mud pump is located in the cabin; when three mud pumps are provided in the mud pipeline, one mud pump is located on the bridge and the other two mud pumps are located in the cabin.

[0073] In the embodiment of the present application, when the number of mud pumps is greater than 1, the mud pumps are connected in series.

[0074] In one embodiment of the present application, Figure 4 or Figure 5 As shown, when the target discharge direction is the left side or the right side of the hull, since the target discharge distance is small, only the first mud pump is used to transport the mud in the corresponding target mud conveying pipeline to the mud discharge joint located on the left side or the right side of the hull; and only one third gate valve is provided in the corresponding target mud conveying pipeline; at this time, the other end of the shrimp-section hose is connected to one end of the short-section bent pipe; the other end of the short-section bent pipe is connected to one end of the short-section straight pipe; the other end of the short-section straight pipe is connected to one end of the mud discharge pipeline, and the other end of the mud discharge pipeline is connected to the mud discharge joint located on the left side or the right side of the hull; a third gate valve is provided in the mud discharge pipeline.

[0075] In another embodiment of the present application, when the target discharge direction is behind the hull and the target discharge distance is less than the configured first distance threshold, the other end of the shrimp-section hose is connected to one end of the short-section bent pipe; the other end of the short-section bent pipe is connected to one end of the short-section straight pipe; the other end of the short-section straight pipe is connected to one end of the mud discharge pipe, and the other end of the mud discharge pipe is connected to the mud discharge joint located behind the hull; a third gate valve is provided in the mud discharge pipe.

[0076] In another embodiment of the present application, Figure 6 As shown, when the target discharge direction is behind the hull and the target discharge distance is greater than the configured first distance threshold and less than the configured second distance threshold, the other end of the shrimp-section hose is connected to one end of the first short-section elbow; the other end of the first short-section elbow is connected to one end of the second short-section elbow; the other end of the second short-section elbow is connected to one end of the first mud discharge pipe, the other end of the first mud discharge pipe is connected to one end of the second mud pump, and the other end of the second mud pump is connected to one end of the second mud discharge pipe; the other end of the second mud discharge pipe is connected to the mud discharge joint located behind the hull; a third gate valve is respectively provided in the first mud discharge pipe and the second mud discharge pipe.

[0077] In yet another embodiment of the present application, Figure 7 As shown, when the target discharge direction is behind the hull and the target discharge distance is greater than the configured second distance threshold, three mud pumps are needed to transport mud; the other end of the shrimp hose is connected to one end of the first short-section elbow; the other end of the first short-section elbow is connected to one end of the second short-section elbow; the other end of the second short-section elbow is connected to one end of the third mud pump; a third gate valve is arranged between the second short-section elbow and the third mud pump; the other end of the third mud pump is connected to one end of the first mud discharge pipe, the other end of the first mud discharge pipe is connected to one end of the second mud pump, and the other end of the second mud pump is connected to one end of the second mud discharge pipe; the other end of the second mud discharge pipe is connected to the mud discharge joint located behind the hull; a third gate valve is respectively arranged in the first mud discharge pipe and the second mud discharge pipe.

[0078] Based on the above scheme of the present application, different types and numbers of short-section mud pipes and different numbers of mud pumps are matched according to different target discharge directions and different target discharge distances, so as to achieve the adjustment of mud discharge distance suitable for different mud discharge scenarios, save mud pump power, and reduce the wear of equipment such as mud pumps and mud pipes.

[0079] In the embodiment of the present application, different mud delivery pipelines cannot be connected at the same time, that is, when the dredger is working, there is only one pipeline for mud delivery.

[0080] Step S320, generating a first control parameter based on the target mud delivery pipeline; based on the first control parameter, controlling the mud inlet pipeline and the target mud delivery pipeline to be connected, so that the mud excavated by the dredging assembly is transported to the target mud delivery pipeline through the mud inlet pipeline.

[0081] In the embodiment of the present application, the first control parameter includes the type, quantity and position of the short-jointed mud pipe.

[0082] In the embodiment of the present application, the short elbow is universal and can be applied to different connection scenarios of mud transport pipelines and mud inlet pipelines.

[0083] In the embodiment of the present application, based on the target mud pipeline, the first control parameter is generated, including:

[0084] The target short-joint mud pipe information corresponding to the target mud pipe is matched from a pre-constructed comparison table of different mud pipes and corresponding short-joint mud pipe information; and the target short-joint mud pipe information is used as the first control parameter.

[0085] In the embodiment of the present application, the target short-joint mud pipe information includes: the type, quantity and position of the short-joint mud pipe.

[0086] In the embodiment of the present application, since the types, quantities and installation positions of short-section mud pipes required for different mud pipelines are different, the corresponding data is matched from a pre-configured comparison table, and the short-section mud pipes of the corresponding types are installed at the corresponding positions to achieve the connection between the mud inlet pipeline and the target mud pipeline; when the mud inlet pipeline and the target mud pipeline are connected, the mud can be transported to the mud discharge joint through the mud inlet pipeline and the target mud pipeline.

[0087] Step S330: Generate a second control parameter based on the target discharge position and the target mud delivery pipeline; based on the second control parameter, control each mud pump located on the target mud delivery pipeline to deliver the mud to the target discharge position.

[0088] In the embodiment of the present application, based on the target discharge position and the target mud delivery pipeline, the second control parameter is generated, including:

[0089] The mud pump positions of the mud pumps on the target mud pipeline are obtained; for any mud pump position, the target mud pump power corresponding to the target discharge distance and the mud pump position is matched from a comparison table of different configured discharge distances, different mud pump positions and corresponding mud pump powers; the target mud pump power is used as a control parameter of the mud pump corresponding to the mud pump position; and a second control parameter is generated based on the control parameters of the mud pumps on the target mud pipeline.

[0090] In an embodiment of the present application, different numbers of mud pumps connected in series can transport mud with different discharge distances. The relationship between different mud pumps, different mud pump powers and mud discharge distances is predetermined through experimental data, thereby constructing a comparison table of different discharge distances, different mud pump positions and corresponding mud pump powers. In actual application, the corresponding mud pump power can be determined by directly matching data from the comparison table.

[0091] Since the actual power of mud pumps of different models and manufacturers is different, this application does not limit the correspondence between the specific power and the mud pump position and the corresponding discharge distance.

[0092] In the embodiment of the present application, the target discharge position is the corresponding mud discharge joint.

[0093] In another embodiment of the present application, ultrasonic sensors or optical sensors are also provided in each mud delivery pipeline of the cutter suction dredger for detecting the solid content in the mud; flow meters are provided at the outlets of the first mud pump, the second mud pump and the third mud pump for detecting the flow rate of the mud; pressure sensors are provided on the pipelines connected to the first mud pump, the second mud pump and the third mud pump for monitoring the working pressure of the mud pumps.

[0094] The present application determines whether the concentration of the transported mud meets the requirements by comparing whether the solid content in the mud is within a preset threshold range. If it does not meet the requirements, the solid content, flow rate and working pressure in the mud are input into a pre-built prediction model to obtain the mud concentration control parameters; the water supply of the water supply valve or the amount of solid material added to the mud is controlled based on the water volume control parameters. At the same time, after adjustment, the solid content in the mud is detected and compared again to determine whether it is within the preset threshold range to determine whether the concentration of the transported mud meets the requirements, thereby forming a closed-loop feedback.

[0095] In one embodiment of the present application, when any one of the solid content, flow rate and working pressure in the mud exceeds the warning threshold, the warning mechanism is triggered to ensure the safety of the control process.

[0096] In one embodiment of the present application, a controller is provided for each of the mud inlet pipe, the first mud discharge pipe and the second mud discharge pipe, and the corresponding controller is used to control the concentration of the mud in the corresponding pipe according to the solid content, flow rate and working pressure detected in the respective pipes.

[0097] Corresponding to the above method, the embodiment of the present application also provides a mud discharge control device for a cutter suction dredger, such as Figure 8 As shown, the mud discharge control device of the cutter suction dredger includes:

[0098] The acquisition unit 810 is used to acquire the target discharge position of the mud dredged by the cutter suction dredger; wherein the cutter suction dredger is provided with a dredging assembly; one end of the dredging assembly is connected to one end of the mud inlet pipe;

[0099] A matching unit 820 is used to match a target mud delivery pipeline corresponding to a target discharge position from a comparison table of different discharge positions and corresponding mud delivery pipelines;

[0100] A first generating unit 830 is used to generate a first control parameter based on a target mud transport pipeline;

[0101] The first control unit 840 is used to control the mud inlet pipeline and the target mud delivery pipeline to be connected based on the first control parameter, so that the mud excavated by the dredging assembly is transported to the target mud delivery pipeline through the mud inlet pipeline;

[0102] A second generating unit 850 is used to generate a second control parameter based on the target discharge position and the target mud delivery pipeline;

[0103] The second control unit 860 is used to control each mud pump located on the target mud delivery pipeline to deliver the mud to the target discharge position based on the second control parameter.

[0104] The functions of the various functional units of the mud discharge control device of the cutter-suction dredger provided in the above-mentioned embodiments of the present application can be achieved through the above-mentioned method steps. Therefore, the specific working process and beneficial effects of each unit in the mud discharge control device of the cutter-suction dredger provided in the embodiments of the present application will not be repeated here.

[0105] The present application also provides an electronic device, such as Fig. 9 As shown, it includes a processor 910 , a communication interface 920 , a memory 930 and a communication bus 940 , wherein the processor 910 , the communication interface 920 , and the memory 930 communicate with each other via the communication bus 940 .

[0106] Memory 930, used for storing computer programs;

[0107] The processor 910 is used to execute the program stored in the memory 930 to implement the following steps:

[0108] Obtaining a target discharge position of the mud dredged by the cutter suction dredger; wherein the cutter suction dredger is provided with a dredging assembly; one end of the dredging assembly is connected to one end of a mud inlet pipe;

[0109] From the comparison table of different configured discharge locations and corresponding mud pipelines, match the target mud pipeline corresponding to the target discharge location;

[0110] Based on the target mud pipeline, generating a first control parameter;

[0111] Based on the first control parameter, the mud inlet pipeline is controlled to be connected to the target mud delivery pipeline, so that the mud excavated by the dredging assembly is transported to the target mud delivery pipeline through the mud inlet pipeline;

[0112] generating a second control parameter based on the target discharge location and the target mud delivery pipeline;

[0113] Based on the second control parameter, each mud pump located on the target mud delivery pipeline is controlled to deliver the mud to the target discharge location.

[0114] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0115] The communication interface is used for communication between the above electronic device and other devices.

[0116] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0117] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0118] The implementation methods and beneficial effects of the components of the electronic device in the above embodiments to solve the problems can be found in Figure 3 The various steps in the illustrated embodiment are implemented, therefore, the specific working process and beneficial effects of the electronic device provided by the embodiment of the present application are not repeated here.

[0119] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the mud discharge control method for a cutter suction dredger of any one of the above embodiments.

[0120] In another embodiment provided in the present application, a computer program product including instructions is also provided, and when the computer is run on the computer, the computer is enabled to execute the mud discharge control method for a cutter suction dredger of any one of the above embodiments.

[0121] Those skilled in the art will appreciate that the embodiments in the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt a complete hardware embodiment, a complete software embodiment, or a form of an embodiment combining software and hardware. Moreover, the present application may adopt a form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0122] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0123] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0124] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0125] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present application.

[0126] Obviously, those skilled in the art can make various changes and modifications to the embodiments in the present application without departing from the spirit and scope of the embodiments in the present application. Thus, if these modifications and variations of the embodiments in the present application fall within the scope of the claims and their equivalents in the embodiments of the present application, the embodiments of the present application are also intended to include these modifications and variations.

Claims

1. A method for controlling mud discharge of a cutter suction dredger, characterized in that: Applied to a cutter suction dredger, the cutter suction dredger is provided with a dredging assembly; one end of the dredging assembly is connected to one end of a mud inlet pipe; the method comprises: Obtaining a target discharge position of the mud dredged by the cutter suction dredger; Matching the target mud delivery pipeline corresponding to the target discharge position from the comparison table of different discharge positions and corresponding mud delivery pipelines; Based on the target mud pipeline, generating a first control parameter; Based on the first control parameter, controlling the mud inlet pipeline to communicate with the target mud delivery pipeline, so that the mud excavated by the dredging assembly is transported to the target mud delivery pipeline through the mud inlet pipeline; generating a second control parameter based on the target discharge position and the target mud delivery pipeline; Based on the second control parameter, each mud pump located on the target mud delivery pipeline is controlled to deliver the mud to the target discharge location.

2. The method according to claim 1, characterized in that The first control parameters include the type, quantity and position of the short mud pipe; The target discharge position includes: a target discharge direction and a target discharge distance.

3. The method according to claim 2, characterized in that Based on the target mud transport pipeline, generating a first control parameter includes: Matching the target short-joint mud pipe information corresponding to the target mud pipe from a pre-constructed comparison table of different mud pipes and corresponding short-joint mud pipe information; wherein the target short-joint mud pipe information includes: the type, quantity and position of the short-joint mud pipe; The target short-joint mud pipe information is used as the first control parameter.

4. The method according to claim 2, characterized in that Based on the target discharge position and the target mud delivery pipeline, a second control parameter is generated, including: Acquire the mud pump position of each mud pump located on the target mud conveying pipeline; For any mud pump position, matching the target discharge distance with the target mud pump power corresponding to the mud pump position from a comparison table of different discharge distances, different mud pump positions and corresponding mud pump powers; Using the target mud pump power as a control parameter of the mud pump corresponding to the mud pump position; A second control parameter is generated based on the control parameters of each mud pump on the target mud transport pipeline.

5. The method according to claim 1, characterized in that The cutter suction dredger is also provided with a bridge frame; the bridge frame is provided with a mud inlet pipeline, a first gate valve, a first mud pump and a shrimp joint hose in sequence; The other end of the mud inlet pipe is connected to the suction end of the first mud pump; the discharge end of the first mud pump is connected to one end of the shrimp hose; The first gate valve is arranged on the mud inlet pipeline; the second gate valve is arranged on the shrimp joint hose.

6. The method according to claim 5, characterized in that The cutter suction dredger is also provided with a plurality of mud delivery pipelines and a plurality of mud discharge joints; Any mud discharge joint corresponds to at least one mud delivery pipeline; The number of mud pumps on different mud pipelines is different to adapt to different target discharge locations.

7. The method according to claim 6, characterized in that Any mud pipeline includes at least one third gate valve and at least one type of short mud pipe; The other end of the shrimp-joint hose is connected to one end of a short-joint mud pipe in any mud conveying pipeline.

8. A mud discharge control device for a cutter suction dredger, characterized in that: The device comprises: an acquisition unit, for acquiring a target discharge position of the mud dredged by the cutter suction dredger; wherein the cutter suction dredger is provided with a dredging assembly; one end of the dredging assembly is connected to one end of a mud inlet pipe; A matching unit, used for matching a target mud delivery pipeline corresponding to the target discharge position from a comparison table of different discharge positions and corresponding mud delivery pipelines configured; A first generating unit, configured to generate a first control parameter based on the target mud conveying pipeline; A first control unit is used to control the mud inlet pipeline and the target mud delivery pipeline to communicate based on the first control parameter, so that the mud excavated by the dredging assembly is transported to the target mud delivery pipeline through the mud inlet pipeline; A second generating unit, configured to generate a second control parameter based on the target discharge position and the target mud delivery pipeline; The second control unit is used to control each mud pump located on the target mud conveying pipeline to convey the mud to the target discharge position based on the second control parameter.

9. An electronic device, characterized in that: The electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-7 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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