A method for conveying rock debris during the tunneling process of a shield machine, a rock debris conveying system, an electronic device, and a storage medium

Abstract

The present application provides a method for transporting rock debris, a rock debris transport system, an electronic device, and a storage medium during the tunneling process of a shield machine, including: obtaining physical property parameters in a pipeline, where the physical property parameters include water body parameters, particle parameters, and parameters between particles; inputting the physical property parameters of the pipeline into a specified model to draw a specified ellipsoid based on the Fibonacci spiral method to generate an ellipsoid model; sampling three support points from the ellipsoid model to obtain the coordinates of the three support points; calculating the coordinates of the three support points to obtain the angle of repose formed by the three support points; when the angle of repose formed by the three support points satisfies specified constraint conditions, obtaining the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safe starting flow velocity condition according to the coordinates of the three support points; and controlling the flow velocity of transporting rock debris in the pipeline according to the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safe starting flow velocity condition.

Description

Technical Field

[0001] This application relates to the technical field of pipeline slag and stone transportation, and particularly to a method for transporting rock debris during the tunneling of a shield machine, a rock debris transportation system, an electronic device, and a storage medium. Background Art

[0002] The problem of particle incipient motion in a flow field has always been a research hotspot in the field of particle flow dynamics and has attracted much attention in many practical application scenarios such as debris flow, river channel rock debris bed load movement, and pipeline transportation. This is not only because it has important significance in theoretical research, which can help people deeply understand the motion laws and mechanical mechanisms of particles in a flow field, but also plays a key guiding role in practical engineering applications.

[0003] In tunnel boring construction, with the continuous increase in the tunnel excavation diameter, the number of muck rock blocks generated under the cutting action of the cutter head of the tunneling machine increases sharply. In practical engineering, how to smoothly and efficiently discharge these huge amounts of muck outside the tunnel has become a key issue to ensure the tunnel boring efficiency. Summary of the Invention

[0004] Embodiments of this application provide a method for transporting rock debris during the tunneling of a shield machine, a rock debris transportation system, an electronic device, and a storage medium to solve the problems existing in the related technologies. The technical solutions are as follows:

[0005] In a first aspect, embodiments of this application provide a method for transporting rock debris during the tunneling of a shield machine, including:

[0006] Obtain the physical property parameters in the pipeline, where the physical property parameters include water body parameters, particle parameters, and parameters between particles;

[0007] According to the physical property parameters of the pipeline, input them into a specified model and draw a specified ellipsoid based on the Fibonacci spiral method to generate an ellipsoid model;

[0008] Sample three support points for the ellipsoid model to obtain the coordinates of the three support points;

[0009] Calculate the coordinates of the three support points to obtain the angle of repose formed by the three support points;

[0010] When the angle of repose formed by the three support points satisfies the specified constraint conditions, obtain the sliding critical incipient motion velocity condition, the rolling critical incipient motion velocity condition, and the safety incipient motion velocity condition according to the coordinates of the three support points;

[0011] Control the flow velocity of the pipeline for transporting rock debris according to the sliding critical incipient motion velocity condition, the rolling critical incipient motion velocity condition, and the safety incipient motion velocity condition.

[0012] In one embodiment, the sampling conditions for the three support points sampled from the ellipsoid model to obtain the coordinates of the three support points include:

[0013] All of the three support points are in the lower half of the ellipsoid model, the projections of the three support points on a specified plane are not on the same straight line, the origin of the coordinate system of the ellipse model is inside the triangle formed by the three support points, and the distance between any two support points is greater than a specified distance.

[0014] In one embodiment, when the stacking angle formed by the three support points satisfies specified constraint conditions, obtaining the sliding critical starting flow velocity condition and the rolling critical starting flow velocity condition based on the coordinates of the three support points includes:

[0015] When the stacking angle formed by the three support points is less than or equal to the angle of repose, obtaining the sliding critical starting flow velocity condition and the rolling critical starting flow velocity condition based on the coordinates of the three support points, where the angle of repose is the maximum angle between the stable inclined plane formed when the particles are stacked and the horizontal plane.

[0016] In one embodiment, multiple sets of coordinates of the three support points are obtained. Obtaining the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safe starting flow velocity condition based on the coordinates of the three support points includes:

[0017] Obtaining multiple sets of sliding starting flow velocities and multiple sets of rolling starting flow velocities based on the multiple sets of coordinates of the three support points;

[0018] Selecting multiple sets of selected support points from the multiple sets of sliding starting flow velocities and the multiple sets of rolling starting flow velocities where the velocities are all less than or equal to a specified flow velocity, and the specified flow velocity is the sliding critical starting flow velocity condition and the rolling critical starting flow velocity condition;

[0019] Determining the maximum value of the sliding starting flow velocity or the rolling starting flow velocity in the multiple sets of support points as the safe starting flow velocity condition.

[0020] In a second aspect, an embodiment of the present application provides a ballast conveying system, including:

[0021] An acquisition module, configured to acquire physical property parameters in the pipeline, where the physical property parameters include water body parameters, particle parameters, and parameters between particles;

[0022] A generation module, configured to input the physical property parameters of the pipeline into a specified model and draw a specified ellipsoid based on the Fibonacci spiral method to generate an ellipsoid model;

[0023] A first obtaining module, configured to sample three support points from the ellipsoid model to obtain the coordinates of the three support points;

[0024] A second obtaining module, configured to calculate the coordinates of the three support points to obtain the stacking angle formed by the three support points;

[0025] A third obtaining module, configured to, when the stacking angle formed by the three support points satisfies specified constraint conditions, obtain a sliding critical starting flow velocity condition, a rolling critical starting flow velocity condition, and a safety starting flow velocity condition according to the coordinates of the three support points;

[0026] A control module, configured to control the flow velocity of conveying crushed stones in a pipeline according to the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safety starting flow velocity condition.

[0027] In one implementation, the sampling conditions for sampling three support points from the ellipsoid model to obtain the coordinates of the three support points include:

[0028] All the three support points are in the lower half of the ellipsoid model, the projections of the three support points on a specified plane are not located on the same straight line, the origin of the coordinate system of the ellipse model is located inside the triangle formed by the three support points, and the distance between any two support points is greater than a specified distance.

[0029] In one implementation, when the stacking angle formed by the three support points satisfies specified constraint conditions, obtaining the sliding critical starting flow velocity condition and the rolling critical starting flow velocity condition according to the coordinates of the three support points includes:

[0030] When the stacking angle formed by the three support points is less than or equal to the repose angle, obtaining the sliding critical starting flow velocity condition and the rolling critical starting flow velocity condition according to the coordinates of the three support points, where the repose angle is the maximum angle between the stable inclined plane formed when the particles are stacked and the horizontal plane.

[0031] In one implementation, multiple sets of coordinates of the obtained three support points are obtained. Obtaining the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safety starting flow velocity condition according to the coordinates of the three support points includes:

[0032] Obtaining multiple sets of sliding starting flow velocities and multiple sets of rolling starting flow velocities according to the multiple sets of coordinates of the three support points;

[0033] Selecting multiple sets of selected support points in which both the multiple sets of sliding starting flow velocities and the multiple sets of rolling starting flow velocities are less than or equal to a specified flow velocity, where the specified flow velocity is the sliding critical starting flow velocity condition and the rolling critical starting flow velocity condition;

[0034] Determining the maximum value of the sliding starting flow velocity or the rolling starting flow velocity in the multiple sets of support points as the safety starting flow velocity condition.

[0035] In a third aspect, an embodiment of the present application provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, so that the at least one processor can execute the method for transporting muck during the tunneling of the shield machine as described above.

[0036] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores computer instructions. When the computer instructions run on a computer, the methods in any of the above aspects are executed.

[0037] The advantages or beneficial effects in the above technical solutions at least include:

[0038] In this embodiment, the method for transporting muck during the tunneling of the shield machine includes: obtaining physical property parameters in the pipeline, where the physical property parameters include water body parameters, particle parameters, and parameters between particles; inputting the physical property parameters of the pipeline into a specified model to draw a specified ellipsoid based on the Fibonacci spiral method to generate an ellipsoid model; sampling three support points from the ellipsoid model to obtain the coordinates of the three support points; calculating the coordinates of the three support points to obtain the angle of repose formed by the three support points; when the angle of repose formed by the three support points meets the specified constraint conditions, obtaining the critical sliding starting flow velocity condition, the critical rolling starting flow velocity condition, and the safe starting flow velocity condition according to the coordinates of the three support points; and controlling the flow velocity of transporting muck in the pipeline according to the critical sliding starting flow velocity condition, the critical rolling starting flow velocity condition, and the safe starting flow velocity condition. Thus, the problem of how to smoothly and efficiently discharge these huge amounts of muck outside the tunnel is effectively solved, and the prediction of the critical starting flow velocity of muck under different morphologies, different poses, and different support point distributions is realized. In tunnel boring construction, as the diameter of the tunnel excavation continuously increases and the number of muck and rock blocks generated under the cutting action of the cutter head and cutters of the boring machine increases sharply, by obtaining the critical sliding starting flow velocity condition, the critical rolling starting flow velocity condition, and the safe starting flow velocity condition, and controlling the slurry discharge pump to adjust the flow velocity of transporting muck in the pipeline, the tunneling efficiency of the boring machine can be effectively improved while ensuring construction safety, the problem of excessive pressure of the slurry discharge pump can be avoided, and the construction cost can also be greatly reduced.

[0039] The above summary is only for the purpose of the specification and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be readily apparent by reference to the drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the several views denote the same or similar components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in accordance with the present application and should not be regarded as limiting the scope of the present application.

[0041] Figure 1 FIG. is a schematic diagram of a method for conveying muck during the tunneling process of a shield machine according to an embodiment of the present application;

[0042] Figure 2 FIG. is a schematic diagram of a three-dimensional ellipsoid attitude description based on Euler angle transformation in the method for conveying muck during the tunneling process of a shield machine according to an embodiment of the present application;

[0043] Figure 3 FIG. is a schematic diagram of the drag force and lift force caused by an ellipsoidal particle flowing through a uniform flow field in the method for conveying muck during the tunneling process of a shield machine according to an embodiment of the present application;

[0044] Figure 4 FIG. is a schematic diagram of the starting mode of an ellipsoid in the pipeline water flow in the method for conveying muck during the tunneling process of a shield machine according to an embodiment of the present application;

[0045] Figure 5 FIG. is a schematic diagram of the force support condition of the top-layer particles in the ellipsoid stacking state in the method for conveying muck during the tunneling process of a shield machine according to an embodiment of the present application;

[0046] Figure 6 FIG. is a schematic diagram of the force sliding mode of the top-layer particles in the ellipsoid stacking state in the method for conveying muck during the tunneling process of a shield machine according to an embodiment of the present application;

[0047] Figure 7 FIG. is a schematic diagram of the force rolling mode of the top-layer particles in the ellipsoid stacking state in the method for conveying muck during the tunneling process of a shield machine according to an embodiment of the present application;

[0048] Figure 8 It is a block diagram of an electronic device for implementing the method for conveying muck during the tunneling process of a shield machine according to an embodiment of the present application. Detailed implementation manners

[0049] In the following, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present application. Therefore, the drawings and the description are considered to be exemplary in nature rather than restrictive.

[0050] Figure 1 FIG. shows a flowchart of a method for conveying muck during the tunneling process of a shield machine according to an embodiment of the present application. As Figures 1-7As shown, a method for transporting rock debris during the tunneling of a shield machine. The method for transporting rock debris during the tunneling of the shield machine may include:

[0051] S110: Obtain the physical property parameters inside the pipeline, where the physical property parameters include water body parameters, particle parameters, and parameters between particles;

[0052] S120: Input the physical property parameters of the pipeline into a specified model and draw a specified ellipsoid based on the Fibonacci spiral method to generate an ellipsoid model;

[0053] S130: Sample three support points from the ellipsoid model to obtain the coordinates of the three support points;

[0054] S140: Calculate the coordinates of the three support points to obtain the angle of repose formed by the three support points;

[0055] S150: When the angle of repose formed by the three support points meets the specified constraint conditions, obtain the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safe starting flow velocity condition according to the coordinates of the three support points;

[0056] S160: Control the flow velocity of the pipeline for transporting rock debris according to the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safe starting flow velocity condition.

[0057] The method for transporting rock debris during the tunneling of the shield machine in this embodiment can be supported by hardware through the host device, and the method for transporting rock debris is executed in the host device. For the calculation and prediction process of the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safe starting flow velocity condition, it can be directly calculated by the host.

[0058] In this embodiment, the method for transporting rock debris during the tunneling of the shield machine includes: obtaining the physical property parameters in the pipeline, where the physical property parameters include water body parameters, particle parameters, and parameters between particles; inputting the physical property parameters of the pipeline into a specified model to draw a specified ellipsoid based on the Fibonacci spiral method to generate an ellipsoid model; sampling three support points from the ellipsoid model to obtain the coordinates of the three support points; calculating the coordinates of the three support points to obtain the stacking angle formed by the three support points; when the stacking angle formed by the three support points satisfies the specified constraint conditions, obtaining the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safe starting flow velocity condition according to the coordinates of the three support points; and controlling the flow velocity of the pipeline for transporting rock debris according to the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safe starting flow velocity condition. Thus, the problem of how to smoothly and efficiently discharge these huge amounts of muck outside the tunnel is effectively solved, and the prediction of the critical starting flow velocity of rock debris under different morphologies, different poses, and different support point distributions is realized. In tunnel boring construction, as the diameter of the tunnel excavation continuously increases and the number of muck rock blocks generated under the cutting action of the cutter head and cutters of the boring machine increases sharply, by obtaining the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safe starting flow velocity condition, and controlling the slurry discharge pump to adjust the flow velocity of the pipeline for transporting rock debris, the tunneling efficiency of the boring machine can be effectively improved while ensuring construction safety, the problem of excessive pressure of the slurry discharge pump can be avoided, and the construction cost can also be greatly reduced.

[0059] In step S110, the physical property parameters in the pipeline are obtained, where the physical property parameters include water body parameters, particle parameters, and parameters between particles.

[0060] In this embodiment, the physical property parameters in the pipeline include physical property parameters such as particle size parameters (a, b, c), attitude characteristic angles, inter-particle friction coefficients, particle densities, and water densities. Among them, the water body parameters can be water density, etc., the particle parameters can be particle size parameters (a, b, c), attitude characteristic angles, and particle densities, etc., and the parameters between particles can be inter-particle friction coefficients, etc.

[0061] In step S120, the physical property parameters of the pipeline are input into a specified model to draw a specified ellipsoid based on the Fibonacci spiral method to generate an ellipsoid model.

[0062] In this embodiment, the particles can be ellipsoidal pebbles. A force model of the pebbles is established in three-dimensional space to conduct a theoretical analysis of the flow initiation phenomenon of the piled pebbles. The ellipsoid model fully considers the arbitrary postures of the ellipsoid in three-dimensional space, analyzes the critical force characteristics under different starting conditions, and establishes a flow initiation velocity formula. In this flow velocity formula, the flow velocity in the flow field within the pipeline is uniformly distributed in space, that is, the flow velocity is equal at each position. This means that at any point in the flow field, the magnitude and direction of the flow velocity are the same. Moreover, the streamlines in the flow field are not affected by obstacles (such as pebbles). This means that the streamlines do not bend or deform when encountering obstacles, and the fluid still flows along the original path.

[0063] According to the definition of Euler angles, as Figure 2 shown, a global coordinate system XYZ is established with the positive direction of the Y-axis along the water flow direction in the pipeline, and it is defaulted that the major axis a of the ellipsoid coincides with the X-axis of the global coordinate system, b with the Y-axis, and c with the Z-axis in the initial posture. The ellipsoid rotates along the Z-axis in the global coordinate system (yaw angle, controlling the orientation of the major axis a of the ellipsoid in the transverse plane, such as left deviation / right deviation), and then rotates along its own b-axis (pitch angle, controlling the inclination degree of the minor axis c of the ellipsoid, such as tilting upward or sinking downward), and then rotates along its own c-axis (roll angle, controlling the rotation state of the ellipsoid around its own minor axis c, such as the torsion of the particle around the streamline direction). The conversion of these four characteristic postures is used to describe any angular posture of the ellipsoid in the pipeline space.

[0064] Specifically, it can be:

[0065] Global coordinate system:

[0066] X-axis: perpendicular to the pipeline axis (transverse)

[0067] Y-axis: along the water flow direction in the pipeline (longitudinal, the positive direction is the water flow direction)

[0068] Z-axis: vertically upward (normal)

[0069] Ellipsoid local coordinate system:

[0070] Initial posture: The semi-axes a, b, and c of the ellipsoid coincide with the X, Y, and Z axes of the global coordinate system respectively.

[0071] In the initial posture, the major axis a of the ellipsoid expands transversely, the middle axis b is along the water flow direction, and the minor axis c is vertically upward.

[0072] The standard three-dimensional ellipsoid equation in the space coordinate system is:

[0073]

[0074]

[0075]

[0076]

[0077]

[0078]

[0079] Where a, b, and c are the lengths of the characteristic axes of the ellipsoid respectively, it can be seen that the standard ellipsoid characteristic matrix equation with the characteristic axis a of the ellipsoid as the x-axis direction of the coordinate system is as follows:

[0080]

[0081] Then, in space, according to the above navigation angles - pitch angle - roll angle The characteristic rotation matrices that are sequentially rotated are as follows:

[0082]

[0083]

[0084]

[0085] The characteristic matrix used to describe the spatial attitude of the ellipsoid can be expressed as:

[0086]

[0087] The ellipsoid characteristic equation after the standard ellipsoid is rotated arbitrarily is obtained as:

[0088]

[0089] Then, the ellipsoid coordinate transformation in the overall coordinate system before and after rotation (initial state - final state) can be obtained as follows:

[0090]

[0091]

[0092]

[0093] Then, the ellipsoid equation at any pose after the standard ellipsoid undergoes Euler rotation is:

[0094]

[0095]

[0096] In the formula:

[0097]

[0098]

[0099]

[0100]

[0101]

[0102]

[0103]

[0104] is the element in the 4th column of the 1st row, is the element in the 1st column of the 4th row, and both are 0;

[0105]

[0106] is the element in the 4th column of the 2nd row, is the element in the 2nd column of the 4th row, and both are 0;

[0107]

[0108] is the element in the 4th column of the 3rd row, is the element in the 3rd column of the 4th row, and both are 0;

[0109]

[0110] is the element in the 4th column of the 4th row, and its value is -1.

[0111] The above formula can describe an ellipsoid with any attitude in three-dimensional space and can mathematically express each point position on an ellipsoid with any attitude.

[0112] For the ellipsoidal particle group under overall static packing, the ellipsoidal particles at the top satisfy static force balance. In a flow field, for the micro-element area on the ellipsoidal surface, the fluid force can be decomposed into a pressure drag force and a tangential frictional drag force . The component of the resultant force of the two along the water flow direction is the drag force , and the component perpendicular to the water flow direction is the lift force , that is, static particles are mainly subjected to the drag force generated by the liquid on them , the upward lift force and the underwater gravity under its own volume, such as Figure 3 shown, the drag force and the upward lift force in the water flow are mainly related to the area of the water flow acting on the particle. The pressure drag force and the tangential friction drag force received by each , is the angle between the pressure drag force and the water flow direction. The resultant force of the components in the water flow direction is used as the drag force, and the resultant force of the components in the vertical direction is used as the upward lift force. Therefore, its drag force and the upward lift force can be expressed as:

[0113]

[0114]

[0115] In the formula, is the tangential friction drag force, is the normal pressure on the ellipsoid surface, is the angle between the normal pressure and the water flow direction, is the differential area on the ellipsoid surface, and are the drag coefficient and the lift coefficient respectively, which are mostly obtained from indoor experiments. is the total area of the water flow acting on the ellipsoid surface (i.e., the projected area in the water flow direction). The range of the area is:

[0116]

[0117] In addition, the underwater gravity received by the ellipsoid is expressed as the difference between its gravity and buoyancy:

[0118]

[0119] In the formula, is the solid phase density, is the equivalent diameter.

[0120] Through the parameters of the ellipsoid generated in the above embodiments, N points are evenly generated on the ellipsoid surface by the Fibonacci spiral method. The Fibonacci spiral algorithm is used to generate a uniformly distributed point set {(xi, yi, zi)} on the unit sphere (radius r = 1). The unit sphere points are stretched to the target size according to the ellipsoid semi-axes to generate an ellipsoid surface point set {(Xi, Yi, Zi)}. The generated ellipsoid points are three-dimensionally rotated according to the actual attitude parameters to simulate the spatial orientation of the particles in the pipeline, and an ellipsoid model with the actual spatial attitude is generated.

[0121] In step S130, three support points of the ellipsoid model are sampled to obtain the coordinates of the three support points.

[0122] In this embodiment, under the action of water flow in the pipeline, the static ellipsoidal particle accumulation group starts to move along the pipeline flow direction. Since the lower ellipsoidal particles are more complexly stressed relative to the upper top-layer particles under the action of the inter-particle extrusion force, during the ellipsoid starting process, it is considered that the top particles start preferentially compared to the bottom particles. Under the intricate different conditions of water flow velocity and ellipsoid attitude, as Figure 4 shown, the starting modes of the ellipsoids in the pipeline flow are mainly divided into three modes: rolling start, sliding start, and jumping start. However, it is difficult for the ballast in the actual horizontal pipeline structure to perform a jumping start, and the jumping phenomenon mostly occurs after entering the conveying stage. Therefore, the sliding start and rolling start modes are considered.

[0123] For the ballast particle group under overall static accumulation, the ballast particles located at the top of the surface layer need to satisfy the static force balance. Considering that there should be at least three support bodies at the bottom for this top ballast, as Figure 5 shown, that is, there are at least three support points P1, P2, P3 at the bottom of the ellipsoid. There can be multiple groups of support point combinations for particles in the same attitude. The starting problem of the surface layer particles of the accumulated ballast is simplified to the starting problem of a single particle under different support point conditions.

[0124] In the ellipsoid model, in order to analyze its starting situation under the action of water flow, it is first necessary to determine the support points of the ellipsoid. For the ballast particle group under overall static accumulation, the ballast particles located at the top of the surface layer need to have at least three support points to satisfy the static force balance. These support points can form a theoretical sliding support surface for analyzing the sliding start conditions of the ellipsoid.

[0125] In the ellipsoid model, in order to analyze its starting situation under the action of water flow, it is first necessary to determine the support points of the ellipsoid. For the ballast particle group under overall static accumulation, the ballast particles located at the top of the surface layer need to have at least three support points to satisfy the static force balance. These support points can form a theoretical sliding support surface for analyzing the sliding start conditions of the ellipsoid.

[0126] According to the geometric shape and accumulation situation of the ellipsoid, three support points P1, P2, P3 at the bottom of the ellipsoid are determined. The coordinates of these support points are respectively , , .

[0127] These support points can be extracted from the bottom surface of the ellipsoid through geometric analysis or numerical simulation methods. When sampling, it is necessary to ensure that these points can reasonably support the ellipsoid and satisfy the static force balance conditions.

[0128] For the sliding start of an ellipsoid in a water flow, three support points that satisfy the force balance of the top ellipsoid in a stationary state , , constitute a theoretical sliding support surface.

[0129] In step S140, the coordinates of the three support points are calculated to obtain the angle of repose formed by the three support points.

[0130] After determining the coordinates of the three support points, it is necessary to calculate the angle of repose formed by these support points. The angle of repose is the angle between the support plane and the xoy plane of the global coordinate system, and is used to analyze the sliding start conditions of the ellipsoid.

[0131] Calculate the support plane: According to the coordinates of the three support points, calculate the normal vector of the support plane. Let the coordinates of the three support points be , , , and the normal vector can be calculated by the vector cross product :

[0132]

[0133] Among them, ,

[0134] .

[0135] Calculate the angle of repose: The angle between the normal vector of the support plane and the z-axis is the angle of repose (that is, the angle formed by this support plane and the xoy plane of the global coordinate system is the support angle ). It can be calculated by the following formula:

[0136]

[0137] Among them, is the component of the normal vector n on the z-axis, is the modulus of the normal vector.

[0138] In step S150, when the angle of repose formed by the three support points satisfies the specified constraint conditions, according to the coordinates of the three support points, the sliding critical start flow velocity condition, the rolling critical start flow velocity condition, and the safe start flow velocity condition are obtained.

[0139] In this embodiment, when the ellipsoid slides along the support plane, the mechanical condition to be satisfied is that the sum of the components of the forces on the ellipsoid in this plane is greater than the friction force between the ellipsoid particles. Then, the critical force condition for the sliding start of the ellipsoid in the water flow is:

[0140]

[0141] Therefore, the water flow velocity condition that satisfies the ellipsoid sliding starting condition is as follows:

[0142]

[0143] Among them, is the critical starting velocity, and g is the acceleration of gravity; that is to say, when the water flow velocity meets the above conditions, the particles in the pipeline can achieve sliding.

[0144] For the rolling start of the ellipsoid in the water flow, in order for the particles to meet the rolling start in the water, it is defined that under the action of the water flow, the ellipsoid rotates around the , midpoint close to the water flow direction among the three support points. Different from the sliding start mode, in the rolling start mode, it is necessary to satisfy the critical rotational moment balance under the rolling theoretical fulcrum of the ellipsoid. Define its midpoint as the rolling fulcrum, the lever arms of gravity and lift are L L , and the lever arm of the drag force is L D , and we can get:

[0145]

[0146] Among them, is the drag force direction angle, which is expressed as:

[0147]

[0148] Therefore, the water flow velocity condition that satisfies the ellipsoid rolling starting condition is as follows:

[0149]

[0150] That is to say, when the water flow velocity meets the above conditions, the particles in the pipeline can achieve rolling.

[0151] In addition, the safe starting velocity refers to that in actual engineering, in order to ensure the stable transportation of pebbles in the pipeline, usually the larger value of the sliding critical starting velocity condition and the rolling critical starting velocity condition is taken as the safe starting velocity :

[0152]

[0153] Through the above steps, the starting situation of the ellipsoid under the action of the pipeline water flow can be comprehensively analyzed, and the sliding critical starting velocity condition, the rolling critical starting velocity condition and the safe starting velocity condition can be determined.

[0154] In step S160, according to the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safe starting flow velocity condition, control the flow velocity of the pipeline for transporting rock debris.

[0155] In this embodiment, through the above, the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safe starting flow velocity condition can be obtained. By controlling the flow velocity of the slurry discharge pump through the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safe starting flow velocity condition, the tunneling efficiency of the roadheader can be effectively improved while ensuring construction safety. It can also avoid the problem of excessive pressure of the slurry discharge pump and greatly reduce the construction cost at the same time.

[0156] In one embodiment, the sampling conditions for obtaining the coordinates of the three support points by sampling the ellipsoid model include:

[0157] All three support points are in the lower half of the ellipsoid model, the projections of the three support points on the specified plane are not on the same straight line, the origin of the ellipsoid model coordinate system is inside the triangle formed by the three support points, and the distance between any two support points is greater than the specified distance.

[0158] In this embodiment, the conditions for sampling three support points in the ellipsoid model include:

[0159] Support point position: All three support points are located in the lower half of the ellipsoid model, ensuring that when the ellipsoid is supported at these points, it can be stably placed at the bottom of the pipeline.

[0160] Non - collinear projection: The projections of the three support points on the specified plane are not on the same straight line, preventing the ellipsoid from tilting or rolling and ensuring the stability of the support.

[0161] Origin inside the triangle: The origin of the ellipsoid model coordinate system is inside the triangle formed by the three support points, ensuring that the centroid of the ellipsoid is above these support points and achieving a more stable support.

[0162] Distance between points: The distance between any two support points is greater than the specified distance, avoiding stress concentration or unrealistic contact points and maintaining a reasonable distribution of support points.

[0163] Sampling process

[0164] Define the ellipsoid coordinate system: Establish a coordinate system where the center of the ellipsoid is at the origin (0, 0, 0) and the major and minor axes are aligned with the coordinate axes.

[0165] Determine the lower half: Determine the "lower half" of the ellipsoid according to the direction of the major axis. Assuming the major axis is vertical, the lower half will be the part in the negative z - axis direction.

[0166] Select the first point: Randomly select a point in the lower half , where .

[0167] Select the second point: Select another point , ensuring that:

[0168] Its projection and are not collinear.

[0169] and The distance between is greater than the minimum distance.

[0170] Select the third point: Select , ensuring that:

[0171] Its projection is not collinear with and .

[0172] The origin (0, 0) is located inside the triangle formed by , , .

[0173] and The distance between and and The distances between are all greater than d min .

[0174] Origin check inside the triangle: Use the method of barycentric coordinates to check whether the origin is inside the triangle. If the origin can be expressed as a weighted average of the triangle vertices and all weights are positive and their sum is 1, then the origin is inside the triangle.

[0175] Distance check: Calculate the pairwise Euclidean distances and ensure they are all greater than d min .

[0176] Once all three points satisfy these conditions, the sampling process is successful. The coordinates of these points will be used for further analysis, such as calculating the angle of repose and the incipient flow velocity.

[0177] The three support points of successful sampling satisfy all specified conditions, ensuring that they are located in the lower half of the ellipsoid, their projections are not collinear, the origin is inside the triangle formed by them, and the points are properly spaced.

[0178] In one implementation, when the angle of repose formed by the three support points satisfies the specified constraint conditions, obtaining the sliding critical incipient flow velocity condition and the rolling critical incipient flow velocity condition based on the coordinates of the three support points includes:

[0179] When the angle of repose formed by the three support points is less than or equal to the angle of repose, the critical sliding starting flow velocity condition and the critical rolling starting flow velocity condition are obtained according to the coordinates of the three support points. The angle of repose is the maximum angle between the stable inclined plane formed by the particle accumulation and the horizontal plane.

[0180] In this embodiment, when the angle of repose formed by the three support points satisfies the specified constraint condition, that is, the angle of repose is less than or equal to the angle of repose, the critical sliding starting flow velocity condition and the critical rolling starting flow velocity condition can be calculated according to the coordinates of the three support points.

[0181] The angle of repose is the angle between the plane formed by the three support points and the horizontal plane. The angle of repose is the maximum angle between the stable inclined plane formed by the particle accumulation and the horizontal plane. When the angle of repose is less than or equal to the angle of repose, the particles are in a stable state and will not slide or roll.

[0182] In this embodiment, the specified constraint condition is that the angle of repose formed by the three support points is less than or equal to the angle of repose. That is to say, only when the angle of repose is within this range, the particles are in a relatively stable but easily started state. At this time, it is meaningful to calculate the critical sliding starting flow velocity condition and the critical rolling starting flow velocity condition according to the coordinates of the three support points.

[0183] Critical sliding starting flow velocity condition

[0184] When the angle of repose is less than or equal to the angle of repose, the ellipsoidal particles may slide under the action of water flow. The critical sliding starting flow velocity condition refers to the flow velocity condition when the ellipsoidal particles just start to slide under the action of water flow. The specific calculation method is as follows:

[0185] Mechanical condition: The ellipsoidal particles are in force balance in the static state, and it is necessary to satisfy that the sum of the components of the forces on the ellipsoid in the support plane is greater than the friction force between the ellipsoidal particles. The specific conditions are:

[0186]

[0187] Among them, is the force of the water flow on the ellipsoid, is the friction force between the ellipsoidal particles, and β is the angle of repose.

[0188] Flow velocity condition: According to the above mechanical conditions, the critical sliding starting flow velocity can be deduced:

[0189]

[0190] When the angle of repose is less than or equal to the angle of static equilibrium, the force acting on the particle can be determined based on the coordinates of the three support points. In this case, to initiate particle sliding, the component of the water flow force acting on the particle in the support plane needs to overcome the friction between the particles. By analyzing the force balance of the particle, the calculation formula for the critical sliding initiation velocity can be derived, which typically involves physical parameters of the particle (such as particle density, friction coefficient, etc.), physical parameters of the water flow (such as water density, viscosity, etc.), and information such as the coordinates of the support points.

[0191] Rolling critical initiation velocity condition

[0192] When the angle of repose is less than or equal to the angle of static equilibrium, ellipsoidal particles may also roll under the action of water flow. The rolling critical initiation velocity condition refers to the velocity condition when the ellipsoidal particles just start to roll under the action of water flow. The specific calculation method is as follows:

[0193] Mechanical condition: When the ellipsoidal particle rolls around the midpoint close to the water flow direction among the three support points under the action of water flow, it needs to satisfy the critical rotational moment balance under the rolling theoretical fulcrum of the ellipsoid. The specific conditions are:

[0194]

[0195] Among them, is the rolling moment, is the force of the water flow acting on the ellipsoid, is the lever arm of the drag force, is the gravity, is the lever arm of the gravity.

[0196] Velocity condition: According to the above mechanical conditions, the rolling critical initiation velocity can be derived:

[0197]

[0198] Similarly, on the premise that the angle of repose is less than or equal to the angle of static equilibrium, to initiate particle rolling, the force of the water flow acting on the particle needs to generate sufficient rotational moment to make the particle rotate around a certain support point or support line. Through the moment balance analysis of the particle, the calculation formula for the rolling critical initiation velocity can be obtained, which also involves relevant physical parameters of the particle and the water flow as well as the coordinates of the support points, etc.

[0199] Safe initiation velocity

[0200] In practical engineering, to ensure the stable transportation of pebbles in the pipeline, the larger value of the sliding critical initiation velocity and the rolling critical initiation velocity is usually taken as the safe initiation velocity :

[0201]

[0202] Through the above steps, when the angle of repose is less than or equal to the angle of static repose, the critical sliding starting velocity and the critical rolling starting velocity can be calculated based on the coordinates of the three support points, so as to determine the safe starting velocity and ensure the stable transportation of pebbles in the pipeline.

[0203] In one embodiment, multiple sets of coordinates of the three support points are obtained. According to the coordinates of the three support points, obtaining the critical sliding starting velocity condition, the critical rolling starting velocity condition, and the safe starting velocity condition includes:

[0204] According to the multiple sets of coordinates of the three support points, multiple sets of sliding starting velocities and multiple sets of rolling starting velocities are obtained;

[0205] Select multiple sets of selected support points in which the velocities in the multiple sets of sliding starting velocities and the multiple sets of rolling starting velocities are all less than or equal to the specified velocity. The specified velocity is the critical sliding starting velocity condition and the critical rolling starting velocity condition;

[0206] Determine the maximum value of the sliding starting velocity or the rolling starting velocity in the multiple sets of support points as the safe starting velocity condition.

[0207] In this embodiment, in one implementation manner, multiple sets (for example, 50 sets) of coordinates of the three support points are obtained. According to the coordinates of the three support points, the steps for obtaining the critical sliding starting velocity condition, the critical rolling starting velocity condition, and the safe starting velocity condition are as follows:

[0208] 1. Calculate multiple sets of sliding starting velocities and rolling starting velocities

[0209] According to the coordinates of the 50 sets of three support points, calculate the sliding starting velocity and the rolling starting velocity corresponding to each set of support points respectively, and obtain 50 sets of sliding starting velocities and 50 sets of rolling starting velocities.

[0210] 2. Select support points that meet the specified velocity condition

[0211] Select multiple sets of selected support points in which the velocities in the 50 sets of sliding starting velocities and 50 sets of rolling starting velocities are all less than or equal to the specified velocity. The specified velocity is the critical sliding starting velocity condition and the critical rolling starting velocity condition.

[0212] 3. Determine the safe starting velocity condition

[0213] Determine the maximum value of the sliding starting velocity or the rolling starting velocity in the multiple sets of support points as the safe starting velocity condition.

[0214] Specific steps

[0215] Calculate the sliding starting flow velocity and the rolling starting flow velocity: For each set of coordinates of three support points, calculate the corresponding sliding starting flow velocity and rolling starting flow velocity according to the corresponding calculation formulas or methods.

[0216] Screen the support points that meet the conditions: Compare the 50 sets of calculated sliding starting flow velocities and 50 sets of rolling starting flow velocities with the specified sliding critical starting flow velocity conditions and rolling critical starting flow velocity conditions, and screen out the groups of support points where both the sliding starting flow velocity and the rolling starting flow velocity are less than or equal to the specified flow velocity.

[0217] Determine the safe starting flow velocity: Among the multiple sets of support points screened out, find the maximum value in the sliding starting flow velocity or the rolling starting flow velocity, and determine this maximum value as the safe starting flow velocity condition.

[0218] Through the above steps, the flow velocity conditions that meet the safe starting requirements can be determined by comprehensively considering multiple sets of support points, providing a more reliable reference basis for actual engineering applications.

[0219] Calculate the sliding and rolling starting flow velocities based on the coordinates of 50 sets of support points, screen out the groups that meet the conditions, and take the maximum value among them as the safe starting flow velocity condition.

[0220] In a second aspect, the embodiments of the present application provide a crushed stone conveying system, including:

[0221] An acquisition module, configured to acquire the physical property parameters in the pipeline, where the physical property parameters include water body parameters, particle parameters, and parameters between particles;

[0222] A generation module, configured to input the physical property parameters of the pipeline into a specified model to draw a specified ellipsoid based on the Fibonacci spiral method, and generate an ellipsoid model;

[0223] A first obtaining module, configured to sample three support points from the ellipsoid model to obtain the coordinates of the three support points;

[0224] A second obtaining module, configured to calculate the coordinates of the three support points to obtain the angle of repose formed by the three support points;

[0225] A third obtaining module, configured to, when the angle of repose formed by the three support points meets the specified constraint conditions, obtain the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safe starting flow velocity condition according to the coordinates of the three support points;

[0226] A control module, configured to control the flow velocity of the crushed stone conveyed in the pipeline according to the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safe starting flow velocity condition.

[0227] In this embodiment, in the ballast conveying system, by obtaining the physical property parameters in the pipeline, the physical property parameters include water body parameters, particle parameters and parameters between particles; inputting the physical property parameters of the pipeline into a specified model to draw a specified ellipsoid based on the Fibonacci spiral method to generate an ellipsoid model; sampling three support points from the ellipsoid model to obtain the coordinates of the three support points; calculating the coordinates of the three support points to obtain the angle of repose formed by the three support points; when the angle of repose formed by the three support points meets the specified constraint conditions, according to the coordinates of the three support points, obtain the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition and the safety starting flow velocity condition; control the flow velocity of the ballast conveyed by the pipeline according to the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition and the safety starting flow velocity condition. Thus, the problem of how to smoothly and efficiently discharge these huge amounts of muck outside the tunnel is effectively solved, and the prediction of the critical starting flow velocity of ballast under different morphologies, different poses and different support point distributions is realized. In tunnel boring construction, as the diameter of the tunnel excavation continuously increases and the number of muck rock blocks generated under the cutting action of the cutter head of the tunnel boring machine increases sharply, by obtaining the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition and the safety starting flow velocity condition, and controlling the slurry pump to adjust the flow velocity of the ballast conveyed by the pipeline, the tunneling efficiency of the tunnel boring machine can be effectively improved while ensuring construction safety, the problem of excessive pressure of the slurry pump can be avoided, and the construction cost can also be greatly reduced.

[0228] In one implementation, the sampling conditions in the sampling of three support points from the ellipsoid model to obtain the coordinates of the three support points include:

[0229] All of the three support points are in the lower half of the ellipsoid model, the projections of the three support points on a specified plane are not on the same straight line, the origin of the coordinate system of the ellipse model is inside the triangle formed by the three support points, and the distance between any two support points is greater than a specified distance.

[0230] In one implementation, when the angle of repose formed by the three support points meets the specified constraint conditions, obtaining the sliding critical starting flow velocity condition and the rolling critical starting flow velocity condition according to the coordinates of the three support points includes:

[0231] When the angle of repose formed by the three support points is less than or equal to the angle of repose, the sliding critical starting flow velocity condition and the rolling critical starting flow velocity condition are obtained according to the coordinates of the three support points, and the angle of repose is the maximum angle between the stable inclined plane formed when the particles are stacked and the horizontal plane.

[0232] In one embodiment, multiple sets of coordinates of the three support points are obtained. Based on the coordinates of the three support points, obtaining the sliding critical starting flow velocity condition, the rolling critical starting flow velocity condition, and the safe starting flow velocity condition includes:

[0233] Based on the multiple sets of coordinates of the three support points, multiple sets of sliding starting flow velocities and multiple sets of rolling starting flow velocities are obtained;

[0234] Select multiple sets of selected support points in the multiple sets of sliding starting flow velocities and the multiple sets of rolling starting flow velocities where the velocities are all less than or equal to the specified flow velocity, and the specified flow velocity is the sliding critical starting flow velocity condition and the rolling critical starting flow velocity condition;

[0235] Determine the maximum value of the sliding starting flow velocity or the rolling starting flow velocity in the multiple sets of support points as the safe starting flow velocity condition.

[0236] For the functions of each module in each device of the embodiments of the present application, reference may be made to the corresponding descriptions in the above methods, which will not be elaborated here.

[0237] Figure 8 The structural block diagram of an electronic device according to an embodiment of the present application is shown. As Figure 8 shown, the electronic device includes: a memory 410 and a processor 420. Instructions that can run on the processor 420 are stored in the memory 410. When the processor 420 executes the instructions, the method for transporting muck during the tunneling of a shield machine in the above embodiment is implemented. The number of the memory 410 and the processor 420 can be one or more. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or claimed herein.

[0238] The electronic device may further include a communication interface 430 for communicating with external devices and performing data interaction and transmission. Each device is interconnected using different buses and may be mounted on a common motherboard or otherwise mounted as required. The processor 420 may process instructions executed within the electronic device, including instructions stored in or on the memory for graphical information to be displayed on an external input / output device (such as a display device coupled to the interface) to display a GUI. In other embodiments, if necessary, multiple processors and / or multiple buses may be used together with multiple memories and multiple memories. Similarly, multiple electronic devices may be connected, with each device providing part of the necessary operations (such as an array of servers, a set of blade servers, or a multiprocessor system). The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 only a thick line is used to represent it in Figure 8 , but it does not mean that there is only one bus or one type of bus.

[0239] Optionally, in a specific implementation, if the memory 410, the processor 420, and the communication interface 430 are integrated on a single chip, the memory 410, the processor 420, and the communication interface 430 may communicate with each other through an internal interface.

[0240] It should be understood that the above-mentioned processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor that supports the advanced reduced instruction set machine (ARM) architecture.

[0241] An embodiment of the present application provides a computer-readable storage medium (such as the above-mentioned memory 410), which stores computer instructions. When the program is executed by the processor, the method provided in the embodiment of the present application is implemented.

[0242] Optionally, the memory 410 may include a program storage area and a data storage area. The program storage area may store an operating system and application programs required for at least one function. The data storage area may store data created according to the use of the electronic device and the like. In addition, the memory 410 may include high-speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 410 may optionally include a memory remotely disposed relative to the processor 420, and these remote memories may be connected to the electronic device through a network. Examples of the above networks include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0243] In the description of this specification, the descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without conflict, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0244] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0245] Any process or method description represented in the flowchart or described in other ways herein may be understood to represent a module, segment, or portion of code including one or more (two or more) executable instructions for implementing a specific logical function or process. And the scope of the preferred embodiments of the present application includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed.

[0246] The logic and / or steps represented in the flowchart or described in other ways herein, for example, may be considered as a sequenced list of executable instructions for implementing a logical function and may be specifically implemented in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device.

[0247] It should be understood that each part of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the method in the above embodiments can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0248] In addition, each functional unit in various embodiments of the present application can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. If the above integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The storage medium can be a read-only memory, a magnetic disk, an optical disk, etc.

[0249] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various changes or substitutions, and these should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for conveying ballast in a shield machine excavation process, characterized in that: include: Acquiring physical parameters in the pipeline, wherein the physical parameters include water parameters, particle parameters, and parameters between particles; Inputting the physical property parameters of the pipeline into the designated model, drawing the designated ellipsoid based on the Fibonacci spiral method, and generating an ellipsoid model; Sampling three support points of the ellipsoid model to obtain coordinates of the three support points; Calculating the coordinates of the three support points to obtain a stacking angle formed by the three support points; In the case where the stacking angle formed by the three support points satisfies the specified constraint conditions, the sliding critical starting flow rate condition, the rolling critical starting flow rate condition and the safe starting flow rate condition are obtained according to the coordinates of the three support points, wherein the coordinates of the three support points obtained are multiple groups, and the sliding critical starting flow rate condition, the rolling critical starting flow rate condition and the safe starting flow rate condition are obtained according to the coordinates of the three support points, including: obtaining multiple groups of sliding starting flow rates and multiple groups of rolling starting flow rates according to the coordinates of the multiple groups of three support points; selecting multiple groups of selected support points whose speeds are less than or equal to the specified flow rate among the multiple groups of sliding starting flow rates and the multiple groups of rolling starting flow rates, and the specified flow rate is the sliding critical starting flow rate condition and the rolling critical starting flow rate condition; determining the maximum value of the sliding starting flow rate or the rolling starting flow rate among the multiple groups of support points as the safe starting flow rate condition; The flow rate of the ballast transported by the pipeline is controlled according to the sliding critical starting flow rate condition, the rolling critical starting flow rate condition and the safe starting flow rate condition.

2. The method according to claim 1, characterized in that The sampling conditions for sampling three support points of the ellipsoid model to obtain the coordinates of the three support points include: The three support points are all in the lower half of the ellipsoid model, the projections of the three support points on the specified surface will not be located on the same straight line, the origin of the elliptical model coordinate system is located in the triangle formed by the three support points, and the distance between any two support points is greater than the specified distance.

3. The method according to claim 1, characterized in that: When the stacking angle formed by the three support points satisfies the specified constraint conditions, the sliding critical starting flow rate condition and the rolling critical starting flow rate condition are obtained according to the coordinates of the three support points, including: When the stacking angle formed by the three support points is less than or equal to the repose angle, the critical starting flow rate conditions for sliding and rolling are obtained based on the coordinates of the three support points. The repose angle is the maximum angle between the stable inclined plane formed when the particles are accumulated and the horizontal plane.

4. A ballast conveying system, characterized in that: include: An acquisition module, used to acquire physical property parameters in the pipeline, wherein the physical property parameters include water parameters, particle parameters and parameters between particles; A generating module, used for drawing a designated ellipsoid based on the Fibonacci spiral method according to the physical property parameters of the pipeline input into the designated model, so as to generate an ellipsoid model; The first obtaining module is used to sample three supporting points of the ellipsoid model to obtain the coordinates of the three supporting points; A second obtaining module is used to calculate the coordinates of the three supporting points to obtain the stacking angle formed by the three supporting points; The third obtaining module is used to obtain the sliding critical starting flow rate condition, the rolling critical starting flow rate condition and the safe starting flow rate condition according to the coordinates of the three supporting points when the stacking angle formed by the three supporting points satisfies the specified constraint conditions, wherein the coordinates of the three supporting points obtained are multiple groups, and obtaining the sliding critical starting flow rate condition, the rolling critical starting flow rate condition and the safe starting flow rate condition according to the coordinates of the three supporting points includes: obtaining multiple groups of sliding starting flow rates and multiple groups of rolling starting flow rates according to the coordinates of the multiple groups of three supporting points; selecting multiple groups of selected supporting points whose speeds are less than or equal to the specified flow rate among the multiple groups of sliding starting flow rates and the multiple groups of rolling starting flow rates, and the specified flow rate is the sliding critical starting flow rate condition and the rolling critical starting flow rate condition; determining the maximum value of the sliding starting flow rate or the rolling starting flow rate among the multiple groups of supporting points as the safe starting flow rate condition; The control module is used to control the flow rate of the ballast transported by the pipeline according to the sliding critical starting flow rate condition, the rolling critical starting flow rate condition and the safety starting flow rate condition.

5. The ballast conveying system according to claim 4, characterized in that: The sampling conditions for sampling three support points of the ellipsoid model to obtain the coordinates of the three support points include: The three support points are all in the lower half of the ellipsoid model, the projections of the three support points on the specified surface will not be located on the same straight line, the origin of the elliptical model coordinate system is located in the triangle formed by the three support points, and the distance between any two support points is greater than the specified distance.

6. The ballast conveying system according to claim 4, characterized in that: When the stacking angle formed by the three support points satisfies the specified constraint conditions, the sliding critical starting flow rate condition and the rolling critical starting flow rate condition are obtained according to the coordinates of the three support points, including: When the stacking angle formed by the three support points must be less than or equal to the repose angle, the critical starting flow rate conditions for sliding and rolling are obtained based on the coordinates of the three support points. The repose angle is the maximum angle between the stable inclined plane formed when the particles are accumulated and the horizontal plane.

7. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, the method according to any one of claims 1 to 3 is implemented.

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