Reamer control method and device based on rock strength identification, ship and medium

Abstract

The invention discloses a reamer control method and device based on rock strength recognition, a ship and a medium, and is applied to the ship which is provided with a reamer. The method comprises the steps that the current strength of rock is determined, the initial moment of the current strength is the initial exploration strength of the rock, and the non-initial moment is determined according to the construction result of the previous moment and the mapping relation; according to the current strength, the reamer type and a preset construction control parameter threshold value, a construction control parameter set at the current moment is determined, the reamer is controlled to cut the rock according to the construction control parameter set at the current moment, and a construction result at the current moment is obtained; determining whether the construction is finished or not according to the construction result at the current moment; if the construction is not finished, taking the construction result at the current moment as the construction result at the previous moment, and returning to the step of determining the current strength of the rock. According to the method, the problem that the construction result of the reamer on the rock is unstable due to the fact that the construction control parameters of the reamer are adjusted only through manual experience is solved, and the stability of the whole construction result is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of dredging engineering, and in particular to a cutter control method, device, vessel and medium based on rock strength identification. Background Art

[0002] For underwater operations, especially when cutting geotechnical bodies containing rocks underwater, the cutter installed on a trailing suction hopper dredger and its vessel plays a crucial role.

[0003] Currently, when using the cutter installed on a vessel to perform underwater rock cutting work, the control parameters for the cutter to perform cutting work are determined according to manual experience and the strength of the preliminary exploration of the rock.

[0004] However, during the entire construction process, the strength of the rock will continuously change. If only relying on manual experience to determine how to adjust the construction control parameters of the cutter and performing cutting operations on the rock with continuously changing strength based on these changed parameters, the construction result of the cutter on the rock will be unstable due to untimely adjustment of the construction control parameters of the cutter. Summary of the Invention

[0005] The present invention provides a cutter control method, device, vessel and medium based on rock strength identification, which automatically controls the change of the construction control parameter group during the operation of the cutter according to the current strength of the rock, solves the problem that the current method of only using manual experience to adjust the construction control parameters of the cutter will lead to unstable construction results of the cutter on the rock, and ensures stable construction results during the entire construction operation of the cutter.

[0006] According to one aspect of the present invention, there is provided a cutter control method based on rock strength identification, which is applied to a vessel, and a cutter is installed on the vessel; the method includes:

[0007] Determine the current strength of the rock, where the current strength is the initial exploration strength of the rock at the initial moment and is determined according to the construction result of the previous moment and a pre-set mapping relationship at a non-initial moment;

[0008] Determine the construction control parameter group at the current moment according to the current strength, the cutter type and a pre-set construction control parameter threshold, and control the cutter to cut the rock according to the construction control parameter group at the current moment to obtain the construction result at the current moment;

[0009] Determine whether the construction is completed according to the construction result at the current moment;

[0010] If the construction is not completed, use the construction result at the current moment as the construction result of the previous moment, and return to execute the step of determining the current strength of the rock.

[0011] The cutter control method based on rock strength identification provided by the embodiment of the present invention determines the current strength of the rock; according to the current strength, cutter type and preset construction control parameter thresholds, determines the construction control parameter group at the current moment, and controls the cutter to cut the rock according to the construction control parameter group at the current moment to obtain the construction result at the current moment; determines whether the construction is completed according to the construction result at the current moment; if the construction is not completed, takes the construction result at the current moment as the construction result at the previous moment, and returns to execute the step of determining the current strength of the rock. In the above technical solution, on the one hand, determining the current strength of the rock first can not only realize the timely acquisition of the strength change of the rock during the entire construction process, but also provide a basis for quickly adjusting the construction control parameters for controlling the cutter operation according to the current strength of the rock in a timely manner. On the other hand, mainly determines the construction control parameter group for controlling the cutter operation at the current moment according to the current strength of the rock and the cutter type, and automatically controls the change of the construction control parameter group when the cutter operates according to the current strength of the rock, solving the problem that the current construction control parameters of the cutter are adjusted only by manual experience, which may lead to unstable construction results of the cutter on the rock, and ensuring the stability of the construction results during the entire construction operation of the cutter. Further, it can also reduce the situation that the cutter may be severely worn or even damaged due to the mismatch between the construction control parameters of the cutter and the strength of the rock. Finally, determining whether the construction is completed according to the construction result at the current moment can return to the step of determining the current strength when it is determined that the construction is not completed, so as to realize the real-time adjustment of the construction control parameter group of the cutter according to the current strength of the rock, ensuring the real-time performance and integrity of the entire operation process.

[0012] According to another aspect of the present invention, there is provided a cutter control device based on rock strength identification, which is applied to a vessel, and a cutter is installed on the vessel; the device includes:

[0013] A determination module, configured to determine the current strength of the rock, where the current strength is the initial exploration strength of the rock at the initial moment and is determined according to the construction result at the previous moment and a preset mapping relationship at a non-initial moment;

[0014] A control module, configured to determine the construction control parameter group at the current moment according to the current strength, cutter type and preset construction control parameter thresholds, and control the cutter to cut the rock according to the construction control parameter group at the current moment to obtain the construction result at the current moment;

[0015] A judgment module, configured to determine whether the construction is completed according to the construction result at the current moment; if the construction is not completed, takes the construction result at the current moment as the construction result at the previous moment, and returns to execute the step of determining the current strength of the rock.

[0016] According to another aspect of the present invention, there is provided a vessel, the vessel includes:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the cutter control method based on rock strength identification according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the cutter control method based on rock strength identification according to any embodiment of the present invention when executed.

[0021] According to another aspect of the present invention, there is provided a computer program product including a computer program which implements the cutter control method based on rock strength identification according to any embodiment of the present invention when executed by a processor.

[0022] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0024] Figure 1 A flowchart showing a cutter control method based on rock strength identification provided by an embodiment of the present invention;

[0025] Figure 2 An example flowchart for determining a mapping relationship provided by an embodiment of the present invention;

[0026] Figure 3 Another flowchart showing a cutter control method based on rock strength identification provided by an embodiment of the present invention;

[0027] Figure 4 A structural schematic diagram of a cutter control device based on rock strength identification provided by an embodiment of the present invention;

[0028] Figure 5 A structural schematic diagram of a vessel provided by an embodiment of the present invention. Detailed implementation manners

[0029] In order to enable those skilled in the art of the present technology to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] It should be noted that the terms "original", "target", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] Figure 1 As a schematic flowchart of a cutter control method based on rock strength identification provided in an embodiment of the present invention, this embodiment is applicable to automatically controlling a cutter to cut rock during underwater rock cutting operations. This method can be executed by a cutter control device based on rock strength identification. The cutter control device based on rock strength identification can be implemented in the form of hardware and / or software, and the cutter control device based on rock strength identification can be configured in a ship. In this embodiment, the ship is presented in the form of an electronic device. The electronic device can be a computer or a terminal device. As Figure 1 shown, the method includes:

[0032] S101. Determine the current strength of the rock.

[0033] Among them, the current strength is the initial exploration strength of the rock at the initial moment, and is determined according to the construction result of the previous moment and a preset mapping relationship at a non-initial moment. In this embodiment, according to engineering specifications, the uniaxial compressive strength of the rock is used as the strength of the rock. The construction results include the cutting output, transverse thrust, torque and power of the rock. The mapping relationship is used to represent the corresponding relationship between the construction results and the rock strength.

[0034] Specifically, during the process of a dredging vessel carrying a cutter head to complete a full cutting operation, the strength of the rock is constantly changing. For example, the strength of the rock at the 5th second of cutting is different from that at the 10th second of cutting. Therefore, in order to determine control parameters such as the cutting speed and power for subsequent control of the cutter head to perform cutting work based on the real-time strength of the rock during the operation process, the current strength of the rock will be determined first.

[0035] Exemplarily, in one implementation, at the initial moment, that is, when the cutting work just starts, the current strength of the rock is the initial exploration strength. The initial exploration strength can be determined according to the on-site geological exploration data, or the uniaxial compressive strength can be directly determined on-site. In another implementation, at a non-initial moment, it can be determined according to the construction result of the previous moment and a pre-set mapping relationship. For example, since rocks with different strengths have different construction results under the cutting action of the cutter head according to the same set of construction control parameters, the mapping relationship between the rock strength and the construction result can be determined through experiments or tests in the historical process. After obtaining the construction result of the previous moment, the current strength of the rock can be determined according to this mapping relationship.

[0036] Optionally, the frequency of "determining the current strength of the rock" can be determined by estimating the minimum cutter suction time of rocks in different regions based on geological exploration data. For example, if the minimum estimated cutting time for soft rock / hard rock is determined to be 1.5 min according to the geological exploration data and the rocks in the area to be constructed, the determination period can be set according to at least 1 / 10 of this cutter suction time or 20 s. For example, the "current strength" of the rock is determined every 20 s when the cutter head works.

[0037] Optionally, real-time data monitoring of the rotation speed, output, power, transverse movement speed, thrust, and torque during the cutting process of the cutter head can be carried out through devices such as a cutter head tachometer, a dredging output monitor, a power monitor, a transverse movement speed monitor, a transverse movement thrust monitor, and a torque monitor to obtain the construction result.

[0038] In this embodiment, determining the current strength of the rock first can not only realize timely knowledge of the strength change of the rock during the entire construction process, but also provide a basis for quickly adjusting the construction control parameters for controlling the cutter head operation in a timely manner according to the current strength of the rock.

[0039] S102. Determine the construction control parameter group at the current moment according to the current strength, the cutter head type, and the preset construction control parameter threshold, and control the cutter head to cut the rock according to the construction control parameter group at the current moment to obtain the construction result at the current moment.

[0040] Among them, the reamer type is the type of reamer installed on the vessel, such as a toothed reamer, a bucket reamer, and a milling reamer. The construction control parameters include the reamer rotation speed, the transverse movement speed, the feed depth, and the cutting angle, etc. The thresholds of the construction control parameters are determined according to the on-site construction conditions or established construction requirements, and are used to determine the variables and fixed quantities in the above construction control parameters. For example, during the entire construction process this time, the reamer rotation speed can be changed, the cutting angle is controlled to be only a certain angle, the transverse movement speed is controlled to be several fixed speeds within the rated speed, and the feed depth is controlled to be a certain fixed depth. The construction control parameter group is the parameter group formed by all the construction control parameters and their corresponding values after determining each of the above construction control parameters at the current moment.

[0041] Specifically, in one implementation, after obtaining the current strength, since the construction control parameters of reamers of different reamer types may vary, and reamers of different reamer types are also for rocks with different geotechnical characteristics, therefore, the candidate construction control parameter group can be determined first according to the construction control parameter thresholds and the reamer type. Further, based on the current strength and the preset fuzzy control method, the construction control parameter group suitable for the rock with the current strength can be selected from the candidate construction control parameter group. For example, if the current strength of the rock is soft rock with low cutting resistance, a construction control parameter group with a higher reamer rotation speed, a larger cutting thickness, and a moderate transverse movement speed can be selected. In another implementation, the construction control parameter group at the current moment that matches the reamer type, the construction control parameter thresholds, and the current strength of the rock is determined from the construction database. Among them, the construction database includes different construction results obtained by cutting rocks with different strengths using different types of reamers according to different construction control parameters based on historical construction operation parameters, experiments or tests. Therefore, the construction control parameter group at the current moment that matches the reamer type, the construction control parameter thresholds, and the current strength of the rock can be directly determined from the construction database. And, after determining the current construction control parameter group, the reamer can be controlled to cut the rock according to the construction control parameter group at the current moment, and the construction result at the current moment is recorded. Among them, the construction result can be determined based on various sensors installed on the vessel. And, for the "construction result at the current moment", "construction control parameters at the current moment", "reamer type", and "current strength" at the current moment and the previous moments, they can be directly stored as samples in the construction database to enrich the data in the construction database.

[0042] In this embodiment, the construction control parameter set for controlling the cutter operation at the current moment is determined mainly based on the current strength of the rock and the cutter type, and the change of the construction control parameter set during the cutter operation is automatically controlled according to the current strength of the rock, solving the problem that the current practice of only using manual experience to adjust the construction control parameters of the cutter may lead to unstable construction results of the cutter on the rock, and ensuring stable construction results during the entire construction operation of the cutter. Further, it can also reduce the situation where the cutter may be severely worn or even damaged due to the mismatch between the construction control parameters of the cutter and the strength of the rock.

[0043] S103. Determine whether the construction is completed according to the construction result at the current moment.

[0044] Specifically, since the construction result reflects the real-time cutting operation situation of the cutter on the rock, it is possible to determine whether the current construction is completed based on the construction result at the current moment.

[0045] Exemplarily, in one implementation, if the cutting output in the construction result at the current moment is 0, it indicates that the construction has been completed. In another implementation, the construction result may include the geological exploration positioning situation, and it is determined whether the construction is completed according to the geological exploration positioning situation.

[0046] S104. If the construction is not completed, use the construction result at the current moment as the construction result at the previous moment, and return to execute the step of determining the current strength of the rock.

[0047] Specifically, if the construction is not completed, use the construction result at the current moment as the construction result at the previous moment, and return to execute the step of determining the current strength of the rock to determine the current strength of the rock in real time and adjust the construction control parameter set of the cutter in real time according to the current strength.

[0048] Optionally, if the construction is completed, the cutter can be controlled to stop working.

[0049] In this embodiment, determining whether the construction is completed according to the construction result at the current moment can, when it is determined that the construction is not completed, return to the step of determining the current strength to realize real-time adjustment of the construction control parameter set of the cutter according to the current strength of the rock, ensuring the real-time performance and integrity of the entire operation process.

[0050] The cutter control method based on rock strength identification provided by the embodiment of the present invention determines the current strength of the rock; according to the current strength, cutter type and preset construction control parameter thresholds, determines the construction control parameter group at the current moment, and controls the cutter to cut the rock according to the construction control parameter group at the current moment to obtain the construction result at the current moment; determines whether the construction is ended according to the construction result at the current moment; if the construction is not ended, takes the construction result at the current moment as the construction result at the previous moment, and returns to execute the step of determining the current strength of the rock. In the above technical solution, on the one hand, determining the current strength of the rock first can not only realize timely knowledge of the strength change of the rock during the whole construction process, but also provide a basis for quickly adjusting the construction control parameters for controlling the cutter operation according to the current strength of the rock in time. On the other hand, mainly determines the construction control parameter group for controlling the cutter operation at the current moment according to the current strength of the rock and the cutter type, and automatically controls the change of the construction control parameter group when the cutter operates according to the current strength of the rock, which solves the problem that the current construction control parameters of the cutter are adjusted only by manual experience, resulting in unstable construction results of the cutter for the rock, and ensures the stability of the construction results during the whole construction operation of the cutter. Further, it can also reduce the situation that the cutter may be severely worn or even damaged due to the mismatch between the construction control parameters of the cutter and the strength of the rock. Finally, determining whether the construction is ended according to the construction result at the current moment can return to the step of determining the current strength when it is determined that the construction is not ended, so as to realize real-time adjustment of the construction control parameter group of the cutter according to the current strength of the rock, ensuring the real-time and integrity of the whole operation process.

[0051] Optionally, on the basis of the above embodiments and other examples, the embodiment of the present invention provides a method for determining a preset mapping relationship, which is only for exemplary illustration.

[0052] Figure 2 It is a flowchart example for determining the mapping relationship provided by the embodiment of the present invention. As Figure 2 shown, the determination process includes:

[0053] S201. Determine the construction parameter information set corresponding to the cutter type and construction control parameter thresholds from the construction database.

[0054] Among them, the construction parameter information set includes the strength of different sample rocks and their corresponding historical construction control parameter groups and historical construction results. The construction database includes multiple cutter types, multiple historical construction control parameter groups, sample rocks of multiple strengths and multiple groups of historical construction results. Using a cutter of one cutter type to construct a sample rock of one strength according to a group of construction control parameter groups corresponds to a group of historical construction results.

[0055] Specifically, first, based on the reamer type, multiple historical construction control parameter groups corresponding to the reamer of this reamer type in the construction database, sample rocks of multiple strengths, and multiple groups of historical construction results are determined. Secondly, the above-determined information is screened according to the construction control parameter thresholds, and the screened information is used as the construction parameter information set.

[0056] Optionally, in this embodiment, the process of establishing the construction database is as follows:

[0057] Obtain sample rocks of multiple rock strengths. Since rocks can be classified according to their corresponding rock strengths into soft rocks and hard rocks. For example, taking 30 MPa of rock strength as the boundary, rocks below 30 MPa are soft rocks, and rocks above 30 MPa are hard rocks. Therefore, in actual acquisition, at least 5 soft rocks and at least 5 hard rocks can be selected as sample rocks. And, use different reamer heads including construction alternatives, and select the common feed depth and cutting angle corresponding to the reamer head. Among them, at least two values of feed depth and at least two values of cutting angle can be selected. Further, select at least four values of reamer rotation speed and at least four values of transverse movement speed. According to the above selection situation, complete the reamer cutting rock experiment under a single variable, and record the construction result data during the cutting process to obtain the historical construction results, that is, cutting output, transverse thrust, reamer torque, and power. Store each reamer cutting rock experiment under a single variable and its recorded construction result data as historical data, and the construction database can be obtained. The above is only an exemplary example, and the specific process of establishing the construction database and various values selected for each variable therein can be adjusted according to the actual situation.

[0058] S202. Fit the strength of the sample rock, its corresponding historical construction control parameter group, and historical construction results to obtain the mapping relationship.

[0059] Specifically, the mapping relationship can be determined according to the following steps:

[0060] (1) For any component in the historical construction results, obtain at least one data set corresponding to the component.

[0061] Among them, a data set is the data corresponding to the component generated when cutting sample rocks of different strengths according to the same historical construction control parameter group. In this embodiment, the components in the construction results are cutting output, transverse thrust, torque, and power.

[0062] Specifically, since the set of construction parameter information corresponding to the cutter type and the construction control parameter thresholds determined from the construction database includes the data corresponding to the components generated when the cutter of this cutter type cuts the sample rocks of different sample strengths according to different historical construction control parameter groups, that is, the data corresponding to the cutting output, the transverse thrust, the torque, and the power, therefore, at least one data set corresponding to each component can be obtained accordingly.

[0063] Exemplarily, taking the cutting output as an example, assuming that it can be known according to the construction control parameter thresholds that there are only three variable values for the cutter speed in the construction control parameters: RRS1, RRS2, and RRS3, and the other three construction control parameters each correspond to a fixed value, that is, remain unchanged, which are: the transverse speed CTS6, the feed depth DOC4, and the cutting angle CA2. Then, for the cutting output, three corresponding data sets can be obtained. One data set is the rock strength of different sample rocks and their corresponding historical cutting outputs when the historical construction control parameter group is [RRS1, CTS6, DOC4, CA2]. Among them, one rock strength corresponds to one data of the historical cutting output. Another data set is the rock strength of different sample rocks and their corresponding historical cutting outputs when the historical construction control parameter group is [RRS2, CTS6, DOC4, CA2]. Another data set is the rock strength of different sample rocks and their corresponding historical cutting outputs when the historical construction control parameter group is [RRS3, CTS6, DOC4, CA2].

[0064] (2) Fit at least one data set to obtain the mapping relationship corresponding to the component.

[0065] Optionally, in one implementation, if there is only one data set for a obtained component, directly aggregate this data set to obtain the mapping relationship corresponding to this component. In another implementation, if there are multiple data sets for a obtained component, for example, in the above example, three data sets are obtained. Then, one method is to fit the three data sets respectively to obtain three mapping relationships, and then merge and fit the three mapping relationships to obtain the mapping relationship corresponding to this component. Using the mapping relationship obtained by this method, the independent variable is the strength of the rock, and the dependent variable is this component. Another method is to use the multi-variable fitting method or the multi-parameter coupling method to fit the three data sets. Using the mapping relationship obtained by this method, the independent variables are the strength of the rock and each construction control parameter in different construction control parameter groups, and the dependent variable is this component.

[0066] Optionally, before fitting the dataset, to ensure the unity of the units of different data, thus, a dimensionless processing is required. In one implementation, according to engineering specifications, if the uniaxial compressive strength of the rock is less than 30 MPa, it is a soft rock, otherwise it is a hard rock. Therefore, directly taking the rock strength of 30 MPa as "1", a proportional conversion is performed on all rock strengths to achieve dimensionless processing. In another implementation, for all data, methods such as Buckingham π method, power multiplication method, and least squares method can be directly used to directly perform data fitting, which can achieve dimensionless data fitting.

[0067] In this embodiment, preprocessing each data by dimensionless processing can provide an accurate and highly applicable data basis for obtaining the mapping relationships of different rock strengths, construction control parameter sets, and the components of each construction result according to data from different sources and with different dimensions.

[0068] Specifically, the fitting can be performed in the following manner:

[0069] (1) According to the pre-set fitting function types, each dataset is respectively fitted to obtain at least one candidate result relationship.

[0070] Among them, one candidate result relationship is obtained by fitting a dataset using a fitting function type. The fitting function types include but are not limited to: linear function, polynomial function, exponential function, logarithmic function, Gaussian function, etc.

[0071] Specifically, taking the transverse thrust as an example, assuming that the transverse thrust only corresponds to a group of datasets, that is, each construction control parameter is a fixed value, then the datasets can be successively fitted according to the pre-set fitting function types to obtain the result relationships after fitting with different fitting function types. These relationships can be used as candidate result relationships.

[0072] (2) Determine the correlation coefficient of each candidate result relationship, and determine the candidate result relationship corresponding to the maximum correlation coefficient as the mapping relationship corresponding to the component.

[0073] Specifically, calculate the correlation coefficient of each candidate result relationship, and determine the candidate result relationship corresponding to the maximum correlation coefficient as the mapping relationship corresponding to the component.

[0074] Exemplarily, according to the above embodiment, taking the rock strength of 30 MPa as "1", a proportional conversion is performed on all rock strengths to achieve dimensionless processing. The candidate result relationships can be divided into different result relationships for soft rocks and hard rocks. Here, an exemplary statement is made with the different strengths of soft rocks and cutting production as an example. Table 1 is an example table of candidate result relationships, specifically as follows:

[0075] Table 1 Example Table of Candidate Result Relations

[0076]

[0077] Taking the sample rock strength of soft rock below 30 MPa as x and the cutting output corresponding to different sample rocks as M, fitting the data set according to different fitting function types, various candidate result relations under "Candidate Result Relations" in Table 1 can be obtained. Also, calculate the correlation coefficient corresponding to each candidate result relation.

[0078] Among them, since the correlation coefficient of "M = -0.0024829x 2 +0.2018821x + 0.1670521" is the largest, therefore, take "M = -0.0024829x 2 +0.2018821x + 0.1670521" as the mapping relation of the cutting output corresponding to soft rock.

[0079] In this embodiment, first determine the set of construction parameter information corresponding to the cutter type and construction control parameter thresholds from the construction database, which can realize selecting multiple groups of construction parameter information that is more matched with the current construction situation from the construction database according to the specific situation of the current construction. Then fit the strength of the sample rock and its corresponding historical construction control parameter groups and historical construction results to obtain the mapping relation, which can provide a basis for quickly and accurately back-calculating the current strength of the rock at the current moment after obtaining the construction result at the previous moment. Further, in this embodiment, use different fitting function types to fit the data in a data set to obtain multiple candidate result relations, and determine the mapping relation corresponding to each component of the final construction result according to the correlation coefficients corresponding to the multiple candidate result relations. In this way, it can be realized to more accurately describe the data characteristics of the data set corresponding to each component of the construction result. During the fitting process, noise reduction and smoothing processing of the data can also be realized, and the most suitable fitting result relation can be selected based on the correlation coefficient to obtain a mapping relation that can present the relationship between the strength of different rocks and the construction result in a simple form.

[0080] Figure 3 Another flowchart of the cutter control method based on rock strength identification provided by an embodiment of the present invention. Based on the above embodiment and other examples, how to determine the current strength of the rock based on the obtained mapping relation is described in detail. As Figure 3 shown, the method includes:

[0081] S301. Determine the current strength of the rock.

[0082] Specifically, if at the initial moment of construction start, the current strength of the rock is the initial exploration strength of the rock, and at non-initial moments, the current strength is determined according to the construction results of the previous moment and a pre-set mapping relationship, including:

[0083] (1) For any component, substitute the data of this component in the construction results of the previous moment into the mapping relationship corresponding to this component to obtain the back-calculated strength value corresponding to this component.

[0084] Among them, the type of the back-calculated strength value includes non-real numbers.

[0085] Specifically, according to the method as described above, after determining the mapping relationship corresponding to each component of the construction results, the following table can be obtained. As shown in Table 2 below, in Table 2, it shows the mapping relationship between the rock strength of soft rock and different components of construction results after dividing the rock strength into soft rock and hard rock with 30 MPa as the boundary, calculated according to the method as described above.

[0086] Table 2 Example Table of Mapping Relationship

[0087]

[0088] Taking the mapping relationship of the cutting output of soft rock as an example, the mapping relationship of the cutting output of soft rock is the mapping relationship of the cutting output corresponding to the finally selected soft rock in the above example. Among them, M is the cutting output, P is the power, F is the average transverse thrust, T is the torque, and x is the strength of the rock. The correlation coefficient R of the table 2 is the correlation coefficient corresponding to each mapping relationship. The mapping relationships of other components of the construction results of soft rock, as well as the mapping relationships of the components of the construction results of hard rock, are also obtained as described in the above example.

[0089] After obtaining the above table, the mapping relationship between each component of the construction results and the strength of the rock can be clarified. Therefore, for any component, after obtaining the data of this component in the construction results of the previous moment, the data of this component can be substituted into the mapping relationship corresponding to this component to obtain the back-calculated strength value corresponding to this component. For example, if the construction results of the previous moment show that the cutting output is M1, then M1 can be substituted into "M = -0.0024829x 2 + 0.2018821x + 0.1670521" to obtain the back-calculated strength value "x", for example, obtaining x M . In actual calculation, this x M can be a real number or a non-real number. And, there can be multiple x M , for example, if there is a power greater than 1 in the expression of the mapping relationship, then x M can be determined according to the degree of its power.

[0090] (2) Take the back-calculated strength values corresponding to all components as the current strength information of the rock.

[0091] Exemplarily, during the construction process, the dimensionless construction results at the previous moment are obtained as follows: relative production 0.27918, relative power 1.27210, relative transverse thrust 0.85917, and relative average torque 2.00399. After substituting into the above formula, the current strength information of the rock can be obtained as shown in Table 3 below.

[0092] Table 3 First Example Table of Rock Strength Information

[0093]

[0094] Among them, the back-calculated strength value is the value of x obtained by substituting the numerical value of each construction result component into the mapping relationship according to the above method. And, the back-calculated strength values 0.56 and 80.8 corresponding to the cutting production as mentioned above both belong to the above-mentioned x M .

[0095] (3) Determine the current strength of the rock according to the pre-set back-calculation result judgment conditions and the current strength information.

[0096] Among them, the back-calculation result judgment conditions are used to screen the back-calculated strength values in the current strength information.

[0097] Specifically, since different construction result components can finally calculate different back-calculated strength values, it is necessary to screen the back-calculated strength values according to the pre-set back-calculation result judgment conditions to determine the current strength of the rock.

[0098] Exemplarily, the back-calculation result judgment conditions include the first condition and the second condition. Determining the current strength of the rock according to the pre-set back-calculation result judgment conditions and the current strength information includes:

[0099] (1) Use the first condition to delete the non-real back-calculated strength values from the current strength information, and determine the candidate rock types of the rock according to the rock types corresponding to the deleted back-calculated strength values.

[0100] Among them, the first condition is: if the back-calculated strength value is non-real, then the current strength of the rock does not belong to this rock type. Exemplarily, continuing the above example, in Table 3, since the rock type is soft rock and the construction result component is torque, and its corresponding back-calculated strength value has no real solution, therefore, according to the first condition, it can be determined that the current strength of the rock does not belong to soft rock. Then it can be determined that the rock with the current strength is a hard and soft inclusion or a hard rock. At this time, the negative real solutions in the current strength information can be directly deleted.

[0101] (2) Determine the candidate current strength of the rock from the current strength information corresponding to the rocks of the candidate rock types using the second condition, and determine the current strength of the rock according to the mapping relationships corresponding to all components corresponding to each candidate current strength.

[0102] Among them, the second condition is used to determine whether all the back-calculated strength values are within the preset threshold range. In this embodiment, the second condition is whether more than a preset number of back-calculated strength values are within the preset threshold range. Specifically, in one implementation manner, it is only necessary to determine whether the current strength of the rock belongs to hard rock or soft rock. In another implementation manner, not only can it be determined whether the current strength of the rock belongs to hard rock or soft rock, but also the specific current strength of the rock can be determined.

[0103] Exemplarily, since it is known from the geological exploration conditions and engineering specifications that the uniaxial compressive strength of soft rock is mainly 10.1 - 11 MPa, and the uniaxial compressive strength of hard rock is mainly 39 - 41.8 MPa, therefore, this can be used as the preset threshold range. For soft rock, if among the back-calculated strength values corresponding to all construction result components, there are three or more back-calculated strength values within the range of 10.1 - 11 MPa, or for hard rock, if among the back-calculated strength values corresponding to all construction result components, there are three or more back-calculated strength values within the range of 39 - 41.8 MPa, then the current strength of the rock can be determined based on these back-calculated strength values belonging to the corresponding preset threshold range and the correlation coefficients of the mapping relationships of the construction result components corresponding to the back-calculated strength values. For example, continuing the above example, since among the back-calculated strength values of hard rock, one back-calculated strength value corresponding to cutting output is 40.65, one back-calculated strength value corresponding to power is 40.5, one back-calculated strength value corresponding to average transverse thrust is 40.52, and one back-calculated strength value corresponding to torque is 40.5, and these four values are all within the range of 39 - 41.8 MPa, therefore, the correlation coefficient of each construction result component can be determined, that is, the correlation coefficient of the mapping relationship corresponding to cutting output is 0.98851, that is, the correlation coefficient of the mapping relationship corresponding to power is 0.9893, that is, the correlation coefficient of the mapping relationship corresponding to average transverse thrust is 0.9202, and that is, the correlation coefficient of the mapping relationship corresponding to torque is 0.9793. Take the one with the largest correlation coefficient. For example, the correlation coefficient of the mapping relationship corresponding to power is 0.9893, which is the largest. Therefore, use the back-calculated strength value corresponding to power as the current strength.

[0104] Optionally, following the above example, since only the information of negative real number solutions in the current strength information can be deleted based on the first condition, and it can be determined that the rock of the current strength is a hard-soft inclusion or a hard rock, it is necessary to use the second condition to determine whether the rock strength of the current rock belongs to the strength of a hard rock or the strength at the hard-soft interface. Thus, according to the above exemplary method, if it can be determined that multiple values in the back-calculated strength values of the hard rock are within the uniaxial compressive strength range of the hard rock, it can be determined that the rock of the current strength belongs to the hard rock; if it cannot be determined that the rock of the current strength belongs to the hard rock, then the rock of the current strength belongs to the hard-soft interface rock. Optionally, if it is determined that the current strength is at the hard-soft interface, the construction can continue according to the construction control parameters at the initial moment, and the steps of S303 can be directly executed.

[0105] Optionally, during the construction process, the dimensionless construction results at the previous moment are obtained as follows: relative production 1.99808, relative power 0.982446, relative transverse thrust 0.89286, and relative average torque 1.047740. After substituting into the above formula, the current strength information can be obtained, as shown in Table 4.

[0106] Table 4 Second Example Table of Rock Strength Information

[0107]

[0108] Screen the above table according to the first condition, and the construction result components and back-calculated strength values corresponding to the hard rock can be deleted. At this time, during the screening process according to the second condition, it can be found that among the soft rocks, the back-calculated strength values corresponding to the cutting production are 10.401, the back-calculated strength values corresponding to the power are 10.4, and the back-calculated strength values corresponding to the torque are 10.38, all of which are between 10.1 and 11 MPa, while the back-calculated strength value corresponding to the average transverse thrust is 11.52, exceeding this range. At this time, the correlation coefficients of the mapping relationships corresponding to each construction result are still determined, that is, the correlation coefficient of the mapping relationship corresponding to the cutting production is 0.9729, that is, the correlation coefficient of the mapping relationship corresponding to the power is 0.9951, that is, the correlation coefficient of the mapping relationship corresponding to the average transverse thrust is 0.9131, and that is, the correlation coefficient of the mapping relationship corresponding to the torque is 0.9795. According to the correlation coefficients, since the correlation coefficient of the mapping relationship corresponding to the average transverse thrust is the lowest, it can be comprehensively judged that the current strength of the rock is still a soft rock, and the current strength is 10.4 MPa.

[0109] In this embodiment, if the back-calculated strength values corresponding to the components of the construction results for the same rock type all fall within the preset threshold range, the current strength of the rock can be determined according to the correlation coefficients corresponding to the mapping relationships of each component. Moreover, if there are individual back-calculated strength values that do not fall within the preset threshold range but are close to the upper or lower bounds of the preset threshold range, it can be determined whether this value affects the final determination of the current strength of the rock according to the correlation coefficient of the mapping relationship corresponding to the component corresponding to this back-calculated strength value. In this way, it is possible to jointly judge the current strength of the rock using different components, improving the accuracy and reliability of the judgment of the current strength.

[0110] S302. Determine whether the rock type corresponding to the current strength is the same as the rock type corresponding to the previous strength of the rock; if they are the same, execute S303; if they are different, execute S304.

[0111] Among them, the rock type is either soft rock or hard rock. In this embodiment, if the current strength is the rock strength at the initial moment, this step does not need to be executed, and S304 is directly executed. Or, if the rock type corresponding to the previous strength is "empty", after being judged by the vessel, S304 will be automatically executed.

[0112] Specifically, determine whether the rock type corresponding to the current strength has changed, that is, if the rock type corresponding to the previous strength is different from the rock type corresponding to the current strength, it means that the strength of the rock has changed significantly. At this time, continuing to construct the rock with the current strength using the previous construction control parameter set will cause the problems mentioned above. Therefore, it is necessary to execute the steps of S304 to change the construction control parameter set at the current moment. If the rock type corresponding to the previous strength is the same as the rock type corresponding to the current strength, it means that the strength of the rock has not changed much. At this time, the original construction control parameter set can be maintained to cut the rock.

[0113] S303. Determine the current strength as the previous strength, and when it is determined that the construction has not ended, return to execute S301.

[0114] Specifically, when it is determined that the rock type corresponding to the current strength is the same as the rock type corresponding to the previous strength of the rock, determine the current strength as the previous strength.

[0115] It should be noted that before returning to execute S301, it is also necessary to determine whether the construction is completed. At this time, in one implementation, it is directly determined whether the construction is completed according to whether the cutting output in the "construction result at the current moment" is zero. For example, when the cutting output is zero, it is determined that the construction is completed, and S306 is directly executed. In another implementation, it is possible to determine whether the construction is completed according to the geological exploration and positioning situation. If it is determined that the construction is completed, there is no need to return to execute S301, and the steps of S306 can be directly executed. If it is determined that the construction is not completed, return to execute S301.

[0116] S304. Determine the construction control parameter group at the current moment according to the current strength, cutter type, and preset construction control parameter thresholds, and control the cutter to cut the rock according to the construction control parameter group at the current moment to obtain the construction result at the current moment.

[0117] Specifically, after knowing the current strength, cutter type, and construction control parameter thresholds, the construction control parameter group that matches the current strength (or the rock type corresponding to the current strength), cutter type, and construction control parameter thresholds can be directly searched in the construction database. At the same time, since the construction database also records different construction results obtained after cutting the rock of the current strength or the rock type corresponding to the current strength with the cutter of this cutter type according to different construction control parameters, it is also possible to screen and obtain the most matching construction control parameter group according to the expected value of the required construction result preset by the user. For example, if the user presetly hopes that the cutting output can be large, the construction control parameter group corresponding to the construction result with a large cutting output can be selected.

[0118] And after determining the construction control parameter group at the current moment, control the cutter to cut the rock according to the construction control parameter group at the current moment to obtain the construction result at the current moment.

[0119] S305. Determine whether the construction is completed according to the construction result at the current moment; if it is completed, execute S306; if it is not completed, return to execute S307.

[0120] Specifically, since the construction result reflects the real-time cutting operation situation of the cutter on the rock, it is possible to determine whether the current construction is completed based on the construction result at the current moment.

[0121] S306. Control the cutter to stop cutting work.

[0122] Specifically, if the construction is completed, the cutter can be controlled to stop working.

[0123] S307. Take the construction result at the current moment as the construction result at the previous moment, and return to execute S301.

[0124] Specifically, if the construction is not completed, the construction result at the current moment is used as the construction result at the previous moment, and the step of determining the current strength of the rock is returned to be executed to determine the current strength of the rock in real time, and the construction control parameter set of the cutter head is adjusted in real time according to the current strength.

[0125] Figure 4 FIG. 4 is a schematic structural diagram of a cutter head control device based on rock strength identification provided by an embodiment of the present invention. As Figure 4 shown, it is applied to a ship, and a cutter head is installed on the ship; the device includes:

[0126] A determination module 401, configured to determine the current strength of the rock, where the current strength is the initial exploration strength of the rock at the initial moment and is determined according to the construction result at the previous moment and a preset mapping relationship at a non-initial moment.

[0127] A control module 402, configured to determine the construction control parameter set at the current moment according to the current strength, the cutter head type, and a preset construction control parameter threshold, and control the cutter head to cut the rock according to the construction control parameter set at the current moment to obtain the construction result at the current moment.

[0128] A judgment module 403, configured to determine whether the construction is completed according to the construction result at the current moment; if the construction is not completed, the construction result at the current moment is used as the construction result at the previous moment, and the step of determining the current strength of the rock is returned to be executed.

[0129] Optionally, the device further includes a mapping relationship determination module, and the mapping relationship determination module is specifically configured to:

[0130] Determine a construction parameter information set corresponding to the cutter head type and the construction control parameter threshold from the construction database, where the construction parameter information set includes the strengths of different sample rocks and their corresponding historical construction control parameter sets and historical construction results; perform fitting on the strengths of the sample rocks and their corresponding historical construction control parameter sets and historical construction results to obtain a mapping relationship.

[0131] Optionally, when performing fitting on the strengths of the sample rocks and their corresponding historical construction control parameter sets and historical construction results to obtain a mapping relationship, the mapping relationship determination module is specifically configured to:

[0132] For any component in the historical construction result, obtain at least one data set corresponding to the component, where one data set is the data corresponding to the component generated when cutting sample rocks with different strengths according to the same historical construction control parameter set; perform fitting on the at least one data set to obtain the mapping relationship corresponding to the component.

[0133] Optionally, at least one data set is fitted to obtain the mapping relationship corresponding to the component. Specifically, the mapping relationship determination module is configured to:

[0134] According to the pre-set fitting function type, each data set is respectively fitted to obtain at least one candidate result relationship. Among them, one candidate result relationship is obtained by fitting the data set using one fitting function type; the correlation coefficient of each candidate result relationship is determined, and the candidate result relationship corresponding to the maximum correlation coefficient is determined as the mapping relationship corresponding to the component.

[0135] Optionally, the current strength is determined according to the construction result of the previous moment and the pre-set mapping relationship. Specifically, the determination module 401 is configured to:

[0136] For any component, substitute the data of this component in the construction result of the previous moment into the mapping relationship corresponding to this component to obtain the back-calculated strength value corresponding to this component. Among them, the type of the back-calculated strength value includes non-real numbers; the back-calculated strength values corresponding to all components are used as the current strength information of the rock; according to the pre-set back-calculation result judgment condition and the current strength information, the current strength of the rock is determined, where the back-calculation result judgment condition is used to screen the back-calculated strength values in the current strength information.

[0137] Optionally, the back-calculation result judgment condition includes a first condition and a second condition; according to the pre-set back-calculation result judgment condition and the current strength information, the current strength of the rock is determined. Specifically, the determination module 401 is configured to:

[0138] Use the first condition to delete the non-real back-calculated strength values from the current strength information, and determine the candidate rock type of the rock according to the rock type corresponding to the deleted back-calculated strength values; use the second condition to determine the candidate current strength of the rock from the current strength information corresponding to the rock of the candidate rock type, and determine the current strength of the rock according to the mapping relationship corresponding to all components corresponding to each candidate current strength, where the second condition is used to determine whether the back-calculated strength values are all within the preset threshold interval.

[0139] Optionally, the device further includes a rock strength monitoring module; before determining the construction control parameter group at the current moment according to the current strength, cutter type, and pre-set construction control parameter threshold, the rock strength monitoring module is specifically configured to:

[0140] Determine whether the rock type corresponding to the current strength is the same as the rock type corresponding to the previous strength of the rock; if they are the same, determine the current strength as the previous strength, and when it is determined that the construction has not ended, return to execute the step of determining the current strength of the rock; if they are different, continue to execute the step of determining the construction control parameter group at the current moment according to the current strength, cutter type, and pre-set construction control parameter threshold.

[0141] The cutter control device based on rock strength identification provided by the embodiments of the present invention can execute the cutter control method based on rock strength identification provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0142] Figure 5 FIG. 5 is a schematic structural diagram of a vessel 10 provided by an embodiment of the present invention. In this embodiment, the vessel may be presented in the form of an electronic device. The electronic device is intended to represent various forms of digital computers, such as, for example, 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 may also represent various forms of mobile devices, such as, for example, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0143] As Figure 5 shown, the vessel 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the vessel 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0144] A plurality of components in the vessel 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the vessel 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0145] The processor 11 may be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the cutter control method based on rock strength identification.

[0146] In some embodiments, the cutter control method based on rock strength identification may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the vessel 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the cutter control method based on rock strength identification described above may be executed. Alternatively, in other embodiments, the processor 11 may be configured to execute the cutter control method based on rock strength identification in any other suitable manner (e.g., by means of firmware).

[0147] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), systems-on-a-chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0148] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processors of general-purpose computers, special-purpose computers, or other programmable data processing devices, such that when the computer programs are executed by the processors, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0149] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0150] To provide interaction with a user, the systems and techniques described herein can be implemented on a vessel that has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the vessel. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0151] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0152] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0153] An embodiment of the present invention also provides a computer program product, including a computer program which, when executed by a processor, implements the cutter control method based on rock strength identification provided in any embodiment of the present invention.

[0154] In the process of implementing the computer program product, computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network - including a local area network (LAN) or a wide area network (WAN) - or can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0155] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0156] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A reamer control method based on rock strength identification, characterized in that: Applied to a vessel, wherein a reamer is installed on the vessel; the method comprises: Determine the current strength of the rock, wherein the current strength is the initial exploration strength of the rock at the initial moment, and is determined according to the construction result at the previous moment and a preset mapping relationship at a non-initial moment; Determine the construction control parameter group at the current moment according to the current strength, the reamer type and the preset construction control parameter threshold, and control the reamer to cut the rock according to the construction control parameter group at the current moment to obtain the construction result at the current moment; Determining whether the construction is completed according to the construction result at the current moment; If the construction is not finished, the construction result at the current moment is used as the construction result at the previous moment, and the process returns to the step of determining the current strength of the rock.

2. The reamer control method based on rock strength identification according to claim 1 is characterized in that: The method for determining the mapping relationship includes: Determining a construction parameter information set corresponding to the reamer type and the construction control parameter threshold from a construction database, wherein the construction parameter information set includes the strength of different sample rocks and their corresponding historical construction control parameter groups and historical construction results; The strength of the sample rock and its corresponding historical construction control parameter group and historical construction results are fitted to obtain the mapping relationship.

3. The reamer control method based on rock strength identification according to claim 2 is characterized in that: The step of fitting the strength of the sample rock and its corresponding historical construction control parameter group and historical construction results to obtain the mapping relationship includes: For any component in the historical construction results, obtaining at least one data set corresponding to the component, wherein one data set is data corresponding to the component generated when cutting sample rocks of different strengths according to the same historical construction control parameter group; Fitting is performed on the at least one data set to obtain a mapping relationship corresponding to the components.

4. The reamer control method based on rock strength identification according to claim 3 is characterized in that: The fitting of the at least one data set to obtain a mapping relationship corresponding to the components includes: According to a preset fitting function type, each of the data sets is fitted respectively to obtain at least one candidate result relationship equation, wherein one candidate result relationship equation is obtained by fitting the data set using one fitting function type; The correlation coefficient of each candidate result relational expression is determined, and the candidate result relational expression corresponding to the largest correlation coefficient is determined as the mapping relationship corresponding to the component.

5. The reamer control method based on rock strength identification according to claim 4 is characterized in that: The method for determining the current strength according to the construction result at the last moment and the preset mapping relationship includes: For any component, substitute the data of the component in the construction result at the previous moment into the mapping relationship corresponding to the component to obtain the back-calculated intensity value corresponding to the component, wherein the type of the back-calculated intensity value includes a non-real number; The back-calculated strength values ​​corresponding to all components are used as the current strength information of the rock; The current strength of the rock is determined according to a preset back-calculation result judgment condition and the current strength information, wherein the back-calculation result judgment condition is used to filter the back-calculation strength value in the current strength information.

6. The reamer control method based on rock strength identification according to claim 5 is characterized in that: The back-calculation result judgment condition includes a first condition and a second condition; the current strength of the rock is determined according to the preset back-calculation result judgment condition and the current strength information, including: Deleting non-real back-calculated strength values ​​from the current strength information using the first condition, and determining candidate rock types of the rock according to the rock types corresponding to the deleted back-calculated strength values; The second condition is used to determine the candidate current strength of the rock from the current strength information corresponding to the rock of the candidate rock type, and the current strength of the rock is determined based on the mapping relationship corresponding to all components corresponding to each of the candidate current intensities, wherein the second condition is used to determine whether the inverse calculated strength values ​​are all within a preset threshold range.

7. The reamer control method based on rock strength identification according to claim 1, characterized in that: Before determining the construction control parameter group at the current moment according to the current strength, the reamer type and the preset construction control parameter threshold, the method further includes: Determine whether the rock type corresponding to the current strength is consistent with the rock type corresponding to the previous strength of the rock; If they are consistent, the current strength is determined as the previous strength, and when it is determined that the construction is not finished, the step of returning to determine the current strength of the rock is performed; If not, continue to execute the step of determining the construction control parameter group at the current moment according to the current strength, reamer type and the preset construction control parameter threshold.

8. A reamer control device based on rock strength identification, characterized in that: Applicable to a vessel, wherein a reamer is installed on the vessel; the device comprises: A determination module, used to determine the current strength of the rock, wherein the current strength is the initial exploration strength of the rock at the initial moment, and is determined according to the construction result at the previous moment and a preset mapping relationship at a non-initial moment; A control module, used to determine a construction control parameter group at a current moment according to the current strength, the reamer type and a preset construction control parameter threshold, and control the reamer to cut the rock according to the construction control parameter group at the current moment to obtain a construction result at the current moment; The judgment module is used to determine whether the construction is completed according to the construction result at the current moment; if the construction is not completed, the construction result at the current moment is used as the construction result at the previous moment, and the step of determining the current strength of the rock is returned to be executed.

9. A vessel, characterized in that: include: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the reamer control method based on rock strength identification as described in any one of claims 1 to 7.

10. A readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the reamer control method based on rock strength identification as described in any one of claims 1 to 7 is implemented.

Images