Control method and system for underwater dredging

Abstract

The invention relates to the technical field of desilting control, in particular to a control method and system for underwater desilting. When the desilting operation of an underwater desilting robot is controlled, underwater environment parameters and comprehensive desilting efficiency parameters of the desilting robot are firstly collected; the desilting speed of the desilting robot is controlled according to the two parameters, the scientificity of speed control is improved, and meanwhile, during specific control, based on the special operation scene of underwater operation of the desilting robot, after the desilting speed parameter is calculated through a mathematical model controlled by the desilting speed parameter, the desilting speed of the desilting robot is controlled. The reference threshold value of the desilting speed parameter adjusting value is set, the calculated desilting speed parameter adjusting value is compared with the reference threshold value of the desilting speed parameter adjusting value to determine whether the desilting speed parameter is adjusted or not, and the situation that the speed adjustment is not expected in the speed adjustment process of the desilting robot is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of dredging control, and in particular to a control method and system for underwater dredging. Background Art

[0002] The traditional method of maintaining the depth of port channels is mainly based on dredging by dredgers. As the distance of dredging increases to dozens of kilometers, the cost of dredging increases sharply. In addition, underwater dredging also has problems such as low efficiency and high cost. Moreover, with the development and utilization of marine resources, underwater dredging operations have become increasingly important in the fields of port construction, channel maintenance, and submarine pipeline laying. Traditional underwater dredging methods mainly rely on manual operation or simple mechanical devices, which have problems such as low efficiency, high cost, and great safety hazards. In recent years, with the development of automation technology and intelligent control technology, underwater dredging operations have gradually developed in the direction of automation and intelligence. However, the existing underwater dredging control methods have problems such as unscientific speed control and less than expected adjustment, which makes it difficult to meet the dredging needs in complex underwater environments. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a control method and system for underwater dredging, which are used to solve the problems existing in the prior art.

[0004] The present invention provides a control method for underwater dredging, comprising: Obtain underwater environmental parameters for underwater dredging control; Obtain the comprehensive dredging efficiency of the dredging robot; The dredging robot is controlled according to the underwater environmental parameters and the comprehensive dredging efficiency; the dredging robot is controlled including: controlling the dredging speed parameters of the dredging robot; wherein, the dredging speed parameters of the dredging robot are controlled specifically as follows: Determine the mathematical model for controlling the desilting speed parameters; Correcting the desilting speed parameter of the desilting robot; The specific method for correcting the silt clearing speed parameter of the silt clearing robot is as follows: calculating the silt clearing speed parameter adjustment value of the silt clearing robot; calculating the reference threshold value of the silt clearing speed parameter adjustment value of the silt clearing robot; wherein the calculation formula of the reference threshold value of the silt clearing speed parameter adjustment value T of the silt clearing robot is: ; In the formula, is the speed regulation deviation coefficient, is the speed regulation deviation, is the speed regulation change rate coefficient, It is the speed adjustment deviation coefficient of the previous adjustment cycle; The dredging speed parameter is corrected according to the dredging speed parameter adjustment value and a reference threshold value of the dredging speed parameter adjustment value.

[0005] Preferably, the method of obtaining the comprehensive dredging efficiency of the dredging robot is specifically as follows: Sa: Get the silt removal amount per unit time of the silt removal robot; Sb: Get the dredging energy consumption of the dredging robot; Sc: Get the time efficiency of the dredging robot; Sd: The comprehensive dredging efficiency of the dredging robot is calculated based on the dredging volume per unit time, dredging energy consumption, and time efficiency of the dredging robot.

[0006] Preferably, the calculation formula for the dredging amount is:

[0007] In the formula, is the volume of mud actually cleaned by the dredging robot unit, ρ is the mud density; The time efficiency of the silt removal robot is the amount of silt removal work completed by the silt removal robot per unit time; it is calculated using the time efficiency calculation formula; The time efficiency calculation formula is: ; in, is the time efficiency of the silt-clearing robot, Q is the silt-clearing amount, and t is the operating time of the silt-clearing robot; The calculation formula for comprehensive dredging efficiency is: ; In the formula, is the comprehensive dredging efficiency of the dredging robot, P is the dredging energy consumption of the dredging robot, For the time efficiency of the dredging robot, , is the coefficient.

[0008] Preferably, the mathematical model for controlling the dredging speed parameters is specifically: ; In the formula, is the bottom type parameter, ρ is the water density, v is the dredging speed of the dredging robot, is the water velocity parameter; a is the comprehensive dredging efficiency adjustment coefficient of the dredging robot, It is the comprehensive dredging efficiency of the dredging robot.

[0009] Preferably, the dredging speed parameter is corrected according to the dredging speed parameter adjustment value and the reference threshold value of the dredging speed parameter adjustment value: if the dredging speed parameter adjustment value is greater than the reference threshold value of the dredging speed parameter adjustment value, the dredging speed parameter is adjusted; otherwise, the dredging speed parameter is not adjusted.

[0010] Preferably, the underwater environmental parameters include water depth, flow velocity, and bottom type.

[0011] Preferably, the water depth measurement is achieved by a pressure sensor or sonar; when the pressure sensor is used to measure the water depth, the pressure-water-depth formula is used to measure the water depth; the pressure-water-depth formula is:

[0012] In the formula, is the water pressure, measured by a pressure sensor, ρ is the density of water, g is the acceleration due to gravity, and h is the water depth.

[0013] Preferably, if the dredging area is a shallow water area, a pressure sensor is used to measure the water depth, and if the dredging area is a deep water area, a sonar is used to measure the water depth.

[0014] According to another aspect of the present invention, a control system for underwater dredging is provided, wherein the system adopts the above-mentioned control method for underwater dredging, and the system comprises: An underwater environmental parameter acquisition module, used to acquire underwater environmental parameters for underwater dredging control; A comprehensive dredging efficiency acquisition module is used to obtain the comprehensive dredging efficiency of the dredging robot; A control module is used to control the dredging robot according to the underwater environmental parameters and the comprehensive dredging efficiency.

[0015] The embodiments of the present invention have the following technical effects: When controlling the dredging operation of the underwater dredging robot, the present invention first collects underwater environmental parameters and comprehensive dredging efficiency parameters of the dredging robot, and controls the dredging speed of the dredging robot according to the above two parameters, thereby improving the scientific nature of the speed control. At the same time, during specific control, based on the special operation scenario of the underwater operation of the dredging robot, after calculating the dredging speed parameter using the mathematical model of the dredging speed parameter control, a reference threshold value of the dredging speed parameter adjustment value is set, and the calculated dredging speed parameter adjustment value is compared with the reference threshold value of the dredging speed parameter adjustment value to determine whether to adjust the dredging speed parameter, thereby avoiding the situation where the speed adjustment of the dredging robot is not as expected during the speed adjustment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a flow chart of a control method for underwater dredging provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0019] Attached Figure 1 A flow chart of a control method for underwater dredging is shown in FIG. Figure 1 As shown, a control method for underwater dredging comprises: Obtain underwater environmental parameters for underwater dredging control; In underwater dredging operations, real-time acquisition of underwater environmental parameter information is the key to ensuring operational efficiency and safety. Underwater sensor technology can monitor environmental parameters such as water depth, flow rate, and bottom type in real time through various types of sensors to provide data support for dredging operations. Therefore, in this embodiment, the underwater environmental parameters include water depth, flow rate, bottom type, etc.

[0020] Among them, water depth measurement is achieved through pressure sensors or sonar; When a pressure sensor is used to measure water depth, the pressure-water-depth formula is used to measure water depth; the pressure-water-depth formula is:

[0021] In the formula, is the water pressure, measured by a pressure sensor, ρ is the water density, g is the acceleration of gravity, and h is the water depth. The water depth can be measured using the above formula; When using sonar to measure water depth, the sonar emits sound waves and receives reflected signals, and the round-trip time of the sound waves is calculated to determine the water depth; The formula for sonar to measure water depth is: ; In the formula, h is the water depth, v is the propagation speed of sound waves in water, and t is the time it takes for the sonar to transmit sound waves and receive reflected signals; In fact, if the dredging area is a shallow water area, a pressure sensor is used to measure the water depth, which can achieve high-precision water depth measurement at low cost. If the dredging area is a deep water area, sonar is used to measure the water depth, which can achieve more accurate water depth data measurement.

[0022] The measurement is achieved by an acoustic multi-glass current meter (ADCP); the acoustic Doppler current meter (ADCP) uses the Doppler effect to measure the water flow velocity. The acoustic Doppler current meter (ADCP) emits a sound wave signal, which is reflected after encountering particles in the water, and the flow velocity is calculated by analyzing the frequency change of the reflected signal.

[0023] The bottom type is measured by scanning sonar, which generates an image of the seabed topography by emitting sound waves and receiving reflected signals. The bottom type (such as sand, mud, rock) can be determined based on the intensity and characteristics of the reflected signals.

[0024] Obtain the comprehensive dredging efficiency of the dredging robot; Comprehensive dredging efficiency is an important indicator to measure the effectiveness of dredging operations. In order to accurately obtain the comprehensive dredging efficiency, it is necessary to combine sensor data, operation records and calculation methods.

[0025] Specifically, the method for obtaining the comprehensive dredging efficiency of the dredging robot is as follows: Sa: Get the silt removal amount per unit time of the silt removal robot; Specifically, the calculation formula for the dredging amount is:

[0026] In the formula, is the volume of mud actually cleaned by the dredging robot unit, ρ is the mud density; The actual mud volume cleaned by the dredging robot is the mud volume discharged per unit time measured in real time by a flow meter installed in the mud discharge pipe of the dredging robot; Sb: Get the dredging energy consumption of the dredging robot; The desilting energy consumption is the energy consumed by the desilting robot per unit time, which is obtained by real-time monitoring by a power sensor installed on the desilting robot; Sc: Get the time efficiency of the dredging robot; The time efficiency of the dredging robot is the amount of dredging work completed by the dredging robot per unit time, which is calculated using the time efficiency calculation formula; The time efficiency calculation formula is: ; in, is the time efficiency of the silt-clearing robot, Q is the silt-clearing amount, and t is the operating time of the silt-clearing robot; Sd: The comprehensive silt removal efficiency of the silt removal robot is calculated based on the silt removal amount per unit time, silt removal energy consumption, and time efficiency of the silt removal robot; The formula is: ; In the formula, is the comprehensive dredging efficiency of the dredging robot, P is the dredging energy consumption of the dredging robot, For the time efficiency of the dredging robot, , is the coefficient; In this step, when the dredging robot is controlled to dredge, the comprehensive dredging efficiency of the dredging robot is set, that is, the dredging volume, dredging energy consumption and time efficiency are taken into consideration, thereby improving the accuracy and scientificity of the dredging control.

[0027] Controlling the dredging robot according to the underwater environmental parameters and the comprehensive dredging efficiency; When the dredging robot sinks to the working area, the sonar device of the dredging robot first completely scans the working area to form a working area map, and then starts to move forward and dredge. During the operation of the dredging robot, the dredging speed and the posture of the dredging robot are controlled according to the underwater environmental parameters and the comprehensive dredging efficiency, so that the dredging robot maintains the best working state, and stops running at fixed intervals. The sonar device scans the working area again to form a new working area map, and then continues to move forward and dredge; the cycle is repeated, and the working area map is continuously updated, thereby achieving dredging; Controlling the dredging robot includes: controlling a dredging speed parameter of the dredging robot; Among them, the dredging speed parameters of the dredging robot are controlled specifically as follows: Determine the mathematical model for controlling the desilting speed parameters; The mathematical model for controlling the desilting speed parameters is specifically: ; In the formula, is the bottom type parameter, ρ is the water density, v is the dredging speed of the dredging robot, is the water velocity parameter; a is the comprehensive dredging efficiency adjustment coefficient of the dredging robot, The comprehensive dredging efficiency of the dredging robot; In the above mathematical model, since the bottom type parameters, water density, water flow rate parameters, and comprehensive dredging efficiency are the parameters obtained in the above steps, and the driving power is the inherent parameter of the dredging robot, the dredging speed parameters of the dredging robot can be obtained by inputting the above parameters into the above mathematical model.

[0028] Correcting the desilting speed parameter of the desilting robot; When the dredging speed parameters of the dredging robot are obtained by the above method, when the above dredging speed parameters change greatly, it is very difficult to adjust the parameters due to the underwater working environment; therefore, for the special scenario of the underwater working environment, this embodiment sets a dredging speed parameter correction step; Specifically, the dredging speed parameter of the dredging robot is modified as follows: Calculating a dredging speed parameter adjustment value of the dredging robot; Specifically, the adjustment value is the difference between the previous dredging speed and the next dredging speed calculated in the above step; Calculating a reference threshold value of a dredging speed parameter adjustment value of the dredging robot; The calculation formula of the reference threshold value of the dredging speed parameter adjustment value T of the dredging robot is: ; In the formula, is the speed regulation deviation coefficient, is the speed regulation deviation, is the speed regulation change rate coefficient, It is the speed adjustment deviation coefficient of the previous adjustment cycle; Modifying the silt removal speed parameter according to the silt removal speed parameter adjustment value and a reference threshold value of the silt removal speed parameter adjustment value; The silting speed parameter is modified according to the silting speed parameter adjustment value and the reference threshold of the silting speed parameter adjustment value as follows: if the silting speed parameter adjustment value is greater than the reference threshold of the silting speed parameter adjustment value, the silting speed parameter is adjusted; otherwise, the silting speed parameter is not adjusted; In this step, based on the special operation scenario of the dredging robot's underwater operation, after the dredging speed parameter is calculated using the mathematical model of the dredging speed parameter control, a reference threshold value of the dredging speed parameter adjustment value is set, and the calculated dredging speed parameter adjustment value is compared with the reference threshold value of the dredging speed parameter adjustment value to determine whether to adjust the dredging speed parameter, thereby avoiding the situation where the speed adjustment of the dredging robot is not as expected during the speed adjustment process.

[0029] Embodiment 2, the present invention further provides a control system for underwater dredging, the system adopts a control method for underwater dredging in embodiment 1, and the system comprises: An underwater environmental parameter acquisition module, used to acquire underwater environmental parameters for underwater dredging control; A comprehensive dredging efficiency acquisition module is used to obtain the comprehensive dredging efficiency of the dredging robot; A control module is used to control the dredging robot according to the underwater environmental parameters and the comprehensive dredging efficiency.

[0030] Embodiment 3, the present invention also provides an electronic device, including one or more processors and a memory.

[0031] The processor may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0032] The memory may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor may run the program instructions to implement a control method for underwater dredging and / or other desired functions of any embodiment of the present application described above. Various contents such as initial external parameters, thresholds, etc. may also be stored in the computer-readable storage medium.

[0033] In one example, the electronic device may further include: an input device and an output device, and these components are interconnected through a bus system and / or other forms of connection mechanisms. The input device may include, for example, a keyboard, a mouse, etc. The output device may output various information to the outside, including warning prompt information, braking force, etc. The output device may include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, etc.

[0034] Of course, for the sake of simplicity, components such as buses, input / output interfaces, etc. are omitted. In addition, the electronic device may further include any other appropriate components according to specific application conditions.

[0035] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to implement the functions of a control method for underwater dredging provided by any embodiment of the present application.

[0036] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0037] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor implements a control method for underwater dredging provided by any embodiment of the present application.

[0038] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0039] 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 by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A control method for underwater dredging, characterized in that: include: Obtain underwater environmental parameters for underwater dredging control; Obtain the comprehensive dredging efficiency of the dredging robot; The dredging robot is controlled according to the underwater environmental parameters and the comprehensive dredging efficiency; the dredging robot is controlled including: controlling the dredging speed parameters of the dredging robot; wherein, the dredging speed parameters of the dredging robot are controlled specifically as follows: Determine the mathematical model for controlling the desilting speed parameters; Correcting the desilting speed parameter of the desilting robot; The specific method for correcting the silt clearing speed parameter of the silt clearing robot is as follows: calculating the silt clearing speed parameter adjustment value of the silt clearing robot; calculating the reference threshold value of the silt clearing speed parameter adjustment value of the silt clearing robot; wherein the calculation formula of the reference threshold value of the silt clearing speed parameter adjustment value T of the silt clearing robot is: ； In the formula, is the speed regulation deviation coefficient, is the speed regulation deviation, is the speed regulation change rate coefficient, It is the speed adjustment deviation coefficient of the previous adjustment cycle; The dredging speed parameter is corrected according to the dredging speed parameter adjustment value and a reference threshold value of the dredging speed parameter adjustment value.

2. A control method for underwater dredging according to claim 1, characterized in that: The method of obtaining the comprehensive dredging efficiency of the dredging robot is specifically as follows: Sa: Get the silt removal amount per unit time of the silt removal robot; Sb: Get the dredging energy consumption of the dredging robot; Sc: Get the time efficiency of the dredging robot; Sd: The comprehensive dredging efficiency of the dredging robot is calculated based on the dredging volume per unit time, dredging energy consumption, and time efficiency of the dredging robot.

3. A control method for underwater dredging according to claim 2, characterized in that: The calculation formula of the desilting volume Q per unit time is: ； In the formula, is the volume of mud actually cleaned by the dredging robot unit, ρ is the mud density; The time efficiency of the silt removal robot is the amount of silt removal work completed by the silt removal robot per unit time; it is calculated using the time efficiency calculation formula; The time efficiency calculation formula is: ； in, is the time efficiency of the silt-clearing robot, Q is the silt-clearing amount, and t is the operating time of the silt-clearing robot; The calculation formula for comprehensive dredging efficiency is: ； In the formula, is the comprehensive dredging efficiency of the dredging robot, P is the dredging energy consumption of the dredging robot, For the time efficiency of the dredging robot, , is the coefficient.

4. A control method for underwater dredging according to claim 1, characterized in that: The mathematical model for controlling the desilting speed parameters is specifically: ； In the formula, is the bottom type parameter, ρ is the water density, v is the dredging speed of the dredging robot, is the water velocity parameter; a is the comprehensive dredging efficiency adjustment coefficient of the dredging robot, It is the comprehensive dredging efficiency of the dredging robot.

5. A control method for underwater dredging according to claim 1, characterized in that: The dredging speed parameter is corrected according to the dredging speed parameter adjustment value and the reference threshold value of the dredging speed parameter adjustment value: if the dredging speed parameter adjustment value is greater than the reference threshold value of the dredging speed parameter adjustment value, the dredging speed parameter is adjusted; otherwise, the dredging speed parameter is not adjusted.

6. A control method for underwater dredging according to claim 1, characterized in that: The underwater environmental parameters include water depth, flow velocity and bottom type.

7. A control method for underwater dredging according to claim 1, characterized in that: If the dredging area is a shallow water area, a pressure sensor is used to measure the water depth. If the dredging area is a deep water area, a sonar is used to measure the water depth.

8. A control method for underwater dredging according to claim 1, characterized in that: The water depth is measured by a pressure sensor or sonar. When the water depth is measured by a pressure sensor, the pressure-water-depth formula is used to measure the water depth. The pressure-water-depth formula is: ； In the formula, is the water pressure, measured by a pressure sensor, ρ is the density of water, g is the acceleration due to gravity, and h is the water depth.

9. A control system for underwater dredging, characterized in that: The system adopts a control method for underwater dredging according to any one of claims 1 to 8, and the system comprises: An underwater environmental parameter acquisition module, used to acquire underwater environmental parameters for underwater dredging control; A comprehensive dredging efficiency acquisition module is used to obtain the comprehensive dredging efficiency of the dredging robot; A control module is used to control the dredging robot according to the underwater environmental parameters and the comprehensive dredging efficiency.

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