A method and system for precise excavation control of complex sections of a cutter suction dredger

Abstract

The present invention relates to a method and system for precise excavation control of a complex section of a cutter suction dredger. The method first constructs a design section based on geological survey data or construction plan parameters, and collects data of high-precision positioning equipment and related sensors in real time, including ship positioning longitude and latitude coordinates, bridge angle, trunnion draft, tide level, compass direction, trolley travel, and transverse winch cable speed, and calculates the auger excavation depth, auger coordinates, auger lifting and lowering speed, and auger transverse speed in combination with ship type parameters; then, the slope ratio, sideline coordinates, and design depth of the current design section are obtained through the auger coordinates, and the deviation between the auger position and the design section is calculated in real time. Finally, in the set excavation mode, the motion parameters of the auger are automatically adjusted through the system built-in control model to ensure that the auger excavation trajectory accurately follows the design section. The present invention achieves efficient, accurate, and uniform excavation effects, and can significantly improve the construction accuracy and efficiency of complex section excavation.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering ship automation, and in particular relates to a method and system for precisely controlling complex-section excavation of a cutter suction dredger. Background Art

[0002] During the construction of a cutter suction dredger, accurate excavation of complex sections has always been a major problem in construction. Traditional dredger control methods mostly rely on manual operation, which is difficult to meet the high-precision construction requirements under complex geological conditions, and the operating efficiency and accuracy are limited by the operator's experience level. With the rapid development of engineering ship automation systems, intelligent control technology and high-precision positioning systems have gradually been applied to the dredger field. However, when faced with the needs of complex section excavation, traditional manual dredging operations and system positioning accuracy, real-time performance and control effects are still insufficient, and cannot fully meet the requirements of modern engineering for high-precision and high-efficiency construction. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides a method and system for precise excavation control of complex sections of a cutter suction dredger. The method first constructs a designed section based on geological survey data or construction plan parameters, and collects data from high-precision positioning equipment and related sensors in real time, including key construction parameters such as ship positioning longitude and latitude coordinates, bridge angle, trunnion draft, tide level, compass direction, trolley stroke, and lateral speed, and calculates parameters such as auger excavation depth, auger coordinates, and auger lifting and lowering speed in combination with ship type parameters; then, the slope ratio, edge coordinates, and design depth of the current designed section are obtained through the auger coordinates, and the deviation between the auger position and the designed section is calculated in real time. Finally, the auger lateral speed, auger lifting and lowering speed, and auger excavation depth are automatically adjusted through the system's built-in control model to ensure that the auger excavation trajectory accurately follows the designed section.

[0004] The present invention is implemented as follows: a method for controlling the precise excavation of a complex section of a cutter suction dredger comprises the following steps:

[0005] S1. Construct the design section based on geological survey data or construction plan parameters;

[0006] S2, collect data from high-precision positioning equipment and related sensors in real time, and calculate the reamer digging depth, reamer coordinates, reamer lifting and lowering speed, and reamer lateral movement speed parameters in combination with ship type parameters;

[0007] S3, obtaining the slope ratio, edge coordinates, and design depth of the current design section through the reamer coordinates, and calculating the deviation between the reamer position and the design section in real time;

[0008] S4. Determine whether the motion parameters of the reamer need to be adjusted based on the calculated deviation. If no adjustment is required, excavation is performed according to the current motion parameters of the reamer. If adjustment is required, the motion parameters of the reamer are automatically adjusted through the system's built-in control model in the set excavation mode. After the adjustment is completed, excavation is performed according to the adjusted motion parameters of the reamer to ensure that the reamer excavation trajectory accurately follows the designed section.

[0009] Preferably, the complex section refers to a section comprising a plurality of layered structures with different design depths and slope ratios.

[0010] Preferably, in step S1, the geological survey data refers to water depth data of the target excavation depth.

[0011] Preferably, in step S1, the construction plan parameters refer to the engineering coordinates of the starting and ending points of the center line of each layer of the complex section, the engineering coordinates of the starting and ending points of the left and right side lines, the left and right slope ratios, the starting depths of the left and right slopes, and the design depths of the left and right slopes.

[0012] Preferably, in step S1, constructing the design section based on geological survey data means first using the Kriging interpolation algorithm to refine the target water depth data, and then acquiring the depth data within the ship's swing width in real time according to the current auger position and the construction work line, and then generating the design section in real time.

[0013] Preferably, in step S2, the real-time data collection is completed by a data collection unit of the dredging integrated monitoring system of the ship.

[0014] Preferably, in step S2, the data of the positioning equipment and related sensors include the longitude and latitude coordinates of the ship positioning, the bridge angle, the trunnion draft, the tide level, the compass direction, the trolley travel, and the transverse winch cable speed parameters.

[0015] Further preferably, the data of the ship positioning longitude and latitude coordinates are longitude and latitude coordinates based on the WGS-84 coordinate system, and a suitable projection method is selected according to the construction area where the ship is located to convert the longitude and latitude coordinates into engineering coordinates, and the projection methods include Gauss-Krüger projection, Universal Transverse Mercator projection, Lambert conformal projection and Mercator projection.

[0016] Preferably, the positioning device refers to a high-precision positioning device using the Beidou satellite navigation system or the differential global positioning system.

[0017] Preferably, the related sensors include an inclination sensor, a liquid level transmitter, a tide gauge, a gyrocompass, a stroke sensor, and a winch encoder.

[0018] Preferably, in step S2, the ship type parameters refer to the outer diameter of the large circle of the auger, the length of the bridge, the vertical distance from the suction position of the auger to the center point of the ear shaft, the vertical distance from the zero point of the ear shaft draft sensor to the center point of the ear shaft, the plane coordinates of the center point of the auger relative to the outer side positioning point of the stern port side, and the plane coordinates of the positioning device installation point relative to the outer side positioning point of the stern port side.

[0019] Preferably, in step S2, the reamer excavation depth is specifically calculated as follows:

[0020] (1)

[0021] (2)

[0022] (3)

[0023] Where: It is the vertical distance from the suction port of the reamer to the center point of the trunnion. is the bridge length, is the bridge angle, is the corrected bridge angle, is the corrected bridge length, is the radius of the reamer large circle, It is the vertical distance from the zero point of the trunnion draft sensor to the center point of the trunnion. is the trunnion draft value, is the tide level or elevation value, Digging depth for the reamer, is the correction coefficient of the reamer digging depth, is the correction constant for the reamer digging depth.

[0024] Preferably, in step S2, the reamer coordinates refer to the plane positioning engineering coordinates of the reamer center point, and the specific calculation method is as follows:

[0025] (4)

[0026] (5)

[0027] Where: , ) represents the coordinates of the reamer; ( , ) is the engineering coordinates of the installation point of the positioning equipment; ( , ) represents the plane coordinates of the installation point of the positioning equipment relative to the positioning point on the outer side of the stern port side; ( , ) represents the plane coordinate of the center point of the auger relative to the positioning point on the outer side of the port side of the stern; Indicates compass direction.

[0028] Preferably, in step S2, the reamer lifting and lowering speed refers to the reamer lifting and lowering speed at the current moment, and the specific calculation method is as follows:

[0029] (6)

[0030] Where: Indicates the lifting and lowering speed of the reamer; Indicates the current reamer digging depth; Indicates the reamer digging depth of the last calculation cycle, Indicates the calculation cycle.

[0031] Preferably, in step S2, the reamer transverse speed refers to the reamer transverse speed at the current moment, and the specific calculation method is as follows:

[0032] (7)

[0033] Where: Indicates the traverse speed of the reamer; Indicates the cable speed of the traverse winch; Indicates the cable speed correction factor of the transverse winch.

[0034] Preferably, in step S3, obtaining the slope ratio, sideline coordinates and design depth of the current design section through the reamer coordinates means obtaining the slope ratio, sideline coordinates and design depth of the current design section through the current reamer excavation depth and the reamer center point plane positioning engineering coordinates.

[0035] Preferably, the slope ratio calculation method is as follows:

[0036] (8)

[0037] Where: Indicates the slope ratio of the current section; Indicates the horizontal distance of the current slope; Indicates the vertical distance of the current slope.

[0038] Preferably, in step S3, the real-time calculation of the deviation between the reamer position and the designed section refers to calculating the horizontal deviation and the vertical deviation between the reamer position and the designed section.

[0039] Preferably, in step S4, the automatic adjustment of the motion parameters of the reamer through the system's built-in control model refers to utilizing the deviation data between the reamer position calculated in real time and the designed section, automatically calculating and adjusting the reamer's lateral movement speed, the reamer's lifting and lowering speed, and the reamer's excavation depth through the system's built-in control model, so that the reamer can accurately excavate along the slope ratio of the current designed section during the construction excavation process.

[0040] Further preferably, the system built-in control model is as follows:

[0041] (9)

[0042] Where: Indicates the slope ratio of the current section; Indicates the traverse speed of the reamer; Indicates the lifting and lowering speed of the reamer.

[0043] Further preferably, during the construction excavation process, when the reamer gradually approaches the slope from the center line of the section, after reaching the set distance from the edge line acceleration and deceleration starting distance, the reamer transverse speed and the reamer lifting and lowering speed are both accelerated and decelerated according to the incremental PID control model. The PID control model algorithm is as follows:

[0044] (10)

[0045] (11)

[0046] Where: Indicates the target speed; Indicates the current sampling cycle speed; Indicates the speed deviation of the current sampling period; Indicates the speed deviation of the previous sampling period; Indicates the speed deviation of the previous sampling period; represents the proportionality coefficient; Indicates the integration time; represents the differential time; Indicates the sampling period; Indicates the current sampling period speed adjustment size.

[0047] Further preferably, the excavation mode, the starting distance of acceleration and deceleration from the distance edge line of the reamer lateral movement speed and the reamer lifting and lowering speed, the target speed, each advance stroke of the trolley, the proportional coefficient, integral time and differential time involved in the PID control model are all completed by preset parameters.

[0048] Further preferably, the excavation modes include a full-section integral forming mode, a single-layer section integral forming mode and a slope fine excavation mode.

[0049] The full-section integral forming mode means that the excavation of the entire designed section is completed at one time, and after completion, the next excavation is automatically carried out by controlling the travel of the control console.

[0050] The single-layer section integral forming mode refers to excavating the section of the entire design section at a specified level at one time, and after completing the section of this level, the next excavation is automatically carried out by controlling the travel of the console vehicle.

[0051] The slope fine excavation mode refers to the excavation control designated for the slope. After the excavation of a certain side of the slope is completed, the next excavation is automatically carried out by controlling the vehicle travel.

[0052] A control system for precise excavation of complex cross-sections of a cutter suction dredger, comprising: a positioning device, relevant sensors, a data acquisition unit, a data calculation and analysis unit, and a control unit, wherein the data acquisition unit, the data calculation and analysis unit, and the control unit are sequentially connected in communication;

[0053] The data acquisition unit is used to collect the ship positioning longitude and latitude coordinates, bridge angle value, trunnion draft value, tide level, compass angle, trolley travel, and transverse winch cable speed in real time;

[0054] The data calculation and analysis unit is used to calculate the reamer excavation depth, reamer coordinates, reamer lifting and lowering speed and reamer transverse speed parameters in real time by combining the real-time data collected by the data collection unit and the ship type parameters, and obtain the slope ratio, sideline coordinates and design depth of the current design section through the reamer coordinates, and calculate the deviation between the reamer position and the design section in real time, and send the calculated data to the control unit in real time;

[0055] The control unit is used to automatically adjust the reamer lateral movement speed, the reamer lifting and lowering speed, and the reamer digging depth according to the control logic based on the data calculated by the real-time data calculation and analysis unit and the preset parameters.

[0056] The advantages and positive effects of the present invention are:

[0057] The present invention constructs a designed section model through geological survey data or construction plan parameters, and combines high-precision positioning equipment and related sensor data collected in real time to accurately calculate the deviation between the reamer position and the designed section, and uses an intelligent control model and feedback mechanism to automatically adjust the lateral movement and lifting and lowering speed of the reamer, thereby achieving precise control of the reamer excavation path, making the reamer excavation trajectory accurately fit the designed section, thereby significantly improving the excavation accuracy of complex sections, avoiding over-excavation or under-excavation, meeting high-standard construction requirements, and at the same time reducing manual operation intervention, improving construction efficiency and equipment stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 A schematic diagram of the components of a complex cross-section precise excavation control system for a cutter suction dredger provided by an embodiment of the present invention;

[0059] Figure 2A schematic diagram of a complex cross section of a cutter suction dredger provided by an embodiment of the present invention;

[0060] Figure 3 The cutter suction dredger provided in the embodiment of the present invention is constructed with a design cross-section schematic diagram based on geological survey data;

[0061] Figure 4 A flow chart of a method for precisely controlling complex cross-section excavation of a cutter suction dredger provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0062] In order to further understand the content, characteristics and effects of the present invention, the following examples are given, and the present invention is described in detail below in conjunction with specific embodiments and drawings. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be pointed out that for those of ordinary skill in the art, several changes and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0063] like Figure 1 As shown, the complex cross-section precise excavation control system of the cutter suction dredger of the present invention comprises: a positioning device, relevant sensors, a data acquisition unit, a data calculation and analysis unit, and a control unit.

[0064] The complex section refers to a section containing multiple layered structures with different design depths and slope ratios. Figure 2 As shown, in this example, a complex section with a three-layer section structure is provided.

[0065] The positioning device refers to a high-precision positioning device using the Beidou satellite navigation system or the differential global positioning system. In this example, it is a positioning device using the Beidou satellite navigation system.

[0066] The related sensors include inclination sensors, liquid level transmitters, tide gauges, gyrocompasses, travel sensors, and winch encoders.

[0067] The positioning equipment, inclination sensor, liquid level transmitter, tide meter, electric compass, travel sensor, and winch encoder respectively collect the ship positioning longitude and latitude coordinates, bridge angle value, trunnion draft value, tide level, compass angle, trolley travel, and transverse winch cable speed through the data acquisition unit.

[0068] The data calculation and analysis unit is used to calculate parameters such as the reamer digging depth, reamer coordinates, reamer lifting and lowering speed, and reamer lateral movement speed in real time in combination with the real-time data collected by the data acquisition unit and the ship type parameters, and obtain the slope ratio, sideline coordinates, and design depth of the current design section through the reamer coordinates, and calculate the deviation between the reamer position and the design section in real time, and send the calculated data to the control unit in real time.

[0069] The control unit is used to automatically adjust the reamer lateral movement speed, the reamer lifting and lowering speed, and the reamer digging depth according to the control logic based on the data calculated by the real-time data calculation and analysis unit and the preset parameters.

[0070] The preset parameters include the excavation mode, the starting distance of acceleration and deceleration of the distance from the edge line of the reamer transverse speed and the reamer lifting and lowering speed, the target speed, the advance stroke of the trolley each time, and the proportional coefficient, integral time, and differential time involved in the PID control model.

[0071] like Figure 4 As shown, an embodiment of the present invention provides a method for precise excavation control of complex sections of a cutter suction dredger, and the implementation steps are as follows:

[0072] S1. Construct the design section based on geological survey data or construction plan parameters.

[0073] The geological survey data refers to water depth data of the target excavation depth.

[0074] The construction of the design section based on geological survey data means firstly using the Kriging interpolation algorithm to refine the target water depth data, and then obtaining the depth data within the ship's swing width in real time according to the current auger position and construction work line, and then generating the design section in real time. Figure 3 As shown, Figure 3 In the plane positioning window, the red line is the ship construction working line or the design section center line (when the ship construction working line is not designed, the design section center line is automatically obtained as the ship construction working line), and the blue arc line is the trajectory line of the expected swing of the reamer; in the design section window, the units of the horizontal and vertical coordinates are both meters, the white line is the altitude zero line, the red line is the design section center line, and the purple line is the steel pile position. During construction, the steel pile position is generally as close to the ship construction working line as possible. The distance between the purple line and the red line is the steel pile offset (positive on the right side of the design section center line and negative on the left side), the distance between the reamer and the red line is the reamer offset (positive on the right side of the design section center line and negative on the left side), the distance between the reamer and the white line is the reamer depth (the reamer is positive below the altitude zero line and negative above it), and the distance between the reamer and the design section (i.e. the distance between the lower edge of the reamer and the green line) is the depth deviation (negative below the design section and positive above it). The units of the above-mentioned steel pile offset, reamer offset, reamer depth, and depth deviation are all meters.

[0075] The construction plan parameters refer to the engineering coordinates of the centerline starting point and end point of each layer of the complex section, the engineering coordinates of the left and right sideline starting points and end points, the left and right slope ratios, the left and right slope starting depths, and the left and right slope design depths.

[0076] S2. Collect data from high-precision positioning equipment and related sensors in real time, and calculate parameters such as auger digging depth, auger coordinates, auger lifting and lowering speed, and auger lateral movement speed in combination with ship parameters.

[0077] The real-time data collection is completed by a data collection unit of the ship's dredging integrated monitoring system.

[0078] The data of the positioning equipment and related sensors include key construction parameters such as the longitude and latitude coordinates of the ship's positioning, bridge angle, trunnion draft, tide level, compass direction, trolley travel, and transverse winch cable speed.

[0079] The data of the ship positioning longitude and latitude coordinates are longitude and latitude coordinates based on the WGS-84 coordinate system. The longitude and latitude coordinates can be converted into engineering coordinates by selecting a suitable projection method according to the construction area where the ship is located. The projection methods include Gauss-Kruger projection, Universal Transverse Mercator projection (UTM), Lambert conformal projection and Mercator projection. In this example, the Gauss-Kruger projection method is used to convert the longitude and latitude coordinates based on the WGS-84 coordinate system into engineering coordinates.

[0080] The positioning device refers to a high-precision positioning device using the Beidou satellite navigation system or the differential global positioning system.

[0081] The related sensors include high-precision inclination sensors, liquid level transmitters, tide gauges, gyrocompasses, travel sensors, and winch encoders.

[0082] The ship type parameters refer to the outer diameter of the large circle of the auger, the length of the bridge, the vertical distance from the suction port of the auger to the center point of the trunnion, the vertical distance from the zero point of the trunnion draft sensor to the center point of the trunnion, the plane coordinates of the center point of the auger relative to the outer side positioning point of the stern port side, and the plane coordinates of the positioning device installation point relative to the outer side positioning point of the stern port side.

[0083] The specific calculation method of the reamer digging depth is as follows:

[0084] (12)

[0085] (13)

[0086] (14)

[0087] Where: It is the vertical distance from the suction port of the reamer to the center point of the trunnion. is the bridge length, is the bridge angle, is the corrected bridge angle, is the corrected bridge length, is the radius of the reamer large circle, It is the vertical distance from the zero point of the trunnion draft sensor to the center point of the trunnion. is the trunnion draft value, is the tide level or elevation value, Digging depth for the reamer, is the correction coefficient of the reamer digging depth, is the correction constant for the reamer digging depth.

[0088] The reamer coordinates refer to the plane positioning engineering coordinates of the reamer center point. The specific calculation method is as follows:

[0089] (15)

[0090] (16)

[0091] Where: , ) represents the coordinates of the reamer; ( , ) is the engineering coordinates of the installation point of the positioning equipment; ( , ) represents the plane coordinates of the installation point of the positioning equipment relative to the positioning point on the outer side of the stern port side; ( , ) represents the plane coordinate of the center point of the auger relative to the positioning point on the outer side of the port side of the stern; Indicates the compass direction (due north is 0, and the unit is radians).

[0092] The reamer lifting and lowering speed refers to the reamer lifting and lowering speed at the current moment, and the specific calculation method is as follows:

[0093] (17)

[0094] Where: Indicates the lifting and lowering speed of the reamer; Indicates the current reamer digging depth; Indicates the reamer digging depth of the last calculation cycle, Indicates the calculation cycle.

[0095] The reamer transverse speed refers to the reamer transverse speed at the current moment, and the specific calculation method is as follows:

[0096] (18)

[0097] Where: Indicates the traverse speed of the reamer; Indicates the cable speed of the traverse winch; Indicates the cable speed correction factor of the transverse winch.

[0098] S3. Obtain the slope ratio, edge coordinates, and design depth of the current design section through the reamer coordinates, and calculate the deviation between the reamer position and the design section in real time.

[0099] The obtaining of the slope ratio, sideline coordinates, and design depth of the current design section through the reamer coordinates refers to obtaining the slope ratio, sideline coordinates, and design depth of the current design section through the current reamer excavation depth and the reamer center point plane positioning engineering coordinates;

[0100] The real-time calculation of the deviation between the reamer position and the designed section refers to calculating the horizontal deviation and the vertical deviation between the reamer position and the designed section.

[0101] S4. Determine whether the motion parameters of the reamer need to be adjusted based on the calculated deviation. If no adjustment is required, excavation is performed according to the current motion parameters of the reamer. If adjustment is required, the motion parameters of the reamer are automatically adjusted through the system's built-in control model. After the adjustment is completed, excavation is performed according to the adjusted motion parameters of the reamer to ensure that the reamer excavation trajectory accurately follows the designed section.

[0102] The automatic adjustment of the motion parameters of the auger through the system's built-in control model refers to utilizing the deviation data between the auger position calculated in real time and the designed section to automatically calculate and adjust the auger's lateral movement speed, auger's lifting and lowering speed, and auger's excavation depth through the system's built-in control model, so that the auger can accurately excavate along the slope ratio of the current designed section during the construction excavation process.

[0103] The slope ratio calculation method is as follows:

[0104] (19)

[0105] Where: Indicates the slope ratio of the current section; Indicates the horizontal distance of the current slope; Indicates the vertical distance of the current slope.

[0106] The built-in control model of the system is as follows:

[0107] (20)

[0108] Where: Indicates the slope ratio of the current section; Indicates the traverse speed of the reamer; Indicates the lifting and lowering speed of the reamer.

[0109] During the excavation process, when the reamer gradually approaches the slope from the center line of the section, after reaching the set acceleration and deceleration starting distance of the distance edge, the reamer lateral movement speed and the reamer lifting and lowering speed are accelerated and decelerated according to the incremental PID control model. The PID control model algorithm is as follows:

[0110] (twenty one)

[0111] (twenty two)

[0112] Where: Indicates the target speed; Indicates the current sampling cycle speed; Indicates the speed deviation of the current sampling period; Indicates the speed deviation of the previous sampling period; Indicates the speed deviation of the previous sampling period; represents the proportionality coefficient; Indicates the integration time; represents the differential time; Indicates the sampling period; Indicates the current sampling period speed adjustment size.

[0113] The excavation mode, the starting distance of acceleration and deceleration of the distance from the edge line of the reamer transverse movement speed and the reamer lifting and lowering speed, the target speed, the advance stroke of the trolley each time, the proportional coefficient, integral time, differential time, etc. involved in the PID control model are all completed through parameter preset.

[0114] The excavation modes include a full-section integral forming mode, a single-layer section integral forming mode and a slope fine excavation mode.

[0115] The full-section integral forming mode means that the excavation of the entire designed section is completed at one time, and after completion, the next excavation is automatically carried out by controlling the travel of the control console.

[0116] The single-layer section integral forming mode refers to excavating the section of the entire design section at a specified level at one time, and after completing the section of this level, the next excavation is automatically carried out by controlling the travel of the console vehicle.

[0117] The slope fine excavation mode refers to the excavation control designated for the slope. After the excavation of a certain side of the slope is completed, the next excavation is automatically carried out by controlling the vehicle travel.

[0118] Aiming at the precise control requirements of the cutter suction dredger in the construction of complex sections, the present invention constructs a design section model through geological survey data or construction plan parameters, and combines the real-time collected data with intelligent control technology to achieve dynamic adjustment and precise excavation of the auger. During the construction process, the system uses high-precision positioning, sensor networks, intelligent control models and feedback mechanisms to analyze the deviation between the auger position and the target section in real time, thereby automatically adjusting the excavation depth and speed of the auger to ensure that the auger trajectory is highly consistent with the designed section. Through this method and system, not only can the construction accuracy of complex section excavation be significantly improved, but also the disturbance to the construction environment can be reduced, realizing intelligent, low-interference green construction.

[0119] The present invention solves the problems of insufficient precision, low efficiency and frequent manual intervention in the construction of complex sections of traditional cutter suction dredgers to a great extent, and greatly improves the construction precision and efficiency. Through real-time data acquisition by multi-source sensors and automatic adjustment of intelligent control models, the excavation trajectory of the reamer accurately fits the designed section, realizing efficient and accurate excavation of different excavation modes under the requirements of complex sections.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents, and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for precise excavation control of complex sections of a cutter suction dredger, characterized in that: The steps include: S1. Constructing a design section based on geological survey data or construction plan parameters; the complex section refers to a section containing multiple layered structures with different design depths and slope ratios; S2, collect data from high-precision positioning equipment and related sensors in real time, and calculate the reamer digging depth, reamer coordinates, reamer lifting and lowering speed, and reamer lateral movement speed parameters in combination with ship type parameters; S3, obtaining the slope ratio, edge coordinates, and design depth of the current design section through the reamer coordinates, and calculating the deviation between the reamer position and the design section in real time; S4. Determine whether the motion parameters of the reamer need to be adjusted based on the calculated deviation. If no adjustment is required, excavation is performed according to the current motion parameters of the reamer. If adjustment is required, the motion parameters of the reamer are automatically adjusted through the system's built-in control model in the set excavation mode. After the adjustment is completed, excavation is performed according to the adjusted motion parameters of the reamer to ensure that the reamer excavation trajectory accurately follows the designed section.

2. The complex cross-section precise excavation control method of a cutter suction dredger according to claim 1 is characterized in that: In step S1, the geological survey data refers to the water depth data of the target excavation depth; The construction plan parameters refer to the engineering coordinates of the centerline starting point and end point of each layer of the complex section, the engineering coordinates of the left and right sideline starting points and end points, the left and right side slope ratio, the left and right side slope starting depths, and the left and right side slope design depths; The construction of the design section based on the geological survey data means firstly using the Kriging interpolation algorithm to refine the target water depth data, and then obtaining the depth data within the ship's swing width in real time according to the current auger position and the construction work line, and then generating the design section in real time.

3. The complex cross-section precise excavation control method of a cutter suction dredger according to claim 1 is characterized in that: In step S2, the data of the positioning equipment and related sensors include the latitude and longitude coordinates of the ship positioning, the bridge angle, the trunnion draft, the tide level, the compass direction, the trolley travel, and the transverse winch cable speed parameters; The ship type parameters refer to the outer diameter of the large circle of the auger, the length of the bridge, the vertical distance from the suction port of the auger to the center point of the trunnion, the vertical distance from the zero point of the trunnion draft sensor to the center point of the trunnion, the plane coordinates of the center point of the auger relative to the outer side positioning point of the stern port side, and the plane coordinates of the positioning device installation point relative to the outer side positioning point of the stern port side.

4. The complex cross-section precise excavation control method of a cutter suction dredger according to claim 1 is characterized in that: In step S2, the reamer excavation depth is specifically calculated as follows: （1） （2） （3） Where: It is the vertical distance from the suction port of the reamer to the center point of the trunnion. is the bridge length, is the bridge angle, is the corrected bridge angle, is the corrected bridge length, is the radius of the reamer large circle, It is the vertical distance from the zero point of the trunnion draft sensor to the center point of the trunnion. is the trunnion draft value, is the tide level or elevation value, Digging depth for the reamer, is the correction coefficient of the reamer digging depth, is the correction constant term of the reamer digging depth; The reamer coordinates refer to the plane positioning engineering coordinates of the reamer center point. The specific calculation method is as follows: （4） （5） Where: , ) represents the coordinates of the reamer; ( , ) is the engineering coordinates of the installation point of the positioning equipment; ( , ) represents the plane coordinates of the installation point of the positioning equipment relative to the positioning point on the outer side of the stern port side; ( , ) represents the plane coordinate of the center point of the auger relative to the positioning point on the outer side of the port side of the stern; Indicates compass direction; The reamer lifting and lowering speed refers to the reamer lifting and lowering speed at the current moment, and the specific calculation method is as follows: （6） Where: Indicates the lifting and lowering speed of the reamer; Indicates the current reamer digging depth; Indicates the reamer digging depth of the last calculation cycle, Indicates the calculation cycle; The reamer transverse speed refers to the reamer transverse speed at the current moment, and the specific calculation method is as follows: （7） Where: Indicates the traverse speed of the reamer; Indicates the cable speed of the traverse winch; Indicates the cable speed correction factor of the transverse winch.

5. The complex cross-section precise excavation control method of a cutter suction dredger according to claim 1 is characterized in that: In step S3, the obtaining of the slope ratio, sideline coordinates, and design depth of the current design section through the reamer coordinates refers to obtaining the slope ratio, sideline coordinates, and design depth of the current design section through the current reamer excavation depth and the reamer center point plane positioning engineering coordinates; The real-time calculation of the deviation between the reamer position and the designed section refers to calculating the horizontal deviation and the vertical deviation between the reamer position and the designed section.

6. The complex cross-section precise excavation control method of a cutter suction dredger according to claim 1 is characterized in that: In step S3, the slope ratio is calculated as follows: （8） Where: Indicates the slope ratio of the current section; Indicates the horizontal distance of the current slope; Indicates the vertical distance of the current slope.

7. The complex cross-section precise excavation control method of a cutter suction dredger according to claim 1 is characterized in that: In step S4, the automatic adjustment of the motion parameters of the reamer through the system's built-in control model refers to using the deviation data between the reamer position calculated in real time and the designed section to automatically calculate and adjust the reamer's lateral movement speed, reamer lifting and lowering speed, and reamer excavation depth through the system's built-in control model, so that the reamer can accurately excavate along the slope ratio of the current designed section during the construction excavation process.

8. The complex cross-section precise excavation control method of a cutter suction dredger according to claim 7 is characterized in that: The built-in control model of the system is as follows: （9） Where: Indicates the slope ratio of the current section; Indicates the traverse speed of the reamer; Indicates the lifting and lowering speed of the reamer.

9. The complex cross-section precise excavation control method of a cutter suction dredger according to claim 8, characterized in that: During the excavation process, when the reamer gradually approaches the slope from the center line of the section, after reaching the set acceleration and deceleration starting distance of the distance edge, the reamer lateral movement speed and the reamer lifting and lowering speed are accelerated and decelerated according to the incremental PID control model. The PID control model algorithm is as follows: （10） （11） Where: Indicates the target speed; Indicates the current sampling cycle speed; Indicates the speed deviation of the current sampling period; Indicates the speed deviation of the previous sampling period; Indicates the speed deviation of the previous sampling period; represents the proportionality coefficient; Indicates the integration time; represents the differential time; Indicates the sampling period; Indicates the current sampling period speed adjustment size.

10. The complex cross-section precise excavation control method of a cutter suction dredger according to claim 9, characterized in that: The starting distance of acceleration and deceleration of the distance edge line of the reamer lateral movement speed and the reamer lifting and lowering speed, the target speed, each advance stroke of the trolley, the proportional coefficient, integral time, and differential time involved in the PID control model are all completed through preset parameters.

11. A complex section precise excavation control system for a cutter suction dredger, the system being used to implement the complex section precise excavation control method for a cutter suction dredger according to any one of claims 1 to 10, the system comprising: Positioning equipment, related sensors, data acquisition unit, data calculation and analysis unit and control unit, wherein the data acquisition unit, data calculation and analysis unit and control unit are sequentially connected in communication; The data acquisition unit is used to collect the ship positioning longitude and latitude coordinates, bridge angle value, trunnion draft value, tide level, compass angle, trolley travel, and transverse winch cable speed in real time; The data calculation and analysis unit is used to calculate the reamer excavation depth, reamer coordinates, reamer lifting and lowering speed and reamer transverse speed parameters in real time by combining the real-time data collected by the data collection unit and the ship type parameters, and obtain the slope ratio, sideline coordinates and design depth of the current design section through the reamer coordinates, and calculate the deviation between the reamer position and the design section in real time, and send the calculated data to the control unit in real time; The control unit is used to automatically adjust the reamer lateral movement speed, the reamer lifting and lowering speed, and the reamer digging depth according to the control logic based on the data calculated by the real-time data calculation and analysis unit and the preset parameters.

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