A method for estimating concentration distribution along the mud pipeline of a cutter suction vessel

Abstract

The present invention relates to a method for estimating the concentration distribution along a cutter suction vessel mud pipeline. The method comprises the following steps: S1, real-time collection of mud density and flow rate data, and real-time filtering and storage of the data; S2, segmenting the mud pipeline according to different pipeline characteristics, and setting initial parameters for each section of the mud pipeline; S3, calculating the concentration distribution of each section of the mud pipeline using a concentration transport equation, while considering the effects of friction and pressure loss on the flow rate; S4, iteratively updating the flow rate and concentration according to a set time step, and solving the equation using a finite difference method to obtain the mud concentration distribution value along the entire mud pipeline; S5, visually displaying the concentration distribution along the entire mud pipeline based on the calculation results. The present invention can accurately estimate and display the concentration distribution of the cutter suction vessel mud pipeline in real time, effectively improving the efficiency and accuracy of dredging construction, reducing the risk of pipe blockage, and improving construction safety.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering ship automation, and in particular relates to a method for estimating concentration distribution along a mud delivery pipeline of a cutter suction vessel. Background Art

[0002] During dredging operations using a cutter suction vessel, mud is sucked from the dredging point into the vessel and transported via long-distance pipelines to designated mud ponds or treatment facilities. Typically, this transportation distance can reach several kilometers or even more than ten kilometers. Because mud flow conditions (such as flow rate and concentration) within pipelines are dynamically changing, and mud transportation typically involves pipelines of varying diameters and lengths (e.g., onboard, underwater, above-water, and onshore), this leads to significant non-uniformity in mud density distribution within the pipelines.

[0003] This unevenness can lead to a series of serious problems. For example, excessive solids concentration in the mud can easily accumulate in certain areas of the pipeline, leading to blockage. Uneven mud concentration can also cause increased wear on pumps and pipelines, leading to pipeline and equipment failures. This not only increases equipment maintenance costs but can also create unforeseen safety hazards. Therefore, real-time monitoring of the concentration distribution in mud pipelines is crucial during construction. Summary of the Invention

[0004] In response to the problems existing in the prior art, the present invention provides a method for estimating the concentration distribution along the mud pipeline of a cutter suction vessel. The method first obtains the mud density and flow rate data measured by a densitometer and a flow rate meter, and processes and stores the data in real time. Then, the mud pipeline is segmented according to different pipeline characteristics (including on-board pipes, underwater pipes, above-water pipes, land pipes, etc.), and the initial parameters of each section are set (including pipe diameter, particle settling velocity, friction factor, etc.); then, the concentration transport equation is used to calculate the concentration distribution of each section, while considering the influence of friction and pressure loss on the flow rate, and the flow rate and concentration are iteratively updated according to the set time step; finally, the equation is solved by the finite difference method to obtain the mud concentration distribution value along the entire pipeline, and the value is visualized in the dredging integrated monitoring system software.

[0005] The present invention is achieved by providing a method for estimating the concentration distribution along a sludge delivery pipeline of a cutter suction vessel, comprising the following steps:

[0006] S1. Real-time collection of mud density and flow rate data, and real-time filtering and storage of the data;

[0007] S2. Divide the mud pipeline into sections according to different pipeline characteristics and set the initial parameters of each section of the mud pipeline;

[0008] S3. Use the concentration transport equation to calculate the concentration distribution of each section of the mud pipeline, while considering the effects of friction and pressure loss on flow rate;

[0009] S4, iteratively updating the flow rate and concentration according to the set time step, and solving the equation using the finite difference method to obtain the mud concentration distribution value along the entire mud pipeline;

[0010] S5. Visualize the concentration distribution along the entire mud pipeline based on the calculation results.

[0011] Preferably, in step S1, the real-time acquisition is completed by the data acquisition module of the ship's dredging integrated monitoring system, and the data acquisition cycle is 200 milliseconds to 1 second. The mud density and flow rate data are obtained by collecting data from a density meter and a flow rate flow meter installed on the ship's mud pipeline.

[0012] Preferably, in step S1, the real-time filtering process refers to using a Gaussian filtering algorithm and an extreme value filtering algorithm to perform data processing.

[0013] Preferably, in step S2, segmenting the mud delivery pipeline according to different pipeline characteristics means dividing the mud delivery pipeline into four types: shipboard pipeline, water pipeline, underwater pipeline and land pipeline.

[0014] Preferably, in step S2, the initial parameters of each section of the mud delivery pipeline include pipeline diameter, pipeline length, particle settling velocity, pipeline friction factor, mud diffusion coefficient, water density and mud saturation density.

[0015] Further preferably, the parameter data of the particle settling velocity, pipeline friction factor, mud diffusion coefficient and mud saturation density in the initial parameters are obtained by collecting soil samples at the construction site and then analyzing and testing them in a professional laboratory, or by consulting relevant engineering manuals and standards.

[0016] Preferably, in step S3, the concentration transport equation is as follows:

[0017] (1)

[0018] Where: Indicates the location of the mud along the length of the pipeline, in meters; Indicates time, the unit is s; C is the mud mass concentration, which varies with position and time Change in units of ; Indicates that the position The flow velocity varies with the change, in m / s; is the mud diffusion coefficient, which indicates the diffusion effect of mud in the pipeline, and its unit is ; It is the particle settling velocity, which indicates the settling velocity of mud particles in the pipeline, and its unit is m / s.

[0019] Preferably, in step S3, the consideration of the influence of friction and pressure loss on the flow rate refers to the friction between the mud and the pipe wall and the viscosity effect of the mud causing pressure loss when the mud is transported in the mud pipeline, thereby affecting the flow rate and concentration change;

[0020] The pressure loss formula is as follows:

[0021] (2)

[0022] Where: Indicates pressure loss, unit is Pa; Indicates pipeline friction factor; Indicates the mud density in units of ; Indicates flow velocity in m / s; L Indicates the length of the pipeline, in meters; D Indicates the pipe diameter in meters.

[0023] Preferably, in step S4, the time step refers to a set data collection period, and is calculated once per data collection period.

[0024] Preferably, in step S4, the flow rate and concentration are updated in a loop iteratively, and the calculation process is as follows: first, the pipeline diameter, pipeline length, initial inlet flow velocity, and pipeline friction factor of each section of the pipeline are determined according to the segmentation of the mud pipeline; wherein, the initial inlet flow velocity of the ship's pipe adopts the flow velocity collected and processed in real time, and the initial inlet flow velocity of each subsequent section of the pipeline adopts the outlet flow velocity of the previous section of the pipeline; considering that the mud is incompressible and the effect of the change in pipeline diameter on the flow velocity, the flow velocity change caused by the change in pipeline diameter is calculated using the following formula:

[0025] (3)

[0026] Where: Indicates the initial inlet flow velocity of the subsequent pipeline, in m / s; Indicates the diameter of the pipeline in the latter section, in meters; Indicates the outlet flow rate of the previous section of the pipeline, in m / s; Indicates the diameter of the previous pipeline, in meters.

[0027] Further preferably, after determining the initial inlet flow rate of each pipeline section, all collected data that flowed into and did not flow out of each pipeline section are cyclically iterated and calculated according to the mud flow rate, and the distance the mud flowed in each time step is calculated. The formula is as follows:

[0028] (4)

[0029] Where: Indicates the position along the length of each pipeline The distance the mud flows in one time step, in meters; Indicates the position along the length of each pipeline The flow rate of the mud at , in m / s; Indicates the time step, in seconds.

[0030] Further preferably, during the iterative calculation process, the position of the mud along the length of the pipeline in each section of the pipeline at the current time step is calculated as follows:

[0031] (5)

[0032] Where: Represents loop iteration step n , along the length of each pipeline The position of the mud, in m; Represents loop iteration step n , along the length of each pipeline The flow rate of the mud at , in m / s; Indicates the time step, in seconds.

[0033] Further preferably, during the cyclic iterative calculation process, the pressure loss is calculated according to formula (2) in combination with the mud flow distance, flow velocity, mud density, pipeline friction factor and pipeline diameter at each time step, and the calculation formula for the flow velocity is updated as follows:

[0034] (6)

[0035] Where: Indicates the loop iteration step n, along the length of each pipeline position The flow rate of the mud at , in m / s; Indicates pipeline friction factor; Indicates the mud density in units of ; Represents loop iteration step n , along the length of each pipeline The distance of mud flow at the location, in m; Indicates the pipe diameter in meters.

[0036] Further preferably, the calculation formula for converting the real-time collected mud density into mud mass concentration is as follows:

[0037] (7)

[0038] Where: Represents the mud mass concentration used in formula (1), in units of ; Indicates the mud density in units of ; Indicates the water density of the initial parameter setting, in units of .

[0039] Further preferably, during the cyclic iterative calculation process, according to the calculation results of the above formulas (5) and (6), the formula (1) is solved by the finite difference method to obtain the following formula, and then the mud concentration distribution value along the entire pipeline is calculated:

[0040] (8)

[0041] Where: Indicates the loop iteration step n, along the length of each pipeline position The mass concentration of mud at ; Indicates the loop iteration step n, along the length of each pipeline position -1 mud mass concentration, unit is ; Indicates the loop iteration step n, along the length of each pipeline position +1 mud mass concentration, unit is ; Represents loop iteration step n , along the length of each pipeline The flow rate of the mud at , in m / s; Represents loop iteration step n , along the length of each pipeline The distance of mud flow at the location, in m; Indicates the time step, the unit is s; is the mud diffusion coefficient, in units of ; is the particle settling velocity, in m / s.

[0042] Preferably, in step S5, the visual display is to plot the concentration change and distribution of the entire mud delivery pipeline with the pipeline length as the horizontal coordinate and the mud mass percentage concentration as the vertical coordinate.

[0043] Further preferably, the calculation formula for converting the mud mass concentration to the mud mass percentage concentration is as follows:

[0044] (9)

[0045] Where: Indicates the mass percentage concentration of mud, unit is %; C Indicates the mud mass concentration in units of ; Indicates the water density of the initial parameter setting, in units of ; Indicates the mud saturation density of the initial parameter setting, in units of .

[0046] The advantages and positive effects of the present invention are:

[0047] 1. The present invention collects data on mud density, flow rate, etc. in real time, combines different pipeline characteristics and their corresponding parameters such as pipeline diameter, pipeline length, particle settling velocity, pipeline friction factor, mud diffusion coefficient, water density and mud saturation density, adopts a concentration transport equation, and considers the effects of friction and pressure loss on flow rate. It also comprehensively utilizes computer, network, sensor and automation technologies to solve the problem that dredging construction personnel cannot accurately grasp the distribution of mud in the mud pipeline in real time, thereby greatly improving the safety and efficiency of dredging construction.

[0048] 2. This invention monitors and calculates the mud concentration distribution within the cutter suction vessel's mud delivery pipeline in real time, helping dredging operators accurately understand the dynamic distribution of mud within the pipeline. This allows them to make early predictions and optimize construction parameters in a timely manner, preventing pipeline blockages, reducing equipment wear, and improving construction safety and efficiency. This approach ensures efficient and safe dredging operations, further enhancing the overall efficiency and reliability of dredging projects. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A schematic diagram of the cutter suction dredger's mud delivery pipeline segments and equipment installation locations provided in an embodiment of the present invention;

[0050] Figure 2 A flow chart of a method for estimating concentration distribution along a sludge delivery pipeline of a cutter suction dredger provided in an embodiment of the present invention;

[0051] Figure 3 A schematic diagram showing the visualization of the concentration distribution along the mud delivery pipeline of a cutter suction dredger provided in an embodiment of the present invention.

[0052] In the figure: 1. Density meter; 2. Velocity flow meter; 3. Onboard pipe; 4. Above-water pipe; 5. Underwater pipe; 6. Land pipe. DETAILED DESCRIPTION

[0053] To further understand the content, features, and effects of the present invention, the following examples are given. The present invention is described in detail below in conjunction with specific embodiments and the accompanying drawings. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that those skilled in the art may make various changes and improvements without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0054] The embodiment of the present invention provides a method for estimating the concentration distribution along the mud delivery pipeline of a cutter suction vessel, the pipeline segmentation, the equipment and its installation position, such as Figure 1 As shown, the pipeline is divided into ship pipe 3, water pipe 4, underwater pipe 5, and land pipe 6; the equipment includes: a density meter 1 and a flow rate meter 2, wherein the density meter 1 adopts a radioactive density meter or an electrical density meter, and the flow rate meter 2 adopts an electromagnetic flow meter.

[0055] The velocity flowmeter 2 is installed in the form of a short section on the mud conveying pipeline of the ship, and the density meter 1 is directly nested outside the velocity flowmeter 2 for installation, or the installation distance between the velocity flowmeter 2 and the density meter 1 is within 1 meter.

[0056] like Figure 2 As shown, an embodiment of the present invention provides a method for estimating concentration distribution along the mud delivery pipeline of a cutter suction dredger, and the implementation steps are as follows:

[0057] S1. Real-time collection of mud density and flow rate data, and real-time filtering and storage of the data;

[0058] The density value is obtained by collecting data from a density meter, and the flow rate value is obtained by collecting data from an electromagnetic flow meter.

[0059] The real-time data collection is completed by a data collection module of the ship's dredging integrated monitoring system, and the data collection period is set to 200 milliseconds to 1 second.

[0060] The real-time filtering process refers to the use of Gaussian filtering algorithm and extreme value filtering algorithm to process data, and store the data processed in each data collection cycle. The extreme value filtering algorithm presets extreme values, including the minimum mud density, the maximum mud density, the minimum flow velocity and the maximum flow velocity. Data exceeding the maximum and minimum boundary values ​​is judged as abnormal data and directly discarded. In this example, the minimum mud density is set to 1000. , the maximum value of mud density is set to 2000 ; The minimum flow velocity is set to 0m / s, and the maximum flow velocity is set to 10m / s; In this example, the data acquisition period is set to 200 milliseconds.

[0061] S2. Divide the mud pipeline into sections according to different pipeline characteristics and set the initial parameters of each section of the mud pipeline.

[0062] The mud pipeline is divided into sections according to different pipeline characteristics. In this example, the mud pipeline is divided into four types: ship pipeline, water pipeline, underwater pipeline and land pipeline.

[0063] The initial parameters for each mud pipeline section, in this example, include pipeline diameter, pipeline length, particle settling velocity, pipeline friction factor, mud diffusion coefficient, water density, and mud saturation density. These parameters are obtained by collecting soil samples from the construction site and then analyzing and testing them in a professional laboratory.

[0064] S3. Use the concentration transport equation to calculate the concentration distribution of each section of the mud pipeline, while considering the effects of friction and pressure loss on flow rate.

[0065] The concentration transport equation is as follows:

[0066] (10)

[0067] Where: Indicates the location of the mud along the length of the pipeline, in meters; Indicates time, the unit is s; C is the mud mass concentration, which varies with position and time Change in units of ; Indicates that the position The flow velocity varies with the change, in m / s; is the mud diffusion coefficient, which indicates the diffusion effect of mud in the pipeline, and its unit is ; It is the particle settling velocity, which indicates the settling velocity of mud particles in the pipeline, and its unit is m / s.

[0068] The consideration of the effects of friction and pressure loss on flow rate refers to the friction between the mud and the pipe wall and the viscosity of the mud that causes pressure loss when the mud is transported in the mud pipeline, which in turn affects the flow rate and concentration changes. The pressure loss formula is as follows:

[0069] (11)

[0070] Where: Indicates pressure loss, unit is Pa; Indicates pipeline friction factor; Indicates the mud density in units of ; Indicates flow velocity in m / s; L Indicates the length of the pipeline, in meters; D Indicates the pipe diameter in meters.

[0071] S4. Update the flow rate and concentration iteratively according to the set time step, and use the finite difference method to solve the equation to obtain the mud concentration distribution value along the entire mud pipeline.

[0072] The time step refers to the set data collection period, and calculation is performed once per data collection period. In this example, the data collection period is set to 200ms, so the time step is also 200ms.

[0073] The iterative cycle updates the flow rate and concentration. The calculation process is as follows: First, the pipeline diameter, pipeline length, initial inlet flow rate, and pipeline friction factor of each section are determined based on the mud pipeline segmentation. The initial inlet flow rate of the ship's pipeline is the real-time collected and processed flow rate, and the initial inlet flow rate of each subsequent pipeline section is the outlet flow rate of the previous section. Considering the incompressibility of mud and the impact of changes in pipeline diameter on flow rate, the change in flow rate caused by changes in pipeline diameter is calculated using the following formula:

[0074] (12)

[0075] Where: Indicates the initial inlet flow rate of the latter section of the pipeline, in m / s; Indicates the diameter of the pipeline in the latter section, in meters; Indicates the outlet flow rate of the previous section of the pipeline, in m / s; Indicates the diameter of the previous section of pipeline, in meters.

[0076] After determining the initial inlet flow rate of each section of the pipeline, all collected data that flowed into and did not flow out of each section of the pipeline were iteratively calculated according to the mud flow rate to calculate the distance the mud flowed in each time step. The formula is as follows:

[0077] (13)

[0078] Where: Indicates the position along the length of each pipeline The distance the mud flows in one time step, in meters; Indicates the position along the length of each pipeline The flow rate of the mud at , in m / s; Indicates the time step, in seconds.

[0079] During the iterative calculation process, the position of the mud along the length of the pipeline in each section of the pipeline at the current time step is calculated as follows:

[0080] (14)

[0081] Where: Represents loop iteration step n , along the length of each pipeline The position of the mud, in m; Represents loop iteration step n , along the length of each pipeline The flow rate of the mud at , in m / s; Indicates the time step, in seconds.

[0082] During the iterative calculation process, the pressure loss is calculated based on formula (11) by combining the mud flow distance, flow velocity, mud density, pipeline friction factor and pipeline diameter at each time step, and the calculation formula for the flow velocity is updated as follows:

[0083] (15)

[0084] Where: Indicates the loop iteration step n, along the length of each pipeline position The flow rate of the mud at , in m / s; Indicates pipeline friction factor; Indicates the mud density in units of ; Represents loop iteration step n , along the length of each pipeline The distance of mud flow at the location, in m; Indicates the pipe diameter in meters.

[0085] The above formula (10) uses the mud mass concentration, while the real-time collected data is the mud density. The real-time collected mud density is converted into the mud mass concentration in formula (10) and the calculation formula is as follows:

[0086] (16)

[0087] Where: represents the mud mass concentration used in formula (10), in units of ; Indicates the mud density in units of ; Indicates the water density of the initial parameter setting, in units of .

[0088] During the iterative calculation process, according to the calculation results of the above formulas (14), (15), and (16), the finite difference method is used to solve formula (10) to obtain the following formula, and then the mud concentration distribution value along the entire pipeline is calculated.

[0089] (17)

[0090] Where: Indicates the loop iteration step n, along the length of each pipeline position The mass concentration of mud at ; Indicates the loop iteration step n, along the length of each pipeline position -1 mud mass concentration, unit is ; Indicates the loop iteration step n, along the length of each pipeline position +1 mud mass concentration, unit is ; Represents loop iteration step n , along the length of each pipeline The flow rate of the mud at , in m / s; Represents loop iteration step n , along the length of each pipeline The distance of mud flow at the location, in m; Indicates the time step, the unit is s; is the mud diffusion coefficient, in units of ; is the particle settling velocity, in m / s.

[0091] S5. Visualize the concentration distribution along the entire mud pipeline based on the calculation results.

[0092] The visualization displays the concentration change and distribution of the entire mud delivery pipeline using the pipeline length as the horizontal coordinate and the mud mass percentage concentration as the vertical coordinate.

[0093] Cutter suction dredgers generally use mud mass percentage concentration for visualization. Therefore, in this example, the mud mass concentration is converted to mud mass percentage concentration. The conversion formula is as follows:

[0094] (18)

[0095] Where: Indicates the mass percentage concentration of mud, unit is %; Indicates the mud mass concentration in units of ; Indicates the water density of the initial parameter setting, in units of ; Indicates the mud saturation density of the initial parameter setting, in units of .

[0096] In this example, the concentration distribution along the dredging pipeline of the cutter suction dredger is visualized as follows: Figure 3 shown.

[0097] The present invention solves to a great extent the problem that dredging construction personnel are unable to accurately grasp the distribution of mud in the mud pipeline in real time, and realizes the real-time and accurate calculation and visual display of the mud concentration distribution in the mud pipeline of the cutter suction dredger, thereby improving the safety and control accuracy of dredging construction operations, and thus improving the construction efficiency of the cutter suction dredger.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein, and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for estimating concentration distribution along a cutter suction vessel sludge pipeline, characterized in that: The steps include: S1. Real-time collection of mud density and flow rate data, and real-time filtering and storage of the data; S2. Divide the mud pipeline into sections according to different pipeline characteristics and set the initial parameters of each section of the mud pipeline; S3. Use the concentration transport equation to calculate the concentration distribution of each section of the mud pipeline, while considering the effects of friction and pressure loss on flow rate; The concentration transport equation is as follows: （1） Where: Indicates the location of the mud along the length of the pipeline, in meters; Indicates time, the unit is s; C is the mud mass concentration, which varies with position and time Change in units of ; Indicates that the position The flow velocity varies with the change, in m / s; is the mud diffusion coefficient, which indicates the diffusion effect of mud in the pipeline, and its unit is ; is the particle settling velocity, which indicates the settling velocity of mud particles in the pipeline, in m / s; S4, iteratively updating the flow rate and concentration according to the set time step, and solving the equation using the finite difference method to obtain the mud concentration distribution value along the entire mud pipeline; The flow rate and concentration are updated iteratively in the loop. The calculation process is as follows: First, the pipeline diameter, pipeline length, initial inlet flow velocity, and pipeline friction factor of each section of the pipeline are determined according to the segmentation of the mud pipeline. The initial inlet flow velocity of the ship's pipe is the flow velocity collected and processed in real time, and the initial inlet flow velocity of each subsequent pipeline section is the outlet flow velocity of the previous section. The flow velocity change caused by the change in pipeline diameter is calculated using the following formula: （2） Where: Indicates the initial inlet flow velocity of the subsequent pipeline, in m / s; Indicates the diameter of the pipeline in the latter section, in meters; Indicates the outlet flow rate of the previous section of the pipeline, in m / s; Indicates the diameter of the previous pipeline, in meters; After determining the initial inlet flow rate of each section of the pipeline, all collected data that flowed into and did not flow out of each section of the pipeline were iteratively calculated according to the mud flow rate, and the distance the mud flowed in each time step was calculated using the following formula: （3） Where: Indicates the position along the length of each pipeline The distance the mud flows in one time step, in meters; Indicates the position along the length of each pipeline The flow rate of the mud at , in m / s; Indicates the time step, the unit is s; During the iterative calculation process, the position of the mud along the length of the pipeline in each section of the pipeline at the current time step is calculated as follows: （4） Where: Indicates the loop iteration step n, along the length of each pipeline position The position of the mud, in m; Indicates the loop iteration step n, along the length of each pipeline position The flow rate of the mud at , in m / s; Indicates the time step, the unit is s; During the iterative calculation process, the pressure loss is calculated by combining the mud flow distance, flow velocity, mud density, pipeline friction factor, and pipeline diameter at each time step, and the calculation formula for the flow velocity is updated as follows: （5） Where: Indicates the loop iteration step n, along the length of each pipeline position The flow rate of the mud at , in m / s; Indicates pipeline friction factor; Indicates the mud density in units of ; Represents loop iteration step n , along the length of each pipeline The distance of mud flow at the location, in m; Indicates the pipe diameter, in m; During the iterative calculation process, according to the calculation results of the above formulas (4) and (5), the finite difference method is used to solve formula (1) to obtain the following formula, and then the mud concentration distribution value along the entire pipeline is calculated: （6） Where: Indicates the loop iteration step n, along the length of each pipeline position The mass concentration of mud at ; Indicates the loop iteration step n, along the length of each pipeline position -1 mud mass concentration, unit is ; Indicates the loop iteration step n, along the length of each pipeline position +1 mud mass concentration, unit is ; Indicates the loop iteration step n, along the length of each pipeline position The flow rate of the mud at , in m / s; Indicates the loop iteration step n, along the length of each pipeline position The distance of mud flow at the location, in m; Indicates the time step, the unit is s; is the mud diffusion coefficient, in units of ; is the particle settling velocity, in m / s; S5. Visualize the concentration distribution along the entire mud pipeline based on the calculation results.

2. The method for estimating concentration distribution along the mud delivery pipeline of a cutter suction vessel according to claim 1 is characterized in that: In step S1, the real-time data acquisition is completed by the data acquisition module of the ship's dredging integrated monitoring system. The data acquisition cycle is 200 milliseconds to 1 second. The mud density and flow rate data are obtained by collecting data from a density meter and a flow rate flow meter installed on the ship's mud delivery pipeline, respectively. The real-time filtering process refers to using Gaussian filtering algorithm and extreme value filtering algorithm to perform data processing.

3. The method for estimating concentration distribution along the sludge pipeline of a cutter suction vessel according to claim 1 is characterized in that: In step S2, segmenting the mud pipeline according to different pipeline characteristics means dividing the mud pipeline into four types: onboard pipeline, above-water pipeline, underwater pipeline and land pipeline; In step S2, the initial parameters of each section of the mud delivery pipeline include pipeline diameter, pipeline length, particle settling velocity, pipeline friction factor, mud diffusion coefficient, water density and mud saturation density.

4. The method for estimating concentration distribution along the mud delivery pipeline of a cutter suction vessel according to claim 3 is characterized in that: The parameter data of particle settling velocity, pipeline friction factor, mud diffusion coefficient and mud saturation density in the initial parameters are obtained by collecting soil samples at the construction site and then analyzing and testing them in a professional laboratory, or by consulting relevant engineering manuals and standards.

5. The method for estimating concentration distribution along the mud delivery pipeline of a cutter suction vessel according to claim 1 is characterized in that: In step S3, The consideration of the influence of friction and pressure loss on flow rate refers to the friction between the mud and the pipe wall and the viscosity of the mud causing pressure loss when the mud is transported in the mud pipeline, which in turn affects the flow rate and concentration change. The pressure loss formula is as follows: （7） Where: Indicates pressure loss, unit is Pa; Indicates pipeline friction factor; Indicates the mud density in units of ; Indicates flow velocity in m / s; L Indicates the length of the pipeline, in meters; D Indicates the pipe diameter in meters.

6. The method for estimating concentration distribution along the mud delivery pipeline of a cutter suction vessel according to claim 1 is characterized in that: In step S4, the time step refers to a set data collection period, and is calculated once per data collection period.

7. The method for estimating concentration distribution along the mud delivery pipeline of a cutter suction vessel according to claim 1 is characterized in that: The calculation formula for converting the real-time collected mud density into mud mass concentration is as follows: （8） Where: Represents the mud mass concentration used in formula (1), in units of ; Indicates the mud density in units of ; Indicates the water density of the initial parameter setting, in units of .

8. The method for estimating concentration distribution along the mud delivery pipeline of a cutter suction vessel according to claim 1 is characterized in that: In step S5, the visualization is to plot the concentration change and distribution of the entire mud delivery pipeline with the pipeline length as the horizontal axis and the mud mass percentage concentration as the vertical axis.

9. The method for estimating concentration distribution along the sludge pipeline of a cutter suction vessel according to claim 8, characterized in that: The calculation formula for converting mud mass concentration to mud mass percentage concentration is as follows: （9） Where: Indicates the mass percentage concentration of mud, unit is %; Indicates the mud mass concentration in units of ; Indicates the water density of the initial parameter setting, in units of ; Indicates the mud saturation density of the initial parameter setting, in units of .

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