Intelligent dredging method, device, equipment and storage medium for cutter suction dredger aiming at maximum production

Abstract

Embodiments of the present application provide an intelligent dredging method, device, equipment and storage medium for a cutter suction dredger aiming at maximum production. The method comprises: obtaining a flow production curve of a mud pump at a current mud pump speed; taking a mud density corresponding to a highest point of the flow production curve of the mud pump as a target to control a ground angle of a movable cover of a cutter head; after the ground angle of the movable cover of the cutter head is optimized, if an instantaneous over-pumping production of the mud pump still cannot reach a maximum over-pumping production corresponding to the highest point of the flow production curve of the mud pump, adjusting the mud pump speed, taking the adjusted mud pump speed as the current mud pump speed again, and continuing to execute the step of obtaining the flow production curve of the mud pump at the current mud pump speed until a difference between the instantaneous over-pumping production of the mud pump and the maximum over-pumping production is less than or equal to a preset threshold. The method can maximize the instantaneous over-pumping production under the premise of ensuring the mud conveying efficiency.

Description

Technical Field

[0001] This application relates to the field of dredging engineering technology, and in particular to an intelligent dredging method, apparatus, equipment and storage medium for a trailing suction hopper dredger with the goal of maximizing output. Background Technology

[0002] A trailing suction hopper dredger is an important piece of equipment used for dredging and maintaining waterways, ports, and other bodies of water. It excavates silt, sand, and other materials underwater using a skid head, then pumps the material into a silt tank, and finally transports it to a designated location for dumping or reclamation.

[0003] Traditional trailing suction hopper dredgers often rely on human experience to set dredging parameters during dredging operations. This not only increases the workload of operators but may also lead to a mismatch between the set dredging parameters and the actual working conditions, resulting in low dredging output. Summary of the Invention

[0004] This application provides an intelligent dredging method, apparatus, equipment, and storage medium for trailing suction hopper dredgers with the goal of maximizing output, in order to improve the problem of low dredging output of current trailing suction hopper dredgers.

[0005] In a first aspect, this application provides an intelligent dredging method for a trailing suction hopper dredger aimed at maximizing output, comprising:

[0006] Obtain the mud pump flow rate and output curve at the current mud pump speed;

[0007] The ground-to-ground angle of the rake head movable cover is controlled with the mud density corresponding to the highest point of the mud pump flow rate and production curve as the target.

[0008] After the ground angle of the rake head hood is optimized, if the instantaneous pump output of the mud pump still cannot reach the maximum pump output corresponding to the highest point of the mud pump flow rate curve, the mud pump speed is adjusted, the adjusted mud pump speed is used as the current mud pump speed, and the step of obtaining the mud pump flow rate curve at the current mud pump speed is continued until the difference between the instantaneous pump output and the maximum pump output is less than or equal to a preset threshold.

[0009] Secondly, embodiments of this application provide an intelligent dredging device for a trailing suction hopper dredger aimed at maximizing output, comprising:

[0010] The acquisition module is used to acquire the mud pump flow rate and output curve at the current mud pump speed.

[0011] The processing module is used to control the ground angle of the rake head shroud with the mud density corresponding to the highest point of the mud pump flow rate curve as the target. After the ground angle of the rake head shroud is optimized, if the instantaneous pump output of the mud pump still cannot reach the maximum pump output corresponding to the highest point of the mud pump flow rate curve, the mud pump speed is adjusted, and the adjusted mud pump speed is used as the current mud pump speed. The mud pump flow rate curve under the current mud pump speed is then obtained through the acquisition module until the difference between the instantaneous pump output and the maximum pump output is less than or equal to a preset threshold.

[0012] Thirdly, embodiments of this application provide a computer device, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the intelligent dredging method for a trailing suction hopper dredger with the objective of maximizing output provided in the first aspect of this application.

[0013] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it implements the steps of the intelligent dredging method for a trailing suction hopper dredger with the objective of maximizing output provided in the first aspect of embodiments of this application.

[0014] The technical solution provided in this application embodiment obtains the mud pump flow rate and output curve at the current mud pump speed. The mud pump density corresponding to the highest point of the mud pump flow rate and output curve is used as the target to control the ground angle of the rake head movable cover. After the ground angle of the rake head movable cover is optimized, if the instantaneous pump output of the mud pump still cannot reach the maximum pump output corresponding to the highest point of the mud pump flow rate and output curve, the mud pump speed is adjusted to control the mud pump flow rate. The mud pump flow rate and output curve at the adjusted mud pump speed is then obtained again. Based on the new mud pump flow rate and output curve, the ground angle of the rake head movable cover and / or the mud pump speed are optimized. That is, during dredging, the dredging parameters (such as mud pump speed and the ground angle of the rake head movable cover) can be automatically optimized in combination with the actual working conditions and the mud pump flow rate and output curve, so that the instantaneous pump output of the mud pump moves towards the maximum pump output corresponding to the highest point of the mud pump flow rate and output curve, thereby maximizing dredging output while ensuring conveying efficiency. Attached Figure Description

[0015] Figure 1 A flowchart illustrating an intelligent dredging method for a trailing suction hopper dredger with the goal of maximizing output, provided in an embodiment of this application.

[0016] Figure 2 A schematic flowchart illustrating the process of constructing a mud pump flow rate and production curve provided in an embodiment of this application;

[0017] Figure 3A schematic diagram of the rake-laying process provided in an embodiment of this application;

[0018] Figure 4 A schematic diagram of the dredging and loading process provided in this application embodiment;

[0019] Figure 5 A schematic diagram of the harvesting process provided in an embodiment of this application;

[0020] Figure 6 A schematic diagram of a smart dredging device for a trailing suction hopper dredger with the goal of maximizing output, provided in an embodiment of this application;

[0021] Figure 7 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit this application. Those skilled in the art can make adjustments as needed to suit specific application scenarios. Furthermore, it should be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, not the entire structure.

[0023] Typically, the controllers of a trailing suction hopper dredger can include: an automatic controller for the boom sequence, an automatic controller for the dredging equipment, a controller for the moving hood of the dredger head, an intelligent mud pump controller, an intelligent high-pressure flushing controller, a speed recommender, and an intelligent loading controller.

[0024] Specifically, the rake arm sequence automatic controller achieves fully automatic control of the rake arm retraction / extension process by controlling the rake arm winch and rake arm hanger;

[0025] During the dredging equipment's deployment and deployment processes, the automatic controller works in conjunction with the dredging equipment's automatic controller to automatically control the hydraulic system, dredging gate valve, butterfly valve, mud pump system, high-pressure flushing system, suction port air-expansion sealing device, and other equipment based on the rake arm's retraction / deployment direction and current position, thereby achieving linkage and matching between the dredging equipment and the rake arm's retraction / deployment process.

[0026] The rake head movable cover controller is used to control the ground angle of the rake head movable cover;

[0027] The intelligent mud pump controller is used to regulate the speed of the mud pump;

[0028] The intelligent high-pressure flushing controller is used to control the activation / deactivation of the high-pressure flushing pump, as well as the pump speed.

[0029] The speed recommender is used to send the dredging speed to the dynamic positioning and dynamic tracking system, which automatically adjusts the propulsion pitch and maintains the dredging speed.

[0030] The intelligent loading controller is used to control the height of the overflow cylinder.

[0031] In traditional technologies, the construction parameters of trailing suction hopper dredgers are set manually based on experience, resulting in low dredging output. Therefore, this application's embodiment recommends initial construction parameters before dredging and optimizes them in real-time during dredging. Through the coordinated operation of the aforementioned controllers, the construction parameters are automatically optimized to maximize output.

[0032] Figure 1 This is a schematic flowchart illustrating an intelligent dredging method using a trailing suction hopper dredger, aimed at maximizing output, provided in an embodiment of this application. Figure 1 As shown, the method may include:

[0033] S101. Obtain the mud pump flow rate and production curve at the current mud pump speed.

[0034] Specifically, the mud pump flow rate-production curve describes the variation of the theoretical mud output delivered by the mud pump under different flow rates. It reflects the relationship between flow rate and output. By analyzing the mud pump flow rate-production curve, the theoretical optimal operating point of the trailing suction hopper dredger under the current working conditions can be obtained. Using this theoretical optimal operating point, the construction parameters of the trailing suction hopper dredger can be optimized, thereby increasing dredging output. The highest point of the mud pump flow rate-production curve is the theoretical optimal operating point.

[0035] Changes in the pump speed will affect the pump flow rate and output curve. Therefore, multiple pump flow rate and output curves at different pump speeds can be pre-built and stored. After obtaining the current pump speed, the pump flow rate and output curve at the current pump speed can be obtained from the multiple stored pump flow rate and output curves based on the current pump speed.

[0036] S102. The ground-to-ground angle of the rake head movable cover is controlled with the mud density corresponding to the highest point of the mud pump flow rate and production curve as the target.

[0037] Specifically, at the current mud pump speed, the mud density corresponding to the highest point of the mud pump flow rate-production curve is first used as the target density to control the ground angle of the rake head movable cover. By adjusting the ground angle of the rake head movable cover, the mud density is optimized so that the mud density moves toward the target density, thereby maximizing the mud dredging output by improving the mud density.

[0038] S103. After the ground angle of the rake head hood is optimized, if the instantaneous pump output of the mud pump still cannot reach the maximum pump output corresponding to the highest point of the mud pump flow rate curve, the mud pump speed is adjusted, the adjusted mud pump speed is used as the current mud pump speed, and the step of obtaining the mud pump flow rate curve under the current mud pump speed is continued until the difference between the instantaneous pump output and the maximum pump output of the mud pump is less than or equal to the preset threshold.

[0039] Specifically, the instantaneous pump output of the aforementioned mud pump can be calculated using the current mud density and the current mud pump flow rate. The current mud pump flow rate can be measured by a flow meter installed at the mud pump outlet. The current mud density can be collected by a mud density meter installed near the mud pump, or it can be obtained by converting the suction vacuum of the rake head's movable hood. The instantaneous pump output is equal to the current mud density multiplied by the current mud pump flow rate.

[0040] The ground-to-ground angle of the rake head's movable hood is actively optimized, and the instantaneous pump output of the mud pump is monitored. If the instantaneous pump output of the mud pump reaches the maximum pump output corresponding to the highest point of the mud pump flow-output curve, the optimization stops. If the instantaneous pump output of the mud pump still cannot reach the maximum pump output corresponding to the highest point of the mud pump flow-output curve after the ground-to-ground angle of the rake head's movable hood is optimized, the mud pump speed can be adjusted. By controlling the mud pump speed, the mud pump flow rate can be moved towards the target mud pump flow rate corresponding to the highest point of the mud pump flow-output curve, thereby maximizing the dredging output by improving the mud pump flow rate.

[0041] After adjusting the mud pump speed, the adjusted mud pump speed is used as the current mud pump speed, and the above step S101 is continued to be executed to obtain a new mud pump flow rate and output curve. Based on the new mud pump flow rate and output curve, the ground angle of the rake head movable cover and / or the mud pump speed are optimized until the instantaneous pump output of the mud pump is maintained at the maximum pump output, or the difference between the instantaneous pump output and the maximum pump output is less than or equal to a preset threshold.

[0042] Based on the above embodiments, optionally, the process of adjusting the dredging pump speed may include: if the instantaneous pump output of the dredging pump is less than the maximum pump output corresponding to the highest point of the dredging pump flow-output curve and the current dredging pump flow is less than the target dredging pump flow corresponding to the highest point of the dredging pump flow-output curve, then the dredging pump speed is increased. By increasing the dredging pump speed, the dredging pump flow moves towards the target dredging pump flow corresponding to the highest point of the dredging pump flow-output curve, thereby maximizing dredging output by improving the dredging pump flow; if the instantaneous pump output of the dredging pump is less than the maximum pump output corresponding to the highest point of the dredging pump flow curve and the current dredging pump flow is greater than the target dredging pump flow corresponding to the highest point of the dredging pump flow-output curve, then the dredging pump speed is decreased. By decreasing the dredging pump speed, the amount of clean water delivered is reduced, causing the dredging pump flow to move towards the target dredging pump flow corresponding to the highest point of the dredging pump flow-output curve, thereby maximizing dredging output by improving the dredging pump flow.

[0043] The intelligent dredging method for trailing suction hopper dredgers, which aims to maximize output, provided in this application embodiment acquires the dredging pump flow rate-output curve at the current dredging pump speed. The method controls the ground-to-ground angle of the dredging head's movable shroud based on the dredging density corresponding to the highest point of the dredging pump flow rate-output curve. After the ground-to-ground angle of the dredging head's movable shroud is optimized, if the instantaneous pump output still cannot reach the maximum pump output corresponding to the highest point of the dredging pump flow rate-output curve, the dredging pump speed is adjusted to control the dredging flow rate. The method then continues to acquire the dredging pump flow rate-output curve at the adjusted pump speed. Based on the new dredging pump flow rate-output curve, the ground-to-ground angle of the dredging head's movable shroud and / or the dredging pump speed are optimized. In other words, during dredging, the method can automatically optimize dredging parameters (such as dredging pump speed and the ground-to-ground angle of the dredging head's movable shroud) by combining actual working conditions and the dredging pump flow rate-output curve, so that the instantaneous pump output of the dredging pump moves towards the maximum pump output corresponding to the highest point of the dredging pump flow rate-output curve, thereby maximizing dredging output while ensuring transport efficiency.

[0044] Optionally, if the instantaneous pump output still cannot reach the maximum pump output corresponding to the highest point of the pump flow rate curve after the dredging pump reaches its maximum speed, the high-pressure flushing pump can be activated and / or the speed of the trailing suction hopper dredger can be increased. Increasing the speed can, to some extent, increase the dredging volume and the mud density, thereby increasing the instantaneous pump output and causing it to move towards the maximum pump output corresponding to the highest point of the pump flow rate curve. Additionally, activating the high-pressure flushing pump can, to some extent, dilute overly hard soil, allowing the scraper head to excavate more material, thus increasing the mud density and further improving the instantaneous pump output.

[0045] Furthermore, during the dredging process, the high-pressure flushing pump can be actively turned on or off to explore its impact on the instantaneous pump output of the dredging pump. Optionally, if the instantaneous pump output of the dredging pump decreases or remains unchanged after turning on the high-pressure flushing pump, the pump can be turned off to avoid excessive dilution of the soil by the high-pressure flushing water, which would reduce the slurry density and consequently decrease the instantaneous pump output. Further, if the instantaneous pump output of the dredging pump increases after turning on the high-pressure flushing pump, the pump can be kept on and its current speed maintained.

[0046] In this embodiment, the ground-to-ground angle of the rake head shroud, the rotational speed of the mud pump, whether the high-pressure flushing pump is turned on, and the speed are optimized based on the mud pump flow rate and output curve, so that the instantaneous pump output of the mud pump is kept as high as possible under the current working conditions, thereby maximizing the dredging output.

[0047] Based on the above embodiments, optionally, the control of the ground-to-ground angle of the rake head movable cover with the target mud density corresponding to the highest point of the mud pump flow rate and production curve includes: obtaining the suction vacuum degree of the rake head movable cover, determining the current mud density based on the suction vacuum degree, and if the current mud density is less than the target mud density corresponding to the highest point of the mud pump flow rate and production curve, then raising the ground-to-ground angle of the rake head movable cover; if the current mud density is greater than the target mud density corresponding to the highest point of the mud pump flow rate and production curve, then lowering the ground-to-ground angle of the rake head movable cover.

[0048] Specifically, the vacuum level of the rake head's movable shroud is obtained by a vacuum sensor installed near the rake head. The vacuum level is then converted into the current mud density based on a preset rake head vacuum density model. If the current mud density is less than the target mud density corresponding to the highest point of the mud pump flow rate curve, the ground angle of the rake head's movable shroud can be increased, allowing the rake head to penetrate deeper into the seabed, increasing the digging depth and thus increasing the digging volume. This causes the mud density to move towards the target mud density corresponding to the highest point of the mud pump flow rate curve. Conversely, if the current mud density is greater than the target mud density corresponding to the highest point of the mud pump flow rate curve, the ground angle of the rake head's movable shroud can be decreased, allowing the rake head to be closer to the seabed surface, reducing the digging depth. This also causes the mud density to move towards the target mud density corresponding to the highest point of the mud pump flow rate curve.

[0049] Because the mud density meter is installed near the mud pump, the measurement will have a lag. In this embodiment, the suction vacuum of the rake head hood is used to predict the current mud pump density. The greater the suction vacuum, the higher the current mud density. Moreover, the vacuum response is rapid. Therefore, the suction vacuum of the rake head hood can be used to quickly predict the current mud pump density, thereby improving the optimization speed of the rake head hood's ground angle.

[0050] Based on the above embodiments, optionally, as follows: Figure 2As shown, obtaining the mud pump flow rate and output curve at the current mud pump speed can include:

[0051] S201. At the current mud pump speed, obtain the mud pump head-flow curve and pipeline head loss-flow curve corresponding to different preset mud densities.

[0052] The mud pump head-flow rate curve describes the head that the mud pump can provide at different flow rates. It can be obtained by using a preset mud pump model to iterate through different preset mud densities, resulting in multiple mud pump head-flow rate curves corresponding to different preset mud densities. The pipeline head loss flow rate curve describes the energy loss caused by friction and local resistance when mud passes through the pipeline at different flow rates. It can be obtained by using a preset pipeline model to iterate through different preset mud densities, resulting in multiple pipeline head loss flow rate curves corresponding to different preset mud densities. The preset mud densities can be set based on actual needs. For example, the preset mud density can be set to [0%, 100%], with an interval of 1% between adjacent preset mud densities.

[0053] As an optional implementation, the above-mentioned sludge pump head-flow curve can be constructed through the following process: obtaining the sludge pump clear water performance curve at the current sludge pump speed; for each preset sludge density, correcting the sludge pump clear water performance curve based on the preset sludge density to obtain the sludge pump head-flow curve corresponding to the preset sludge density. The pipeline head loss flow curve can be constructed through the following process: for each preset sludge density, constructing the pipeline head loss flow curve corresponding to the preset sludge pump density based on the preset sludge density, the pipeline information of the trailing suction hopper dredger (such as pipeline length, diameter, material, number of bends), the current sludge pump speed, and the height difference between the sludge pump pipeline inlet and outlet.

[0054] S202. For each preset mud density, determine the intersection point of the mud pump head-flow curve and the pipeline head loss-flow curve. Based on the mud pump flow rate corresponding to the intersection point and the preset mud density, determine the mud production and obtain the mud pump flow rate production under the preset mud density.

[0055] S203. Fit the mud pump flow rate and output under all preset mud densities to obtain the mud pump flow rate and output curve.

[0056] Specifically, for each preset mud density, the intersection point of the mud pump head-flow rate curve and the pipeline head loss-flow rate curve corresponding to that preset mud density is determined. This intersection point indicates that at that preset mud density, the output energy of the mud pump is equal to the head loss of the pipeline, meaning the mud can be just delivered to the pipeline outlet. Further, the mud pump flow rate corresponding to the intersection point is multiplied by the preset mud density to obtain the mud production rate corresponding to the intersection point, thus obtaining the mud pump flow rate production rate at the preset mud density. This process is repeated for all preset mud densities to obtain the mud pump flow rate production rate at all preset mud densities. Finally, the mud pump flow rate production rates at all preset mud densities are fitted, i.e., a complete mud pump flow rate production rate curve is plotted based on the mud pump flow rate production rates at all preset mud densities.

[0057] In this embodiment, the pump flow rate curve is fitted with the pump head-flow rate curve and pipeline head loss flow rate curve under different preset mud densities, providing a reliable theoretical basis for optimizing the construction parameters of the trailing suction hopper dredger, thereby improving dredging efficiency and dredging output.

[0058] Optionally, prior to S101, the method further includes: determining an initial combination of construction parameters under the current operating conditions based on the historical operating data of the trailing suction hopper dredger, with the maximum instantaneous pump output as the target; wherein the initial combination of construction parameters includes at least one of the following: the initial ground angle of the trailing suction hopper shroud, the initial sludge pump speed, the initial high-pressure flushing pump speed, the initial overflow cylinder height, and the initial speed; and controlling the operation of the trailing suction hopper dredger based on the initial combination of construction parameters.

[0059] Specifically, historical operation data includes the construction parameters and dredging output performance of the trailing suction hopper dredger under different historical operating conditions. For example, historical operation data can include construction parameter data, output data, soil environment data, equipment performance data, and energy efficiency data. By collecting historical operation data of the trailing suction hopper dredger and utilizing artificial intelligence and big data analytics, with the goal of maximizing instantaneous pump output, the optimal combination of initial construction parameters for the current operating condition is extracted from the historical operation data. For example, the optimal combination of construction parameters for the trailing suction hopper dredger under the current operating condition can be determined using a Long Short-Term Memory (LSTM) network and historical operation data. After the trailing suction hopper is deployed, the various subsystems of the trailing suction hopper dredger are controlled to operate according to the initial combination of construction parameters, thereby maximizing the instantaneous pump output.

[0060] During the dredging process, a dredging pump flow rate and output curve is constructed at the current dredging pump speed. Based on the dredging pump flow rate and output curve, the above initial construction parameter combination is optimized so that the instantaneous pump output of the dredging pump is kept as close as possible to the maximum pump output corresponding to the highest point of the dredging pump flow rate and output curve.

[0061] In this embodiment, by automatically recommending pre-dredging construction parameters and adjusting dredging construction parameters in real time through the mud pump flow rate and production curve, not only is the reliance on operator experience reduced and the consistency and reliability of operations improved, but the dredging output is also maximized.

[0062] To facilitate understanding by those skilled in the art, the following description uses the entire working process of a trailing suction hopper dredger as an example:

[0063] The intelligent dredging method for trailing suction hopper dredgers with the goal of maximizing output provided in this embodiment includes the construction preparation stage, the trailing suction hopper lowering stage, the dredging and loading stage, and the trailing suction hopper lifting and ending stage.

[0064] (1) Construction preparation stage

[0065] Initial construction parameter settings: Utilize historical operation data to find and recommend a set of optimal initial construction parameter combinations, covering the ground angle of the rake head hood, mud pump speed, whether the high-pressure water pump is activated, high-pressure water pump speed, overflow cylinder height, and dredging speed.

[0066] (2) Harrowing stage

[0067] like Figure 3 As shown, by calling the automatic controller for the dredging arm sequence, the dredging arm winch and the derrick are controlled. When the dredging arm is in the initial "support" position, it is lowered sequentially according to the physical positions of "overboard," "suction port," "off the ground," and "on the ground," ensuring the dredging head is in the set dredging depth and that the dredging head makes good contact with the seabed. Simultaneously, during the dredging arm descent, the automatic controller for the dredging equipment is activated. When the dredging arm reaches the designated physical position, it sequentially controls the hydraulic system, dredging gate valve, butterfly valve, mud pump system, high-pressure flushing system, and suction port air-expansion sealing device, thus preparing the equipment for construction.

[0068] (3) Dredging and loading stage

[0069] During the dredging and loading process, each controller operates collaboratively through the mud pump flow rate and production curves, optimizing dredging parameters in real time to maintain the instantaneous pump output at its maximum under current operating conditions. For example... Figure 4 As shown, specifically:

[0070] a. Drill Head Movable Cover Controller: Before dredging, the initial mud density is recommended based on historical operation data. During dredging, the ground-to-ground angle of the drill head movable cover is actively adjusted according to the mud pump flow rate and production curve, controlling the mud density to move towards the target mud density corresponding to the highest point of the mud pump flow rate and production curve.

[0071] b. Mud Pump Controller: Before dredging, the initial mud pump speed is recommended based on historical operation data. During dredging, the mud pump speed is actively adjusted according to the mud pump flow rate and production curve. By adjusting the mud pump speed, the mud pump flow rate is moved towards the target mud pump flow rate corresponding to the highest point of the mud pump flow rate and production curve.

[0072] c. High-pressure flushing pump controller: Before dredging, historical operation data is used to optimize and recommend whether to activate the high-pressure flushing pump and the high-pressure flushing pressure when activated. During dredging, the impact of high-pressure flushing on dredging output is explored by enabling / disabling the high-pressure flushing pump function.

[0073] d. Dredging speed control: Before dredging, the dredging speed is recommended by using historical operation data. During the dredging process, the dredging speed is optimized by combining the mud pump flow rate and production curve.

[0074] (4) End of harrowing stage

[0075] like Figure 5 As shown, after the loading volume has remained stable for a period of time, the dredging termination conditions are met, and the automatic boom sequence controller raises the boom sequentially to its initial state according to the physical positions of "off the ground" - "suction inlet" - "overboard" - "restor". Simultaneously, during the boom raising process, the automatic controller of the dredging equipment is activated. When the boom reaches the designated physical position, it sequentially controls the suction inlet air-expansion sealing device, high-pressure flushing system, mud pump system, dredging gate valve, butterfly valve, and hydraulic system to return to the initial state.

[0076] Figure 6 This is a schematic diagram of a smart dredging device for a trailing suction hopper dredger, designed to maximize output, as provided in an embodiment of this application. Figure 6 As shown, the device may include an acquisition module 601 and a processing module 602.

[0077] Specifically, the acquisition module 601 is used to acquire the mud pump flow rate and output curve at the current mud pump speed;

[0078] The ground-to-ground angle of the rake head's movable cover is controlled with the mud density corresponding to the highest point of the mud pump flow rate and production curve as the target.

[0079] The processing module 602 is used to control the ground angle of the rake head movable cover with the mud density corresponding to the highest point of the mud pump flow rate production curve as the target. After the ground angle of the rake head movable cover is optimized, if the instantaneous pump output of the mud pump still cannot reach the maximum pump output corresponding to the highest point of the mud pump flow rate production curve, the mud pump speed is adjusted, and the adjusted mud pump speed is used as the current mud pump speed. The mud pump flow rate production curve under the current mud pump speed is then obtained through the acquisition module 601 until the difference between the instantaneous pump output and the maximum pump output of the mud pump meets the preset threshold.

[0080] Optionally, based on the above embodiments, the processing module 602 is also used to activate the high-pressure flushing pump and / or increase the speed of the trailing suction hopper dredger if the instantaneous pump output of the mud pump still cannot reach the maximum pump output after the mud pump speed reaches the maximum value.

[0081] Optionally, based on the above embodiments, the processing module 602 is further configured to shut down the high-pressure flushing pump if the instantaneous pump output of the mud pump decreases or remains unchanged after the high-pressure flushing pump is turned on.

[0082] Based on the above embodiments, optionally, the acquisition module 601 is specifically used to acquire, at the current mud pump speed, the mud pump head-flow curve and the pipeline head loss flow curve corresponding to different preset mud densities; for each preset mud density, determine the intersection point of the mud pump head-flow curve and the pipeline head loss flow curve, determine the mud production based on the mud pump flow rate and preset mud density corresponding to the intersection point, and obtain the mud pump flow rate production under the preset mud density; fit the mud pump flow rate production under all preset mud densities to obtain the mud pump flow rate production curve.

[0083] Based on the above embodiments, optionally, the processing module 602 is further configured to increase the sludge pump speed if the instantaneous pump output of the sludge pump is less than the maximum pump output and the current sludge pump flow rate is less than the target sludge pump flow rate corresponding to the highest point of the sludge pump flow rate curve; and to decrease the sludge pump speed if the instantaneous pump output of the sludge pump is less than the maximum pump output and the current sludge pump flow rate is greater than the target sludge pump flow rate corresponding to the highest point of the sludge pump flow rate curve.

[0084] Based on the above embodiments, optionally, the processing module 602 is further configured to obtain the suction vacuum degree of the rake head movable hood; determine the current mud density based on the suction vacuum degree; if the current mud density is less than the target mud density corresponding to the highest point of the mud pump flow rate production curve, then raise the ground angle of the rake head movable hood; if the current mud density is greater than the target mud density corresponding to the highest point of the mud pump flow rate production curve, then lower the ground angle of the rake head movable hood.

[0085] Optionally, based on the above embodiments, the processing module 602 is further configured to determine the initial construction parameter combination under the current working condition based on the historical operation data of the trailing suction hopper dredger, with the maximum instantaneous pump output as the target, before obtaining the mud pump flow rate and output curve at the current mud pump speed; and control the operation of the trailing suction hopper dredger according to the initial construction parameter combination; wherein the initial construction parameter combination includes at least one of the following: the initial ground angle of the rake head movable cover, the initial mud pump speed, the initial high-pressure flushing pump speed, the initial overflow cylinder height, and the initial speed.

[0086] Figure 7 A schematic diagram of the structure of a computer device provided in an embodiment of this application, such as... Figure 7As shown, the computer device includes a processor 70, a memory 71, an input device 72, and an output device 73; the number of processors 70 in the computer device can be one or more. Figure 7 Taking a processor 70 as an example; the processor 70, memory 71, input device 72, and output device 73 in this computer device can be connected via a bus or other means. Figure 7 Taking the example of a connection between China and Israel via a bus.

[0087] The memory 71, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules (e.g., acquisition module 601 and processing module 602) corresponding to the intelligent dredging method of a trailing suction hopper dredger aimed at maximizing output, as described in the embodiments of this application. The processor 70 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 71, thereby implementing the intelligent dredging method of a trailing suction hopper dredger aimed at maximizing output provided in any of the above embodiments.

[0088] The memory 71 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data involved in the intelligent dredging process of the trailing suction hopper dredger, aiming for maximum output. Furthermore, the memory 71 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 71 may further include memory remotely located relative to the processor 70, which can be connected to a device / terminal / server via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0089] Input device 72 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the computer device. Output device 73 may include display devices such as a display screen.

[0090] In one embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the intelligent dredging method for trailing suction hopper dredgers with the objective of maximizing output as described in any of the above embodiments.

[0091] In one embodiment, a computer program product is also provided, on which a computer program is stored, which, when executed by a processor, implements the intelligent dredging method for trailing suction hopper dredgers with the objective of maximizing output as described in any of the above embodiments.

[0092] The intelligent dredging device, computer equipment, computer-readable storage medium, and computer program product for trailing suction hopper dredgers with maximum output target provided in the above embodiments can execute the intelligent dredging method for trailing suction hopper dredgers with maximum output target provided in any embodiment of this application, and have the corresponding functional modules and beneficial effects for executing the method. Technical details not described in detail in the above embodiments can be found in the intelligent dredging method for trailing suction hopper dredgers with maximum output target provided in any embodiment of this application.

[0093] Based on the above description of the implementation methods, those skilled in the art can clearly understand that this application can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.

[0094] It is worth noting that the units and modules included in the above embodiments are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of this application.

[0095] Note that the above description is merely a preferred embodiment and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the concept of this application, and the scope of this application is determined by the scope of the appended claims.

Claims

1. A smart dredging method for a trailing suction hopper dredger with maximum output as the objective, characterized in that, include: Obtain the mud pump flow rate and output curve at the current mud pump speed; The ground-to-ground angle of the rake head movable cover is controlled with the mud density corresponding to the highest point of the mud pump flow rate and production curve as the target. After the ground angle of the rake head hood is optimized, if the instantaneous pump output of the mud pump still cannot reach the maximum pump output corresponding to the highest point of the mud pump flow rate curve, the mud pump speed is adjusted, and the adjusted mud pump speed is used as the current mud pump speed. The step of obtaining the mud pump flow rate curve at the current mud pump speed is then executed until the difference between the instantaneous pump output and the maximum pump output is less than or equal to a preset threshold. The instantaneous pump output is determined based on the current mud density and the current mud pump flow rate.

2. The method according to claim 1, characterized in that, Also includes: If the instantaneous pump output of the mud pump still cannot reach the maximum pump output after the mud pump speed reaches the maximum, the high-pressure flushing pump is turned on and / or the speed of the trailing suction hopper dredger is increased.

3. The method according to claim 2, characterized in that, Also includes: If the instantaneous pump output of the mud pump decreases or remains unchanged after the high-pressure flushing pump is turned on, then the high-pressure flushing pump is turned off.

4. The method according to claim 1, characterized in that, The process of obtaining the mud pump flow rate and output curve at the current mud pump speed includes: At the current mud pump speed, obtain the mud pump head-flow curve and pipeline head loss-flow curve corresponding to different preset mud densities; For each preset mud density, the intersection point of the mud pump head-flow curve and the pipeline head loss-flow curve is determined. Based on the mud pump flow rate corresponding to the intersection point and the preset mud density, the mud production is determined, and the mud pump flow rate production under the preset mud density is obtained. The flow rate and output of the mud pump under all preset mud densities are fitted to obtain the mud pump flow rate and output curve.

5. The method according to claim 1, characterized in that, The adjustment of the mud pump speed includes: If the instantaneous pump output of the mud pump is less than the maximum pump output and the current mud pump flow rate is less than the target mud pump flow rate corresponding to the highest point of the mud pump flow rate output curve, then increase the mud pump speed. If the instantaneous pump output of the mud pump is less than the maximum pump output and the current mud pump flow rate is greater than the target mud pump flow rate corresponding to the highest point of the mud pump flow rate output curve, then reduce the mud pump speed.

6. The method according to claim 1, characterized in that, The method of controlling the ground-releasing angle of the rake head's movable cover based on the mud density corresponding to the highest point of the mud pump flow rate-production curve includes: Obtain the suction vacuum degree of the rake head's movable hood; Determine the current mud density based on the suction vacuum level; If the current mud density is less than the target mud density corresponding to the highest point of the mud pump flow rate production curve, then raise the ground angle of the rake head movable cover. If the current mud density is greater than the target mud density corresponding to the highest point of the mud pump flow rate production curve, then reduce the ground angle of the rake head movable cover.

7. The method according to any one of claims 1 to 6, characterized in that, Before obtaining the mud pump flow rate and production curve at the current mud pump speed, the following steps are also included: Based on the historical operation data of the trailing suction hopper dredger, the initial combination of construction parameters under the current working condition is determined with the maximum instantaneous pump output as the target; wherein, the initial combination of construction parameters includes at least one of the following: the initial ground angle of the trailing suction hopper shroud, the initial dredging pump speed, the initial high-pressure flushing pump speed, the initial overflow cylinder height, and the initial speed. The operation of the trailing suction hopper dredger is controlled according to the initial combination of construction parameters.

8. A smart dredging device for a trailing suction hopper dredger with maximum output as its target, characterized in that, include: The acquisition module is used to acquire the mud pump flow rate and output curve at the current mud pump speed. The processing module is used to control the ground-to-ground angle of the rake head shroud with the target mud density corresponding to the highest point of the mud pump flow rate curve. After the ground-to-ground angle of the rake head shroud is optimized, if the instantaneous pump output of the mud pump still cannot reach the maximum pump output corresponding to the highest point of the mud pump flow rate curve, the mud pump speed is adjusted, and the adjusted mud pump speed is used as the current mud pump speed again. The mud pump flow rate curve under the current mud pump speed is then obtained through the acquisition module until the difference between the instantaneous pump output and the maximum pump output meets a preset threshold. The instantaneous pump output of the mud pump is determined based on the current mud density and the current mud pump flow rate.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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