A control method and system for underwater dredging

Abstract

The present invention relates to the technical field of dredging control, and particularly to a control method and system for underwater dredging. When controlling the dredging operation of an underwater dredging robot, the present invention first collects underwater environmental parameters and the comprehensive dredging efficiency parameters of the dredging robot, and controls the dredging speed of the dredging robot according to the above two parameters, improving the scientific nature of 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 for controlling the dredging speed parameter, a reference threshold for the adjustment value of the dredging speed parameter is set, and the calculated adjustment value of the dredging speed parameter is compared with the reference threshold for the adjustment value of the dredging speed parameter to determine whether to adjust the dredging speed parameter, avoiding the situation where the speed adjustment during the speed adjustment process of the dredging robot fails to meet expectations.

Description

Technical Field

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

[0002] The traditional method for maintaining the water depth of port channels mainly relies on dredging by dredgers. As the distance for mud dumping increases to dozens of kilometers, the dredging cost 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 fields such as port construction, channel maintenance, and submarine pipeline laying. The traditional underwater dredging methods mainly rely on manual operation or simple mechanical devices, and have problems such as low efficiency, high cost, and great potential safety hazards. In recent years, with the development of automation technology and intelligent control technology, underwater dredging operations have gradually developed towards automation and intelligence. However, the existing underwater dredging control methods have problems such as weak scientific nature in speed control and failure to adjust as expected, and it is difficult to meet the dredging requirements 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 to solve the problems existing in the prior art.

[0004] The present invention provides a control method for underwater dredging, including:

[0005] Obtaining underwater environment parameters for underwater dredging control;

[0006] Obtaining the comprehensive dredging efficiency of the dredging robot;

[0007] Controlling the dredging robot according to the underwater environment parameters and the comprehensive dredging efficiency; Controlling the dredging robot includes: controlling the dredging speed parameter of the dredging robot; wherein, controlling the dredging speed parameter of the dredging robot specifically is:

[0008] Determining a mathematical model for controlling the dredging speed parameter;

[0009] Correcting the dredging speed parameter of the dredging robot;

[0010] Correcting the dredging speed parameter of the dredging robot specifically is: calculating the adjustment value of the dredging speed parameter of the dredging robot; calculating the reference threshold of the adjustment value of the dredging speed parameter of the dredging robot; wherein, the calculation formula for the reference threshold of the adjustment value T of the dredging speed parameter of the dredging robot is:

[0011] ;

[0012] In the formula, is the speed regulation deviation coefficient, is the speed regulation deviation, is the speed regulation change rate coefficient, is the speed regulation deviation of the previous regulation cycle;

[0013] The dredging speed parameter is corrected according to the adjusted value of the dredging speed parameter and the reference threshold of the adjusted value of the dredging speed parameter.

[0014] Preferably, the obtaining of the comprehensive dredging efficiency of the dredging robot is specifically as follows:

[0015] Sa: Obtain the dredging volume of the dredging robot per unit time;

[0016] Sb: Obtain the dredging energy consumption of the dredging robot;

[0017] Sc: Obtain the time efficiency of the dredging robot;

[0018] Sd: Calculate the comprehensive dredging efficiency of the dredging robot according to the dredging volume, dredging energy consumption, and time efficiency of the dredging robot per unit time.

[0019] Preferably, the calculation formula for the dredging volume is:

[0020]

[0021] In the formula, is the actual volume of the slurry cleaned by the dredging robot per unit, and ρ is the slurry density;

[0022] The time efficiency of the dredging robot is the amount of dredging work completed by the dredging robot per unit time; it is obtained by calculating through the time efficiency calculation formula;

[0023] The time efficiency calculation formula is:

[0024] ;

[0025] Among them, is the time efficiency of the dredging robot, Q is the dredging volume, and t is the working time of the dredging robot;

[0026] The calculation formula for the comprehensive dredging efficiency is:

[0027] ;

[0028] In the formula, is the comprehensive dredging efficiency of the dredging robot, P is the dredging energy consumption of the dredging robot, is the time efficiency of the dredging robot, , are coefficients.

[0029] Preferably, the mathematical model for controlling the dredging speed parameter is specifically:

[0030] ;

[0031] In the formula, P is the dredging energy consumption of the dredging robot, is the bottom sediment type parameter, ρ is the density of water, v is the dredging speed of the dredging robot, is the water flow speed parameter; a is the comprehensive dredging efficiency adjustment coefficient of the dredging robot, is the comprehensive dredging efficiency of the dredging robot.

[0032] Preferably, correcting the dredging speed parameter according to the dredging speed parameter adjustment value and the reference threshold value of the dredging speed parameter adjustment value is specifically: if the dredging speed parameter adjustment value is greater than the reference threshold value of the dredging speed parameter adjustment value, then adjust the dredging speed parameter, otherwise, do not adjust the dredging speed parameter.

[0033] Preferably, the underwater environment parameters include water depth, flow velocity, and bottom sediment type.

[0034] Preferably, the water depth is measured by a pressure sensor or sonar; when using a pressure sensor to measure the water depth, the pressure-depth formula is used to measure the water depth; the pressure-depth formula is:

[0035]

[0036] 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.

[0037] 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, sonar is used to measure the water depth.

[0038] According to another aspect of the present invention, there is provided a control system for underwater dredging. The system adopts the above-mentioned control method for underwater dredging. The system includes:

[0039] An underwater environment parameter acquisition module for acquiring underwater environment parameters for underwater dredging control;

[0040] A comprehensive dredging efficiency acquisition module for acquiring the comprehensive dredging efficiency of the dredging robot;

[0041] A control module for controlling the dredging robot according to the underwater environment parameters and the comprehensive dredging efficiency.

[0042] The embodiments of the present invention have the following technical effects:

[0043] When controlling the dredging operation of the underwater dredging robot, the present invention first collects the underwater environmental parameters and the comprehensive dredging efficiency parameters of the dredging robot, and controls the dredging speed of the dredging robot according to the above two parameters, which improves the scientificity of 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 for controlling the dredging speed parameter, a reference threshold for the adjustment value of the dredging speed parameter is set, and the calculated adjustment value of the dredging speed parameter is compared with the reference threshold of the adjustment value of the dredging speed parameter to determine whether to adjust the dredging speed parameter, thus avoiding the situation where the speed adjustment during the speed adjustment of the dredging robot fails to meet expectations. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0045] Figure 1 It is a flowchart of a control method for underwater dredging provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0047] FIG. Figure 1 shows a flowchart of a control method for underwater dredging. As shown in FIG. Figure 1 A control method for underwater dredging includes:

[0048] Obtain underwater environmental parameters for underwater dredging control;

[0049] In underwater dredging operations, obtaining underwater environmental parameter information in real time is the key to ensuring operation efficiency and safety. Underwater sensor technology can, through various types of sensors, monitor environmental parameters such as water depth, flow rate, and bottom sediment type in real time, providing data support for dredging operations. Therefore, in this embodiment, the underwater environmental parameters include water depth, flow rate, bottom sediment type, etc.

[0050] Among them, the water depth is measured by a pressure sensor or sonar;

[0051] When using a pressure sensor to measure the water depth, the water depth is measured by using the pressure-water depth formula; the pressure-water depth formula is:

[0052]

[0053] In the formula, is the water pressure, which is measured by a pressure sensor, ρ is the density of water, g is the acceleration due to gravity, and h is the water depth. The water depth can be measured through the above formula;

[0054] When using sonar to measure the water depth, the sonar emits sound waves and receives the reflected signals, and the round-trip time of the sound waves is calculated to determine the water depth;

[0055] The formula for sonar to measure the water depth is:

[0056] ;

[0057] In the formula, h is the water depth, v is the propagation speed of sound waves in water, and t is the time when the sonar emits sound waves and receives the reflected signals;

[0058] Actually, 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 measurement of water depth data.

[0059] Measurement is achieved through an acoustic multi-glass current meter (ADCP); the acoustic Doppler current profiler (ADCP) uses the Doppler effect to measure the water flow velocity. The acoustic Doppler current profiler (ADCP) emits acoustic wave signals, and the acoustic wave signals are reflected after encountering particulate matter in the water, and the flow velocity is calculated by analyzing the frequency change of the reflected signals.

[0060] The measurement of the bottom sediment type is achieved through a sidescan sonar; the sidescan sonar emits acoustic waves and receives the reflected signals to generate a seabed topographic image. According to the intensity and characteristics of the reflected signals, the bottom sediment type (such as sand, mud, rock) can be judged.

[0061] Obtain the comprehensive dredging efficiency of the dredging robot;

[0062] The comprehensive dredging efficiency is an important indicator to measure the effect of dredging operations. In order to accurately obtain the comprehensive dredging efficiency, it is necessary to combine sensor data, operation records and calculation methods.

[0063] Specifically, the obtaining of the comprehensive dredging efficiency of the dredging robot is specifically as follows:

[0064] Sa: Obtain the dredging volume per unit time of the dredging robot;

[0065] Specifically, the calculation formula for the dredging volume is as follows:

[0066]

[0067] In the formula, is the actual volume of slurry cleaned per unit by the dredging robot, and ρ is the density of the slurry;

[0068] Among them, the actual volume of slurry cleaned per unit by the dredging robot is the volume of slurry discharged per unit time measured in real time by a flow meter installed in the mud discharge pipeline of the dredging robot;

[0069] Sb: Obtain the dredging energy consumption of the dredging robot;

[0070] Among them, the dredging energy consumption is the energy consumed by the dredging robot per unit time, which is monitored in real time by a power sensor installed on the dredging robot;

[0071] Sc: Obtain the time efficiency of the dredging robot;

[0072] Among them, the time efficiency of the dredging robot is the amount of dredging work completed by the dredging robot per unit time; it is calculated through the time efficiency calculation formula;

[0073] The time efficiency calculation formula is as follows:

[0074] ;

[0075] Among them, is the time efficiency of the dredging robot, Q is the dredging volume, and t is the operation time of the dredging robot;

[0076] Sd: Calculate the comprehensive dredging efficiency of the dredging robot according to the dredging volume, dredging energy consumption, and time efficiency per unit time of the dredging robot;

[0077] The formula is:

[0078] ;

[0079] In the formula, is the comprehensive dredging efficiency of the dredging robot, P is the dredging energy consumption of the dredging robot, is the time efficiency of the dredging robot, , are coefficients;

[0080] In this step, when controlling the dredging of the dredging robot, setting the comprehensive dredging efficiency of the dredging robot, that is, considering the dredging volume, dredging energy consumption, and time efficiency, improves the accuracy and scientificity of the dredging control.

[0081] Control the dredging robot according to the underwater environmental parameters and the comprehensive dredging efficiency;

[0082] Among them, after the dredging robot sinks to the working area, the sonar device of the dredging robot first scans the working area completely to form a working area map, and then starts to move forward and dredge. Among them, during the operation of the dredging robot, the dredging speed and the attitude 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 every fixed time. The sonar device scans the working area again to form a new working area map, and then continues to move forward and dredge; this process is repeated continuously to update the working area map, so as to achieve dredging;

[0083] Controlling the dredging robot includes: controlling the dredging speed parameter of the dredging robot;

[0084] Among them, controlling the dredging speed parameter of the dredging robot specifically means:

[0085] Determine the mathematical model for controlling the dredging speed parameter;

[0086] The mathematical model for controlling the dredging speed parameter is specifically:

[0087] ;

[0088] In the formula, P is the dredging energy consumption of the dredging robot, is the bottom sediment type parameter, ρ is the density of water, v is the dredging speed of the dredging robot, is the water flow speed parameter; a is the comprehensive dredging efficiency adjustment coefficient of the dredging robot, is the comprehensive dredging efficiency of the dredging robot;

[0089] In the above mathematical model, since the bottom sediment type parameter, the density of water, the water flow speed parameter, and the comprehensive dredging efficiency are the parameters obtained in the above steps, and the driving power is the inherent parameter of the dredging robot, therefore, by inputting the above parameters into the above mathematical model, the dredging speed parameter of the dredging robot can be obtained.

[0090] Correct the dredging speed parameter of the dredging robot;

[0091] When the dredging speed parameter of the dredging robot is obtained by the above method, when the above dredging speed parameter changes greatly, due to the underwater operation environment, it causes great difficulties in parameter adjustment; therefore, for this special scenario of the underwater operation environment, this embodiment sets a step for correcting the dredging speed parameter;

[0092] Specifically, correcting the dredging speed parameter of the dredging robot specifically means:

[0093] Calculate the adjustment value of the dredging speed parameter of the dredging robot;

[0094] Specifically, the adjustment value is the difference between the previous dredging speed and the next dredging speed calculated in the above steps;

[0095] Calculate the reference threshold of the adjustment value of the dredging speed parameter of the dredging robot;

[0096] Among them, the calculation formula for the reference threshold of the adjustment value T of the dredging speed parameter of the dredging robot is:

[0097] ;

[0098] In the formula, is the speed adjustment deviation coefficient, is the speed adjustment deviation, is the speed adjustment change rate coefficient, is the speed adjustment deviation of the previous adjustment period;

[0099] Modify the dredging speed parameter according to the adjustment value of the dredging speed parameter and the reference threshold of the adjustment value of the dredging speed parameter;

[0100] Among them, modifying the dredging speed parameter according to the adjustment value of the dredging speed parameter and the reference threshold of the adjustment value of the dredging speed parameter is specifically: if the adjustment value of the dredging speed parameter is greater than the reference threshold of the adjustment value of the dredging speed parameter, then adjust the dredging speed parameter, otherwise, do not adjust the dredging speed parameter;

[0101] In this step, based on the special operation scenario of the underwater operation of the dredging robot, after calculating the dredging speed parameter using the mathematical model controlled by the dredging speed parameter, a reference threshold for the adjustment value of the dredging speed parameter is set, and the calculated adjustment value of the dredging speed parameter is compared with the reference threshold of the adjustment value of the dredging speed parameter to determine whether to adjust the dredging speed parameter, avoiding the situation where the speed adjustment of the dredging robot fails to meet expectations during the speed adjustment process.

[0102] Embodiment 2, the present invention also provides a control system for underwater dredging. The system adopts a control method for underwater dredging in Embodiment 1. The system includes:

[0103] An underwater environment parameter acquisition module for acquiring underwater environment parameters for underwater dredging control;

[0104] A comprehensive dredging efficiency acquisition module for acquiring the comprehensive dredging efficiency of the dredging robot;

[0105] A control module for controlling the dredging robot according to the underwater environment parameters and the comprehensive dredging efficiency.

[0106] Embodiment 3. The present invention further provides an electronic device, including one or more processors and a memory.

[0107] The processor may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0108] The memory may include one or more computer program products, and the computer program products 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, 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 media, 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 and thresholds may also be stored in the computer-readable storage media.

[0109] 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, and a communication network and its connected remote output devices, etc.

[0110] Of course, for simplicity, components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device may further include any other appropriate components.

[0111] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions that, when run by a processor, cause the processor to implement the functions of a control method for underwater dredging provided by any embodiment of the present application.

[0112] The computer program product may be written in any combination of one or more programming languages for executing the program code of the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0113] In addition, an embodiment of the present application may also be a computer-readable storage medium storing computer program instructions, which, when run by a processor, cause the processor to implement a control method for underwater dredging provided by any embodiment of the present application.

[0114] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having 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.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate 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 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: ； Where P is the dredging energy consumption of the dredging robot, 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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