Method for measuring ground clearance of wear-resistant block and dredger

Abstract

The invention discloses a method for measuring the ground clearance of a wear-resistant block and a dredger, and relates to the technical field of dredgers. The method comprises the following steps: calculating the current acting force of a high-pressure nozzle on a wear-resistant block during operation of the dredger based on the fluid density of an operation area of the dredger and the flow and injection speed of the high-pressure nozzle during operation of the dredger; the current pulling force of the drag head on the wear-resisting block during operation of the dredger is obtained through the pulling pressure sensor; and inputting the self weight of the wear-resistant block, the fluid buoyancy of the dredger operation area, the current acting force and the current pulling force into a pre-trained ground clearance calculation model to obtain the current ground clearance of the wear-resistant block when the dredger operates. According to the technical scheme of the embodiment of the invention, the accuracy of calculating the ground clearance of the wear-resistant block is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of dredgers, and in particular, to a method for measuring the ground clearance of wear blocks and a dredger. Background Art

[0002] In the context of the rapid development of technology, trailing suction hopper dredgers are evolving towards the direction of intelligence. Intelligent construction requires real-time and precise adjustment of the draghead attitude based on key parameters such as the digging depth of the drag teeth and the internal vacuum degree of the draghead, so as to improve the operation efficiency and quality. The calculation of these key parameters often depends on the ground clearance of the wear blocks of the draghead. Therefore, accurately measuring the ground clearance of the wear blocks has become the key to realizing the intelligent operation of trailing suction hopper dredgers.

[0003] Currently, the traditional method for measuring the ground clearance of wear blocks mainly calculates through the elastic modulus of the wear blocks and the radius of curvature of the contact surface of the wear blocks. However, this method ignores the fluid resistance in the operation area of the dredger, as well as the influence of various factors such as equipment wear, dynamic impact, and vibration caused by uneven bottom quality, resulting in poor accuracy of the calculated ground clearance of the wear blocks.

[0004] Therefore, there is an urgent need to propose a new method to solve the above problems. Summary of the Invention

[0005] The present invention provides a method for measuring the ground clearance of wear blocks and a dredger, which can improve the accuracy of the calculated ground clearance of the wear blocks.

[0006] In a first aspect, an embodiment of the present invention provides a method for measuring the ground clearance of wear blocks, which is applied to a dredger. The dredger includes a draghead, wear blocks, and high-pressure nozzles. The draghead and the wear blocks are connected by a tension and compression sensor, and the high-pressure nozzles are installed on the wear blocks. The method includes:

[0007] Based on the fluid density in the operation area of the dredger, the flow rate and injection speed of the high-pressure nozzles during the operation of the dredger, calculate the current force exerted by the high-pressure nozzles on the wear blocks during the operation of the dredger;

[0008] Obtain the current tension of the draghead on the wear blocks during the operation of the dredger through the tension and compression sensor;

[0009] Input the self-weight of the wear blocks, the fluid buoyancy in the operation area of the dredger, the current force, and the current tension into a pre-trained ground clearance calculation model to obtain the current ground clearance of the wear blocks during the operation of the dredger.

[0010] The technical solution of the present invention first calculates the current force of the high-pressure nozzle on the wear-resistant block during the operation of the dredger based on the fluid density in the operation area of the dredger, the flow rate and injection speed of the high-pressure nozzle during the operation of the dredger, taking into account the fluid resistance borne by the wear-resistant block, providing a data basis for obtaining the current ground clearance of the wear-resistant block during the operation of the dredger. Then, the current pulling force of the drag head on the wear-resistant block during the operation of the dredger is obtained through a tension and compression sensor, taking into account the changes in force caused by dynamic impacts and vibrations due to factors such as equipment wear and seabed terrain changes, providing a data basis for obtaining the current ground clearance of the wear-resistant block during the operation of the dredger. Finally, the self-weight of the wear-resistant block, the fluid buoyancy in the operation area of the dredger, the current force and the current pulling force are input into a pre-trained ground clearance calculation model to obtain the current ground clearance of the wear-resistant block during the operation of the dredger, improving the accuracy of the calculated ground clearance. Therefore, the technical solution of the present invention solves the problem of low accuracy in calculating the ground clearance of the wear-resistant block in the prior art.

[0011] In a second aspect, an embodiment of the present invention further provides a dredger, which includes:

[0012] At least one processor; and a memory communicatively connected to the at least one processor;

[0013] Wherein, 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 so that the at least one processor can execute the method for measuring the ground clearance of the wear-resistant block according to any one of the first aspects.

[0014] In a third aspect, an embodiment of the present invention further provides a device for measuring the ground clearance of a wear-resistant block, which is applied to a dredger. The dredger includes a drag head, a wear-resistant block and a high-pressure nozzle. The drag head and the wear-resistant block are connected through a tension and compression sensor, and the high-pressure nozzle is installed on the wear-resistant block. The device includes:

[0015] A first calculation module, configured to calculate the current force of the high-pressure nozzle on the wear-resistant block during the operation of the dredger based on the fluid density in the operation area of the dredger, the flow rate and injection speed of the high-pressure nozzle during the operation of the dredger;

[0016] An acquisition module, configured to acquire the current pulling force of the drag head on the wear-resistant block during the operation of the dredger through the tension and compression sensor;

[0017] A second calculation module, configured to input the self-weight of the wear-resistant block, the fluid buoyancy in the operation area of the dredger, the current force and the current pulling force into a pre-trained ground clearance calculation model to obtain the current ground clearance of the wear-resistant block during the operation of the dredger.

[0018] Fourthly, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, and when the computer-executable instructions are executed by a computer processor, the method for measuring the ground clearance of the wear-resistant block described in any one of the first aspects is implemented.

[0019] It should be noted that the above computer instructions can be stored in whole or in part on a computer-readable storage medium. Among them, the computer-readable storage medium can be packaged together with the processor of the ground clearance measuring device of the wear-resistant block, or can be separately packaged from the processor of the ground clearance measuring device of the wear-resistant block. This application does not make any limitations in this regard.

[0020] For the descriptions of the second, third, and fourth aspects in this application, reference can be made to the detailed description of the first aspect; and for the beneficial effects of the descriptions of the second, third, and fourth aspects, reference can be made to the analysis of the beneficial effects of the first aspect, which will not be elaborated here.

[0021] In this application, the name of the above-mentioned ground clearance measuring device of the wear-resistant block does not constitute a limitation to the device or functional module itself. In actual implementation, these devices or functional modules may appear under other names. As long as the functions of each device or functional module are similar to those of this application and fall within the scope of the claims of this application and their equivalent technologies.

[0022] These aspects or other aspects of this application will be clearer and easier to understand in 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 following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1a It is a flowchart of a method for measuring the ground clearance of a wear-resistant block provided by an embodiment of the present invention;

[0025] Figure 1b It is a schematic diagram of the installation position of a tension and compression sensor provided by an embodiment of the present invention;

[0026] Figure 2a It is a flowchart of another method for measuring the ground clearance of a wear-resistant block provided by an embodiment of the present invention;

[0027] Figure 2b It is a fitting curve graph between the pulling force of the harrow head on the wear-resistant block and the ground clearance of the wear-resistant block provided by an embodiment of the present invention;

[0028] Figure 3Schematic structural diagram of a ground clearance measuring device for a wear-resistant block provided by an embodiment of the present invention;

[0029] Figure 4 Schematic structural diagram of a dredger provided by an embodiment of the present invention. Detailed implementation manners

[0030] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only parts related to the present invention rather than all structures are shown in the drawings.

[0031] The term "and / or" in this document merely describes the associated relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone.

[0032] The terms "first" and "second" in the specification and drawings of the present application are used to distinguish different objects or different treatments of the same object, rather than to describe the specific order of the objects.

[0033] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes other steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0034] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operations are completed, but it can also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc. In addition, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0035] It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific manner.

[0036] In the description of the present application, unless otherwise specified, the meaning of "a plurality" refers to two or more.

[0037] Figure 1a FIG. is a flowchart of a method for measuring the ground clearance of a wear-resistant block provided by an embodiment of the present invention. This embodiment is applicable to calculating the ground clearance of the wear-resistant block of the drag head during the operation of a dredger. The dredger in this embodiment includes a drag head, a wear-resistant block, and a high-pressure nozzle, and the drag head and the wear-resistant block are connected by a tension and compression sensor, and the high-pressure nozzle is installed on the wear-resistant block. Exemplarily, as Figure 1b shown, it can be found that the drag head and the wear-resistant block are connected by a tension and compression sensor, the high-pressure nozzle is fixed on the wear-resistant block, and a water-stop and sand-proof rubber pad is arranged around the wear-resistant block. This method can be executed by a device for measuring the ground clearance of the wear-resistant block, and this device can be implemented in a software and / or hardware manner. Exemplarily, this device can be integrated in a dredger. Referring to Figure 1a , the method for measuring the ground clearance of the wear-resistant block in this embodiment specifically includes the following steps:

[0038] Step 110: Calculate the current force exerted by the high-pressure nozzle on the wear-resistant block during the operation of the dredger based on the fluid density in the operation area of the dredger, the flow rate and the jet velocity of the high-pressure nozzle during the operation of the dredger.

[0039] Specifically, a dredger refers to a ship used for underwater operations such as dredging and silt removal. For example, dredgers include trailing suction hopper dredgers, cutter suction dredgers, etc. The operation area of the dredger refers to the specific water area where the dredger conducts dredging, silt removal and other operations. Fluid density refers to the ratio of the mass to the volume of the fluid (such as water) in the operation area of the dredger. The high-pressure nozzle refers to a device installed on the dredger that can generate high-pressure water flow, and it can eject water or other working fluids at a relatively high pressure to form a high-speed jet for assisting dredging operations. The flow rate of the high-pressure nozzle refers to the volume of the fluid ejected through the high-pressure nozzle per unit time. The jet velocity of the high-pressure nozzle refers to the velocity of the fluid ejected from the high-pressure nozzle when it leaves the nozzle. The current force refers to the force generated by the high-pressure nozzle on the wear-resistant block at the current moment. The wear-resistant block refers to a block-shaped component installed on the drag head of the dredger for resisting wear.

[0040] In a specific implementation, the pump pressure of the high-pressure nozzle of the dredger during operation can be obtained first through a pressure gauge installed at the outlet of the pump. At the same time, the fluid density of the dredging area of the dredger can be obtained by querying the fluid density table based on the fluid in the dredging area of the dredger. Then, the injection speed of the high-pressure nozzle is calculated according to the pump pressure of the high-pressure nozzle and the fluid density during the operation of the dredger. The specific calculation formula is: Injection speed of the high-pressure nozzle = (2 × Pump pressure of the high-pressure nozzle / Fluid density). 1 / 2 Then, calculate the product of the fluid density in the dredging area of the dredger, the flow rate and the injection speed of the high-pressure nozzle during the operation of the dredger to obtain the current force exerted by the high-pressure nozzle on the wear-resistant block during the operation of the dredger.

[0041] It should be noted that the fluid density table is established in advance according to the actual situation or requirements.

[0042] In this embodiment, by calculating the current force exerted by the high-pressure nozzle on the wear-resistant block during the operation of the dredger, a data basis is provided for obtaining the current ground clearance of the wear-resistant block during the operation of the dredger.

[0043] Step 120: Obtain the current pulling force of the drag head on the wear-resistant block during the operation of the dredger through a tension and compression sensor.

[0044] Specifically, the drag head refers to the equipment of the dredger for excavating substances such as underwater soil. The tension and compression sensor refers to a sensor that can measure the pulling force or pressure. The current pulling force refers to the pulling force generated by the drag head of the dredger on the wear-resistant block at the current moment.

[0045] In a specific implementation, the current pulling force of the drag head on the wear-resistant block during the operation of the dredger can be obtained through a tension and compression sensor installed between the drag head and the wear-resistant block.

[0046] In this embodiment, by obtaining the current pulling force of the drag head on the wear-resistant block during the operation of the dredger, a data basis is provided for obtaining the current ground clearance of the wear-resistant block during the operation of the dredger.

[0047] Step 130: Input the self-weight of the wear-resistant block, the fluid buoyancy in the dredging area of the dredger, the current force and the current pulling force into a pre-trained ground clearance calculation model to obtain the current ground clearance of the wear-resistant block during the operation of the dredger.

[0048] Specifically, the self-weight of the wear-resistant block refers to the magnitude of the gravity possessed by the wear-resistant block itself. The buoyancy of the fluid refers to the upward force generated by the fluid on an object immersed in it. The ground clearance refers to the vertical distance between the wear-resistant block and the working surface (such as the bottom surface of the water) during the operation of the dredger. The pre-trained ground clearance calculation model refers to a model trained based on historical operation data, and the historical operation data includes the self-weight of the wear-resistant block in each historical period, the historical fluid buoyancy in the operation area of the dredger, the historical force of the high-pressure nozzle on the wear-resistant block, the historical pulling force of the drag head on the wear-resistant block, and the corresponding historical ground clearance of the wear-resistant block.

[0049] In specific implementation, after obtaining the current force and the current pulling force, first calculate the self-weight of the wear-resistant block according to the mass of the wear-resistant block, then calculate the volume of the wear-resistant block immersed in the fluid based on the depth of the wear-resistant block immersed in the fluid in the operation area of the dredger and the size of the wear-resistant block itself. After that, calculate the fluid buoyancy in the operation area of the dredger according to this volume and the fluid density. Finally, input the self-weight of the wear-resistant block, the fluid buoyancy in the operation area of the dredger, the current force and the current pulling force into the pre-trained ground clearance calculation model to obtain the current ground clearance of the wear-resistant block during the operation of the dredger.

[0050] In addition, the training process of the ground clearance calculation model is specifically as follows: First, collect the self-weight of the wear-resistant block in each historical period, the historical fluid buoyancy in the operation area of the dredger, the historical force of the high-pressure nozzle on the wear-resistant block, the historical pulling force of the drag head on the wear-resistant block, and the corresponding historical ground clearance of the wear-resistant block. Then, use the obtained data as training data to train the deep learning model. This process usually includes two steps: forward propagation and backward propagation. In the forward propagation stage, input the input data into the model to obtain a prediction result, and then calculate the loss between this prediction result and the true target (i.e., the corresponding historical ground clearance). Backward propagation is to update the parameters of the model according to the loss function to reduce the gap between the prediction result and the true target. The deep learning model can be a multi-layer perceptron, a long short-term memory network, a gated recurrent unit, a convolutional neural network, etc., and the embodiments of the present invention do not limit this. Finally, the model can be optimized based on the backpropagation algorithm until the loss function converges, so as to obtain the trained ground clearance calculation model. For example: The gradient descent method or Adam can be selected to determine hyperparameters such as the learning rate to optimize the model.

[0051] In this embodiment, the force applied by the high-pressure nozzle to the wear-resistant block, the weight of the wear-resistant block itself, and the fluid buoyancy in the operating area can reflect the fluid resistance experienced by the wear-resistant block. Furthermore, the real-time pulling force exerted by the drag head on the wear-resistant block can reflect the force changes caused by dynamic impact and vibration during dredger operation due to factors such as equipment wear and changes in seabed topography. Therefore, inputting parameters such as the wear-resistant block's deadweight, fluid buoyancy, current force, and drag head pulling force into a pre-trained ground clearance calculation model can significantly improve the accuracy of calculating the wear-resistant block's ground clearance during dredger operation.

[0052] The ground clearance measurement method provided by an embodiment of the present invention first calculates the current force exerted by the high-pressure nozzle on the wear-resistant block during dredging operation based on the fluid density in the dredger's operating area, the flow rate, and the injection velocity of the high-pressure nozzle during dredging operation. This takes into account the fluid resistance experienced by the wear-resistant block, providing a data basis for subsequently determining the current ground clearance of the wear-resistant block during dredging operation. Next, a tension-pressure sensor is used to obtain the current pulling force exerted by the dredger's drag head on the wear-resistant block during dredging operation. This takes into account force changes caused by dynamic impact and vibration due to factors such as equipment wear and changes in seabed topography, providing a data basis for subsequently determining the current ground clearance of the wear-resistant block during dredging operation. Finally, the wear-resistant block's deadweight, the fluid buoyancy in the dredger's operating area, the current applied force, and the current pulling force are input into a pre-trained ground clearance calculation model to determine the current ground clearance of the wear-resistant block during dredging operation, thereby improving the accuracy of the calculated ground clearance. Therefore, the technical solution of the present invention solves the problem of low accuracy in calculating the ground clearance of wear-resistant blocks in the prior art.

[0053] Figure 2a This is a flow chart of another method for measuring the ground clearance of a wear-resistant block provided by an embodiment of the present invention. This embodiment is a specific embodiment based on the above embodiment. In this embodiment, the method may further include:

[0054] Step 210: Calculate the current normal support force of the wear-resistant block when the dredger is operating according to the cutting angle and cutting depth of the rake teeth on the rake head when the dredger is operating.

[0055] Specifically, the rake teeth refer to the excavating components on the rake head, which have a certain cutting angle and shape and are used for cutting operations on the bottom of the water. The cutting angle refers to the angle formed by the cutting edge of the rake teeth and the surface of the material when the rake teeth are cutting the material. For example, the cutting angle can be the angle between the cutting edge of the rake teeth and the horizontal plane when the rake teeth are in contact with the bottom of the water. The cutting depth refers to the depth to which the rake teeth cut into the material during the cutting process. For example, the cutting angle can be the depth to which the cutting edge of the rake teeth enters the bottom of the water when the rake teeth are cutting on the bottom of the water. The normal support force of the wear-resistant block refers to the support force perpendicular to the contact surface of the wear-resistant block.

[0056] In a specific implementation, the cutting angle and cutting depth of the cutting teeth on the drag head can be obtained first through sensors (such as displacement sensors, depth sensors, angle sensors, etc.) installed on the drag head, and then the cutting depth is substituted into the relational expression between the cutting resistance of the cutting teeth and the cutting depth to obtain the cutting resistance of the cutting teeth on the drag head of the dredger during operation. Then, based on the cutting resistance and the cutting angle, the cutting horizontal component force and the cutting vertical component force of the cutting teeth on the drag head of the dredger during operation are calculated. Finally, the ratio of the cutting vertical component force to the contact area between the wear-resistant block and the cutting material can be calculated to obtain the current normal support force of the wear-resistant block of the dredger during operation.

[0057] In addition, before the dredger operates, the initial cutting angle and initial cutting depth of the cutting teeth on the drag head can be set in advance according to the actual situation or requirements.

[0058] In this embodiment, through the above steps, a data basis is provided for calculating the ground clearance of the wear-resistant block in the subsequent process.

[0059] Further, step 210 may specifically include: substituting the cutting depth into the relational expression between the cutting resistance of the cutting teeth and the cutting depth to obtain the cutting resistance of the cutting teeth on the drag head of the dredger during operation; calculating the cutting horizontal component force of the cutting teeth on the drag head of the dredger during operation based on the cutting resistance and the cutting angle, and calculating the cutting vertical component force of the cutting teeth on the drag head of the dredger during operation based on the cutting resistance and the cutting angle; calculating the product of the cutting horizontal component force and the cutting force horizontal arm to obtain the horizontal moment, and calculating the product of the cutting vertical component force and the cutting force vertical arm to obtain the vertical moment; calculating the sum value of the horizontal moment and the vertical moment to obtain the comprehensive moment; and determining the ratio of the comprehensive moment to the wear-resistant block arm as the current normal support force of the wear-resistant block of the dredger during operation.

[0060] Specifically, the cutting resistance refers to the resistance force encountered by the cutting teeth when cutting the material. The cutting horizontal component force refers to the component force of the cutting resistance in the horizontal direction. The cutting vertical component force refers to the component force of the cutting resistance in the vertical direction. The cutting force horizontal arm refers to the horizontal distance from the action point of the horizontal component force after the cutting force is decomposed in the horizontal direction to the root of the cutting teeth. The cutting force vertical arm refers to the vertical distance from the contact point between the cutting teeth and the cutting material (such as soil) to the connection point between the drag head and the high-pressure nozzle pipe. The wear-resistant block arm refers to the distance from the geometric center of the wear-resistant block to the root of the cutting teeth. The horizontal moment refers to the moment obtained by multiplying the cutting horizontal component force and the cutting force horizontal arm, reflecting the rotational effect of the cutting force on the drag head in the horizontal direction. The vertical moment refers to the product of the cutting vertical component force and the cutting force vertical arm, reflecting the rotational effect of the cutting force on the drag head in the vertical direction. The comprehensive moment refers to the sum value of the horizontal moment and the vertical moment, representing the total rotational effect of the cutting teeth cutting the material on the drag head.

[0061] Exemplarily, if the cutting angle is θ, the cutting depth is d1, the vertical force arm of the cutting force is L1, the horizontal force arm of the cutting force is L2, the force arm of the wear-resistant block is L3, the relationship between the cutting resistance and the cutting depth is F = ad 2 + bd + c, where F is the cutting resistance, d is the cutting depth, a is a constant reflecting the non-linear growth trend of the cutting resistance as the cutting depth increases; b is a constant reflecting the part of the cutting resistance that varies linearly with the cutting depth; c is a constant reflecting the resistance that still exists when the cutting depth is zero. For example, a can take the value of 0.2825, b can take the value of -2.011, and c can take the value of 5.8954. Then the cutting resistance F1 = ad12 + bd1 + c, the horizontal component of the cutting force F2 = F1×cosθ, and the vertical component of the cutting force F3 = F1×sinθ; the vertical moment M1 = F3×L1, the horizontal moment M2 = F2×L2, the combined moment M = M1 + M2, and the current normal support force N = M / L3.

[0062] It should be noted that the relationship between the cutting resistance and the cutting depth is pre-derived based on cutting experiments and data analysis under different sediment conditions.

[0063] In this embodiment, through the above steps, the accuracy of the calculated normal support force of the wear-resistant block is improved.

[0064] Step 211: Determine whether the current normal support force is greater than the self-weight of the wear-resistant block.

[0065] If it is greater, then execute step 212; if it is not greater, then execute step 213.

[0066] In specific implementation, the self-weight of the wear-resistant block can be calculated first by multiplying the mass of the wear-resistant block by the acceleration due to gravity. Then compare the current normal support force with the self-weight of the wear-resistant block. If the current normal support force is greater than the self-weight of the wear-resistant block, it is directly determined that the current ground clearance of the wear-resistant block during the operation of the dredger is zero. If the current normal support force is not greater than the self-weight of the wear-resistant block, based on the fluid density in the operation area of the dredger, the flow rate and injection speed of the high-pressure nozzle during the operation of the dredger, calculate the current force exerted by the high-pressure nozzle on the wear-resistant block during the operation of the dredger.

[0067] In this embodiment, through the above steps, a judgment basis is provided for the subsequent calculation method of determining the ground clearance of the wear-resistant block.

[0068] Step 212: Determine that the current ground clearance of the wear-resistant block during the operation of the dredger is zero.

[0069] In specific implementation, after determining that the current normal support force is greater than the self-weight of the wear-resistant block, it can be determined that the wear-resistant block is in direct contact with the ground at this time. In this case, no separate calculation is required, and it can be directly determined that the current ground clearance of the wear-resistant block during the operation of the dredger is zero.

[0070] In this embodiment, through the above steps, the efficiency of calculating the ground clearance of the wear-resistant block is improved.

[0071] Step 213: Calculate the current force exerted by the high-pressure nozzle of the dredger on the wear-resistant block based on the fluid density in the operation area of the dredger, the flow rate and the jet velocity of the high-pressure nozzle during dredging operation.

[0072] Further, step 213 may specifically include: calculating the product of the cross-sectional area of the water outlet of the high-pressure nozzle and the jet velocity of the high-pressure nozzle during dredging operation to obtain the flow rate of the high-pressure nozzle during dredging operation; calculating the product of the fluid density, the flow rate and the jet velocity to obtain the jet momentum impact force of the high-pressure nozzle during dredging operation; and calculating the current force exerted by the high-pressure nozzle of the dredger on the wear-resistant block based on the jet momentum impact force and the inclination angle of the high-pressure nozzle.

[0073] Specifically, the jet momentum impact force refers to the impact force generated by the jet ejected from the high-pressure nozzle on the wear-resistant block. The inclination angle of the high-pressure nozzle refers to the angle between the jet direction of the high-pressure nozzle and a certain reference plane (such as the installation plane of the wear-resistant block).

[0074] In specific implementation, the cross-sectional area of the water outlet of the high-pressure nozzle and the inclination angle of the high-pressure nozzle can be obtained by querying the product manual of the dredger, and the pump pressure of the high-pressure nozzle during dredging operation can be obtained through the pressure gauge installed at the outlet of the pump. At the same time, the fluid density in the operation area of the dredger can be obtained by querying the fluid density table based on the fluid in the operation area of the dredger. Then, the jet velocity of the high-pressure nozzle during dredging operation can be calculated based on the pump pressure of the high-pressure nozzle during dredging operation and the fluid density. The specific calculation formula is: jet velocity of the high-pressure nozzle = (2 × pump pressure of the high-pressure nozzle / fluid density) 1 / 2 . Then calculate the product of the cross-sectional area of the water outlet of the high-pressure nozzle and the jet velocity of the high-pressure nozzle during dredging operation to obtain the flow rate of the high-pressure nozzle during dredging operation. Then calculate the product of the fluid density, the flow rate and the jet velocity to obtain the jet momentum impact force of the high-pressure nozzle during dredging operation. Finally, calculate the current force exerted by the high-pressure nozzle of the dredger on the wear-resistant block based on the jet momentum impact force and the inclination angle of the high-pressure nozzle. For example: if the jet momentum impact force is F5 and the inclination angle of the high-pressure nozzle is α, then the current force exerted by the high-pressure nozzle of the dredger on the wear-resistant block is F5 × cosα.

[0075] In addition, if at least two high-pressure nozzles are arranged on the rake head, then during the dredging operation, the current force exerted by the high-pressure nozzle on the wear-resistant block is the vector sum of the forces exerted by each high-pressure nozzle on the wear-resistant block.

[0076] In this embodiment, through the above steps, the accuracy of the calculated current force exerted by the high-pressure nozzle of the dredger on the wear-resistant block during dredging operation is improved.

[0077] Further, after step 213, it further includes: calculating a current attenuation factor of the force exerted by the high-pressure nozzle on the wear-resistant block during the operation of the dredger based on the attenuation coefficient and the previous ground clearance of the wear-resistant block during the operation of the dredger; updating the current force exerted by the high-pressure nozzle on the wear-resistant block during the operation of the dredger according to the current attenuation factor to obtain the updated current force exerted by the high-pressure nozzle on the wear-resistant block during the operation of the dredger.

[0078] Specifically, the attenuation coefficient refers to a proportionality coefficient used to describe the gradual decrease in the force exerted by the high-pressure nozzle on the wear-resistant block over time or other factors (such as changes in the ground clearance of the wear-resistant block, equipment wear, etc.). The previous ground clearance refers to the vertical distance between the wear-resistant block and the working surface at the previous adjacent moment of the current moment during the operation of the dredger. The attenuation factor refers to a coefficient used to describe the degree of attenuation of the force exerted by the high-pressure nozzle on the wear-resistant block with the change of specific factors.

[0079] Exemplarily, if the previous ground clearance is h, the attenuation coefficient is B, and the current force exerted by the high-pressure nozzle on the wear-resistant block during the operation of the dredger is F6, then the current attenuation factor A = 1 / (1 + B×h), and the updated current force exerted by the high-pressure nozzle on the wear-resistant block during the operation of the dredger is F6×A.

[0080] In this embodiment, through the above steps, the accuracy of the calculated current force exerted by the high-pressure nozzle on the wear-resistant block during the operation of the dredger is improved.

[0081] Step 214: Obtain the current pulling force of the drag head on the wear-resistant block during the operation of the dredger through a tension-compression sensor.

[0082] Further, after step 214, it further includes: calculating the difference between the self-weight of the wear-resistant block and the buoyancy of the fluid to obtain the net gravity of the wear-resistant block in the operation area of the dredger during the operation of the dredger; calculating the difference between the current force exerted by the high-pressure nozzle on the wear-resistant block during the operation of the dredger and the net gravity to obtain the current theoretical pulling force of the drag head on the wear-resistant block during the operation of the dredger; in the case where the deviation between the current pulling force and the current theoretical pulling force exceeds the preset deviation range, determining that the tension-compression sensor fails and sending a failure message to the terminal of the staff.

[0083] Specifically, the net gravity refers to the force obtained by subtracting the buoyancy of the fluid from the self-weight of the wear-resistant block, which reflects the actual weight of the wear-resistant block in the fluid. The current theoretical pulling force refers to the pulling force value obtained by calculating the difference between the current acting force of the high-pressure nozzle on the wear-resistant block and the net gravity during the operation of the dredger. It is the pulling force that the drag head should theoretically generate on the wear-resistant block and is used to compare with the currently measured pulling force to determine whether the tension-compression sensor is working properly. The preset deviation range refers to a pre-set allowable error range based on actual situations or requirements, which is used to determine whether the deviation between the currently measured pulling force by the tension-compression sensor and the current theoretical pulling force is within the normal range. The fault information refers to the information sent to the terminal of the staff to indicate that the tension-compression sensor has failed.

[0084] Exemplarily, if the self-weight of the wear-resistant block is 490 N (Newton), the buoyancy of the fluid is 201 N, the current acting force of the high-pressure nozzle on the wear-resistant block is 800 N, the preset deviation range is ±10 N, and the current pulling force of the drag head on the wear-resistant block is 600 N, then the net gravity is 289 N, the current theoretical pulling force of the drag head on the wear-resistant block is 511 N, and the deviation between the current pulling force and the current theoretical pulling force is 89 N, exceeding the preset deviation range, indicating that the tension-compression sensor has failed. At this time, the fault information is sent to the terminal of the staff to remind the staff that the tension-compression sensor has failed, so that the maintenance personnel can respond quickly and ensure the stable operation of the equipment.

[0085] In this embodiment, through the above steps, the sensor failure can be detected in time, avoiding misjudgment of the operation state of the dredger by the operator due to incorrect pulling force data. At the same time, it can also prevent the abnormal operation of the equipment caused by the sensor failure, reduce the occurrence probability of accidents such as damage and detachment of equipment components, avoid accidental injuries to on-site staff, and effectively ensure the safety of personnel's lives.

[0086] Step 215: Input the self-weight of the wear-resistant block, the buoyancy of the fluid in the operation area of the dredger, the current acting force, and the current pulling force into the pre-trained ground clearance calculation model to obtain the current ground clearance of the wear-resistant block during the operation of the dredger.

[0087] In addition, after obtaining the ground clearance of the wear-resistant block during the operation of the dredger, to study the influence of a single parameter on the ground clearance, other influencing parameters (such as the self-weight of the wear-resistant block, the buoyancy of the fluid in the operation area of the dredger, the current acting force of the high-pressure nozzle on the wear-resistant block, etc.) can be set as fixed values, and a fitting curve graph between the single parameter and the ground clearance can be drawn. For example: as Figure 2b shown Figure 2bIt shows a fitted curve graph between the pulling force of the drag head on the wear-resistant block and the ground clearance, with parameters such as the self-weight of the fixed wear-resistant block, the fluid buoyancy in the dredging operation area of the dredger, the current acting force of the high-pressure nozzle on the wear-resistant block, the cutting angle and cutting depth of the teeth on the drag head being established. Here, the unit of the pulling force is Newton, and the unit of the ground clearance is centimeter. Through this graph, it can help the staff study the influence of the pulling force of the drag head on the wear-resistant block on the ground clearance.

[0088] Step 216: Control the working posture of the drag head according to the current ground clearance.

[0089] Specifically, the working posture of the drag head refers to the spatial orientation and attitude of the drag head during the dredging operation. For example, the working posture of the drag head can include the cutting angle and cutting depth of the teeth on the drag head.

[0090] In specific implementation, when the current ground clearance is greater than the preset ground clearance of the wear-resistant block during the dredging operation of the dredger, an operation to lower the height of the drag head can be performed; when the current ground clearance is less than the preset ground clearance of the wear-resistant block during the dredging operation of the dredger, an operation to raise the height of the drag head can be performed.

[0091] In this embodiment, through the above steps, it can ensure that the drag head is always in the best working posture, thereby significantly improving the dredging efficiency of the dredger, reducing unnecessary repeated operations, and being able to handle different types of sediments more effectively.

[0092] Further, step 216 can specifically include: when the current ground clearance is greater than the preset ground clearance of the wear-resistant block during the dredging operation of the dredger, increasing the cutting angle and cutting depth of the teeth on the drag head; when the current ground clearance is less than the preset ground clearance of the wear-resistant block during the dredging operation of the dredger, reducing the cutting angle and cutting depth of the teeth on the drag head.

[0093] Specifically, the preset ground clearance refers to the ground clearance that is expected to be achieved by the wear-resistant block during the dredging operation of the dredger, which is preset according to the actual situation or requirements.

[0094] In a specific implementation, after obtaining the current ground clearance, the current ground clearance can be compared with a preset ground clearance. If the current ground clearance is equal to the preset ground clearance, the harrow head is not adjusted. If the current ground clearance is greater than the preset ground clearance, the cutting angle and cutting depth of the harrow teeth on the harrow head are increased. For example, the cutting angle and cutting depth equivalent to a preset adjustment value can be increased; alternatively, the increased angle value and depth value can be determined based on the difference between the current ground clearance and the preset ground clearance, and then the cutting angle and cutting depth of the harrow teeth on the harrow head are adjusted according to the determined values. If the current ground clearance is less than the preset ground clearance, the cutting angle and cutting depth of the harrow teeth on the harrow head are decreased. For example, the cutting angle and cutting depth equivalent to a preset adjustment value can be decreased; alternatively, the decreased angle value and depth value can be determined based on the difference between the preset ground clearance and the current ground clearance, and then the cutting angle and cutting depth of the harrow teeth on the harrow head are adjusted according to the determined values.

[0095] In this embodiment, through the above steps, different excavation working conditions can be adapted to ensure the efficient and stable progress of the dredging operation.

[0096] Further, step 216 can specifically include: calculating the difference between the current ground clearance and the initial ground clearance to obtain the current clearance deviation value; increasing the cutting angle and cutting depth of the harrow teeth on the harrow head when the current clearance deviation value is greater than the previous clearance deviation value; and decreasing the cutting angle and cutting depth of the harrow teeth on the harrow head when the current clearance deviation value is less than the previous clearance deviation value.

[0097] Specifically, the initial ground clearance is the ground clearance of the wear-resistant block when the dredger is not operating. The previous clearance deviation value is the difference between the previous ground clearance and the initial ground clearance. The current clearance deviation value refers to the difference between the current ground clearance and the initial ground clearance.

[0098] In a specific implementation, after obtaining the current ground clearance, the difference between the current ground clearance and the initial ground clearance can be calculated first to obtain the current clearance deviation value. Then, the current clearance deviation value is compared with the previous clearance deviation value. If the current clearance deviation value is equal to the previous clearance deviation value, the harrow head is not adjusted. If the current clearance deviation value is greater than the previous clearance deviation value, it indicates that the current working environment presents a concave state. At this time, in order to make the harrow teeth better adapt to the concave terrain, dig deeper into the soil and improve the dredging efficiency, the cutting angle and cutting depth of the harrow teeth on the harrow head need to be increased to maintain an efficient dredging operation. If the current clearance deviation value is less than the previous clearance deviation value, it indicates that the current working environment presents a convex state. At this time, in order to avoid excessive force on the harrow head and prevent damage to the harrow teeth and other equipment, the cutting angle and cutting depth of the harrow teeth on the harrow head need to be decreased.

[0099] In this embodiment, through the above steps, both efficient dredging operations are maintained and the equipment is protected.

[0100] Further, before calculating the difference between the current ground clearance and the initial ground clearance to obtain the current clearance deviation value, it further includes: obtaining, by means of a tension-compression sensor, the pulling force of the dredging head on the wear-resistant block when the dredger is not operating to obtain the initial pulling force, and obtaining, by means of the tension-compression sensor, the pulling force of the dredging head on the wear-resistant block when the dredger is not under a working load to obtain the reference pulling force; calculating the initial ground clearance based on the initial pulling force and the reference pulling force.

[0101] Specifically, the initial pulling force refers to the pulling force of the dredging head on the wear-resistant block when the dredger is not operating. The reference pulling force refers to the pulling force of the dredging head on the wear-resistant block when the dredger is not under a working load (such as when the dredger is in the dock).

[0102] In specific implementation, first obtain the initial pulling force and the reference pulling force through the tension-compression sensor, and then calculate the initial ground clearance based on the initial pulling force and the reference pulling force. The specific calculation formula is as follows:

[0103]

[0104] where h0 is the initial ground clearance, F0 is the initial pulling force, F p is the reference pulling force, and C and k are fitting coefficients determined by the mapping relationship between the pulling force of the dredging head on the wear-resistant block and the ground clearance. The mapping relationship between the pulling force of the dredging head on the wear-resistant block and the ground clearance is determined by analyzing the historical pulling force data of the dredging head on the wear-resistant block and the corresponding ground clearance data.

[0105] In this embodiment, by calculating the initial ground clearance, a data basis is provided for controlling the working posture of the dredging head according to the current ground clearance later.

[0106] The ground clearance measurement method provided by the embodiment of the present invention first calculates the current normal support force of the wear-resistant block of the dredger during operation according to the cutting angle and cutting depth of the rake teeth on the rake head of the dredger during operation, providing a data basis for subsequent calculation of the ground clearance of the wear-resistant block. Then it determines whether the current normal support force is greater than the self-weight of the wear-resistant block. If the current normal support force is greater than the self-weight of the wear-resistant block, it directly determines that the current ground clearance of the wear-resistant block of the dredger during operation is zero, improving the efficiency of calculating the ground clearance of the wear-resistant block. If the current normal support force is not greater than the self-weight of the wear-resistant block, it calculates the current acting force of the high-pressure nozzle on the wear-resistant block of the dredger during operation based on the fluid density in the operation area of the dredger, the flow rate and jet velocity of the high-pressure nozzle of the dredger during operation, considering the fluid resistance borne by the wear-resistant block, providing a data basis for obtaining the current ground clearance of the wear-resistant block of the dredger during operation. Then it obtains the current pulling force of the rake head on the wear-resistant block of the dredger during operation through the tension-compression sensor, considering the force changes caused by dynamic impacts and vibrations due to factors such as equipment wear and seabed terrain changes, providing a data basis for obtaining the current ground clearance of the wear-resistant block of the dredger during operation. Then it inputs the self-weight of the wear-resistant block, the fluid buoyancy in the operation area of the dredger, the current acting force and the current pulling force into a pre-trained ground clearance calculation model to obtain the current ground clearance of the wear-resistant block of the dredger during operation, improving the accuracy of the calculated ground clearance. Finally, it controls the working posture of the rake head according to the current ground clearance, which can ensure that the rake head is always in the best working posture, thereby significantly improving the excavation efficiency of the dredger, reducing unnecessary repetitive operations, and being able to more effectively handle different types of sediments. Therefore, the technical solution of the present invention solves the problem of low accuracy in calculating the ground clearance of the wear-resistant block in the prior art.

[0107] Figure 3 FIG. is a schematic structural diagram of a ground clearance measurement device for a wear-resistant block provided by an embodiment of the present invention. This device belongs to the same inventive concept as the ground clearance measurement method for the wear-resistant block in the above-mentioned embodiments. For the details not described in detail in the embodiment of the ground clearance measurement device for the wear-resistant block, reference can be made to the embodiment of the ground clearance measurement method for the wear-resistant block.

[0108] As Figure 3 shown, the device includes:

[0109] A first calculation module 310, configured to calculate the current acting force of the high-pressure nozzle on the wear-resistant block of the dredger during operation based on the fluid density in the operation area of the dredger, the flow rate and jet velocity of the high-pressure nozzle of the dredger during operation;

[0110] An acquisition module 320, configured to obtain the current pulling force of the rake head on the wear-resistant block of the dredger during operation through the tension-compression sensor;

[0111] A second calculation module 330, configured to input the self-weight of the wear-resistant block, the fluid buoyancy of the dredger operation area, the current acting force, and the current pulling force into a pre-trained ground clearance calculation model, so as to obtain the current ground clearance of the wear-resistant block of the dredger during operation.

[0112] Based on the above embodiments, the device further includes:

[0113] A judgment module, configured to calculate the current normal support force of the wear-resistant block of the dredger during operation according to the cutting angle and cutting depth of the rake teeth on the cutter head of the dredger during operation before calculating the current acting force of the high-pressure nozzle on the wear-resistant block of the dredger during operation based on the fluid density of the dredger operation area, the flow rate and injection speed of the high-pressure nozzle of the dredger during operation; determine whether the current normal support force is greater than the self-weight of the wear-resistant block; and in the case where the current normal support force is not greater than the self-weight of the wear-resistant block, perform the step of calculating the current acting force of the high-pressure nozzle on the wear-resistant block of the dredger during operation based on the fluid density of the dredger operation area, the flow rate and injection speed of the high-pressure nozzle of the dredger during operation.

[0114] Based on the above embodiments, the judgment module calculates the current normal support force of the wear-resistant block of the dredger during operation according to the cutting angle and cutting depth of the rake teeth on the cutter head of the dredger during operation, including:

[0115] Substitute the cutting depth into the relational expression between the cutting resistance of the rake teeth and the cutting depth to obtain the cutting resistance of the rake teeth on the cutter head of the dredger during operation; calculate the cutting horizontal component force of the rake teeth on the cutter head of the dredger during operation based on the cutting resistance and the cutting angle, and calculate the cutting vertical component force of the rake teeth on the cutter head of the dredger during operation based on the cutting resistance and the cutting angle; calculate the product of the cutting horizontal component force and the cutting force horizontal arm to obtain the horizontal moment, and calculate the product of the cutting vertical component force and the cutting force vertical arm to obtain the vertical moment; calculate the sum value of the horizontal moment and the vertical moment to obtain the comprehensive moment; and determine the ratio of the comprehensive moment to the wear-resistant block force arm as the current normal support force of the wear-resistant block of the dredger during operation.

[0116] Based on the above embodiments, the device further includes:

[0117] A determination module, configured to determine that the current ground clearance of the wear-resistant block of the dredger during operation is zero in the case where the normal support force is greater than the self-weight of the wear-resistant block after determining whether the current normal support force is greater than the self-weight of the wear-resistant block.

[0118] Based on the above embodiments, the first calculation module 310 is specifically configured to:

[0119] Calculate the product of the cross-sectional area of the water outlet of the high-pressure nozzle and the jet velocity of the high-pressure nozzle of the dredger during operation to obtain the flow rate of the high-pressure nozzle of the dredger during operation; calculate the product of the fluid density, the flow rate, and the jet velocity to obtain the jet momentum impact force of the high-pressure nozzle of the dredger during operation; based on the jet momentum impact force and the tilt angle of the high-pressure nozzle, calculate the current force exerted by the high-pressure nozzle of the dredger on the wear-resistant block during operation.

[0120] Based on the above embodiments, the device further includes:

[0121] An update module, configured to, after calculating the current force exerted by the high-pressure nozzle of the dredger on the wear-resistant block during operation based on the jet momentum impact force and the tilt angle of the high-pressure nozzle, calculate the current attenuation factor of the force exerted by the high-pressure nozzle of the dredger on the wear-resistant block during operation based on the attenuation coefficient and the previous ground clearance of the wear-resistant block of the dredger during operation; update the current force exerted by the high-pressure nozzle of the dredger on the wear-resistant block during operation according to the current attenuation factor to obtain the updated current force exerted by the high-pressure nozzle of the dredger on the wear-resistant block during operation.

[0122] Based on the above embodiments, the device further includes:

[0123] An error reporting module, configured to calculate the difference between the self-weight of the wear-resistant block and the fluid buoyancy after obtaining the current pulling force of the drag head of the dredger on the wear-resistant block during operation through the tension and compression sensor to obtain the net gravity of the wear-resistant block of the dredger in the dredging operation area during operation; calculate the difference between the current force exerted by the high-pressure nozzle of the dredger on the wear-resistant block during operation and the net gravity to obtain the current theoretical pulling force of the drag head of the dredger on the wear-resistant block during operation; in the case where the deviation between the current pulling force and the current theoretical pulling force exceeds the preset deviation range, determine that the tension and compression sensor fails and send a fault message to the terminal of the staff.

[0124] Based on the above embodiments, the device further includes:

[0125] A control module, configured to control the working posture of the drag head according to the current ground clearance of the wear-resistant block of the dredger during operation after obtaining the current ground clearance of the wear-resistant block of the dredger during operation.

[0126] Based on the above embodiments, the control module is specifically configured to:

[0127] When the current ground clearance is greater than the preset ground clearance of the wear-resistant block during the operation of the dredger, increase the cutting angle and cutting depth of the rake teeth on the rake head; when the current ground clearance is less than the preset ground clearance of the wear-resistant block during the operation of the dredger, decrease the cutting angle and cutting depth of the rake teeth on the rake head.

[0128] Based on the above embodiments, the control module is specifically configured to:

[0129] Calculate the difference between the current ground clearance and the initial ground clearance to obtain the current clearance deviation value; the initial ground clearance is the ground clearance of the wear-resistant block when the dredger is not operating; when the current clearance deviation value is greater than the previous clearance deviation value, increase the cutting angle and cutting depth of the rake teeth on the rake head; the previous clearance deviation value is the difference between the previous ground clearance and the initial ground clearance; when the current clearance deviation value is less than the previous clearance deviation value, decrease the cutting angle and cutting depth of the rake teeth on the rake head.

[0130] Based on the above embodiments, the device further includes:

[0131] An initial clearance calculation module, configured to obtain the initial pulling force of the rake head on the wear-resistant block when the dredger is not operating through the tension and compression sensor before calculating the difference between the current ground clearance and the initial ground clearance to obtain the current clearance deviation value, and obtain the reference pulling force by acquiring the pulling force of the rake head on the wear-resistant block when the dredger is not under working load through the tension and compression sensor; calculate the initial ground clearance based on the initial pulling force and the reference pulling force.

[0132] The device for measuring the ground clearance of the wear-resistant block provided by the embodiments of the present invention can execute the method for measuring the ground clearance of the wear-resistant block provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0133] It should be noted that in the embodiments of the device for measuring the ground clearance of the wear-resistant block, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0134] Figure 4 It is a schematic structural diagram of a dredger provided by an embodiment of the present invention. Figure 4 The block diagram of an exemplary dredger 4 suitable for implementing the embodiments of the present invention is shown. Figure 4 The displayed dredger 4 is only an example and should not bring any limitation to the functions and usage scope of the embodiments of the present invention.

[0135] As shown Figure 4 in FIG. 1, the dredger 4 is embodied in the form of a general-purpose computing electronic device. The components of the dredger 4 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples different system components (including the system memory 28 and the processing unit 16).

[0136] The bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures. By way of example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0137] The dredger 4 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the dredger 4, including volatile and nonvolatile media, removable and non-removable media.

[0138] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The dredger 4 may further include other removable / non-removable, volatile / nonvolatile computer system storage media. By way of example only, a storage system 34 can be used for reading and writing on non-removable, nonvolatile magnetic media ( Figure 4 not shown, typically referred to as a "hard disk drive"). Although Figure 4 not shown in FIG. 1, a disk drive for reading and writing on removable nonvolatile disks (such as a "floppy disk"), and an optical disk drive for reading and writing on removable nonvolatile optical disks (such as a CD-ROM, DVD-ROM, or other optical media) can be provided. In these cases, each drive can be coupled to the bus 18 via one or more data media interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the embodiments of the present invention.

[0139] A program / utility 40 having a set (at least one) of program modules 42 can be stored, for example, in the system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods described in the embodiments of the present invention.

[0140] The dredger 4 can also communicate with one or more external devices 14 (such as a keyboard, a pointing device, a display 24, etc.), and can also communicate with one or more devices that enable a user to interact with the dredger 4, and / or communicate with any device that enables the dredger 4 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through an input / output (I / O) interface 22. Moreover, the dredger 4 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 20. As Figure 4 shown, the network adapter 20 communicates with other modules of the dredger 4 through a bus 18. It should be understood that although Figure 4 not shown in the figure, other hardware and / or software modules can be used in combination with the dredger 4, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0141] The processing unit 16 executes various functional applications and page displays by running programs stored in the system memory 28. For example, it implements the method for measuring the ground clearance of the wear-resistant block provided in the embodiments of the present invention, which is applied to a dredger. The dredger includes a drag head, a wear-resistant block, and a high-pressure nozzle. The drag head and the wear-resistant block are connected through a tension and compression sensor, and the high-pressure nozzle is installed on the wear-resistant block. The method includes:

[0142] Based on the fluid density in the operation area of the dredger, the flow rate and injection speed of the high-pressure nozzle during the operation of the dredger, calculate the current force of the high-pressure nozzle on the wear-resistant block during the operation of the dredger;

[0143] Obtain the current tension of the drag head on the wear-resistant block during the operation of the dredger through the tension and compression sensor;

[0144] Input the self-weight of the wear-resistant block, the fluid buoyancy in the operation area of the dredger, the current force, and the current tension into a pre-trained ground clearance calculation model to obtain the current ground clearance of the wear-resistant block during the operation of the dredger.

[0145] Of course, those skilled in the art can understand that the processor can also implement the technical solutions of the method for measuring the ground clearance of the wear-resistant block provided in any embodiment of the present invention.

[0146] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements, for example, the method for measuring the ground clearance of a wear-resistant block provided by the embodiment of the present invention, which is applied to a dredger. The dredger includes a drag head, a wear-resistant block, and a high-pressure nozzle. The drag head and the wear-resistant block are connected by a tension and compression sensor, and the high-pressure nozzle is installed on the wear-resistant block. The method includes:

[0147] Based on the fluid density in the operation area of the dredger, the flow rate and injection speed of the high-pressure nozzle of the dredger during operation, calculate the current force exerted by the high-pressure nozzle on the wear-resistant block of the dredger during operation;

[0148] Obtain the current tension of the drag head on the wear-resistant block of the dredger during operation through the tension and compression sensor;

[0149] Input the self-weight of the wear-resistant block, the fluid buoyancy in the operation area of the dredger, the current force, and the current tension into a pre-trained ground clearance calculation model to obtain the current ground clearance of the wear-resistant block of the dredger during operation.

[0150] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.

[0151] The computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and the computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device.

[0152] The program code contained on a computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the above.

[0153] The 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 a stand-alone 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).

[0154] Those of ordinary skill in the art should understand that the above-mentioned modules or steps of the present invention can be implemented using a general-purpose computing device. They can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. Optionally, they can be implemented using program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be separately made into individual integrated circuit modules, or multiple modules or steps of them can be made into a single integrated circuit module to implement. Thus, the present invention is not limited to any specific combination of hardware and software.

[0155] In addition, in the technical solution of the present invention, the acquisition, storage, use, processing, etc. of data all comply with the relevant provisions of national laws and regulations.

[0156] Note that the above is only the preferred embodiment of the present invention and the applied technical principle. Those skilled in the art will understand that the present invention is not limited to the specific embodiments here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, it can also include more other equivalent embodiments, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for measuring the ground clearance of a wear-resistant block, which is applied to a dredger. The dredger includes a drag head, a wear-resistant block, and a high-pressure nozzle, and is characterized in that, The drag head and the wear-resistant block are connected by a tension and compression sensor, and the high-pressure nozzle is installed on the wear-resistant block. The method includes: Calculating the current acting force of the high-pressure nozzle on the wear-resistant block during the operation of the dredger based on the fluid density in the operation area of the dredger, the flow rate and the jet velocity of the high-pressure nozzle during the operation of the dredger; Obtaining the current pulling force of the drag head on the wear-resistant block during the operation of the dredger through the tension and compression sensor; Inputting the self-weight of the wear-resistant block, the fluid buoyancy in the operation area of the dredger, the current acting force and the current pulling force into a pre-trained ground clearance calculation model to obtain the current ground clearance of the wear-resistant block during the operation of the dredger.

2. The method for measuring the ground clearance of the wear-resistant block according to claim 1, characterized in that Before calculating the current acting force of the high-pressure nozzle on the wear-resistant block during the operation of the dredger based on the fluid density in the operation area of the dredger, the flow rate and the jet velocity of the high-pressure nozzle during the operation of the dredger, it further includes: Calculating the current normal supporting force of the wear-resistant block during the operation of the dredger according to the cutting angle and the cutting depth of the rake teeth on the drag head during the operation of the dredger; Determining whether the current normal supporting force is greater than the self-weight of the wear-resistant block; In the case that the current normal supporting force is not greater than the self-weight of the wear-resistant block, performing the step of calculating the current acting force of the high-pressure nozzle on the wear-resistant block during the operation of the dredger based on the fluid density in the operation area of the dredger, the flow rate and the jet velocity of the high-pressure nozzle during the operation of the dredger.

3. The method for measuring the ground clearance of the wear-resistant block according to claim 2, characterized in that, Calculating the current normal supporting force of the wear-resistant block during the operation of the dredger according to the cutting angle and the cutting depth of the rake teeth on the drag head during the operation of the dredger includes: Substituting the cutting depth into the relational expression between the cutting resistance of the rake teeth and the cutting depth to obtain the cutting resistance of the rake teeth on the drag head during the operation of the dredger; Calculating the cutting horizontal component force of the rake teeth on the drag head during the operation of the dredger based on the cutting resistance and the cutting angle, and calculating the cutting vertical component force of the rake teeth on the drag head during the operation of the dredger based on the cutting resistance and the cutting angle; Calculating the product of the cutting horizontal component force and the cutting force horizontal arm to obtain the horizontal moment, and calculating the product of the cutting vertical component force and the cutting force vertical arm to obtain the vertical moment; Calculating the sum value of the horizontal moment and the vertical moment to obtain the comprehensive moment; Determining the ratio of the comprehensive moment to the wear-resistant block arm as the current normal supporting force of the wear-resistant block during the operation of the dredger.

4. The method for measuring the ground clearance of the wear-resistant block according to claim 2, characterized in that, After determining whether the current normal supporting force is greater than the self-weight of the wear-resistant block, it further includes: In the case that the normal supporting force is greater than the self-weight of the wear-resistant block, determining that the current ground clearance of the wear-resistant block during the operation of the dredger is zero.

5. The method for measuring the ground clearance of a wear-resistant block according to claim 1, characterized in that: Calculating the current acting force of the high-pressure nozzle on the wear-resistant block during the operation of the dredger based on the fluid density in the operation area of the dredger, the flow rate and the jet velocity of the high-pressure nozzle during the operation of the dredger includes: Calculating the product of the cross-sectional area of the water outlet of the high-pressure nozzle and the jet velocity of the high-pressure nozzle when the dredger is operating to obtain the flow rate of the high-pressure nozzle when the dredger is operating; Calculating the product of the fluid density, the flow rate, and the jet velocity to obtain the jet momentum impact force of the high-pressure nozzle when the dredger is operating; Based on the jet momentum impact force and the inclination angle of the high-pressure nozzle, the current force of the high-pressure nozzle on the wear-resistant block when the dredger is operating is calculated.

6. The method for measuring the ground clearance of the wear-resistant block according to claim 5, characterized in that, After calculating the current force of the high-pressure nozzle on the wear-resistant block when the dredger is operating based on the jet momentum impact force and the inclination angle of the high-pressure nozzle, the method further includes: calculating a current attenuation factor of the force exerted by the high-pressure nozzle on the wear-resistant block when the dredger is operating based on the attenuation coefficient and the previous ground clearance of the wear-resistant block when the dredger is operating; The current force of the high-pressure nozzle on the wear-resistant block when the dredger is operating is updated according to the current attenuation factor to obtain an updated current force of the high-pressure nozzle on the wear-resistant block when the dredger is operating.

7. The method for measuring the ground clearance of the wear-resistant block according to claim 1, wherein, After obtaining the current pulling force of the drag head on the wear-resistant block when the dredger is operating through the pulling and pressure sensor, the method further includes: Calculating the difference between the deadweight of the wear-resistant block and the buoyancy of the fluid to obtain the net gravity exerted on the wear-resistant block in the dredger operation area when the dredger is operating; Calculating the difference between the current force of the high-pressure nozzle on the wear-resistant block and the net gravity when the dredger is operating to obtain the current theoretical pulling force of the drag head on the wear-resistant block when the dredger is operating; When the deviation between the current tension and the current theoretical tension exceeds a preset deviation range, it is determined that the tension and pressure sensor has failed, and failure information is sent to a terminal of a staff member.

8. The method for measuring the ground clearance of the wear-resistant block according to claim 1, wherein After obtaining the current ground clearance of the wear-resistant block when the dredger is operating, the method further includes: The working posture of the drag head is controlled according to the current ground clearance.

9. The method for measuring the ground clearance of the wear-resistant block according to claim 8, wherein, Controlling the working posture of the drag head according to the current ground clearance includes: When the current ground clearance is greater than the preset ground clearance of the wear-resistant block when the dredger is operating, increasing the cutting angle and cutting depth of the rake teeth on the drag head; When the current ground clearance is less than the preset ground clearance of the wear-resistant block when the dredger is in operation, the cutting angle and cutting depth of the rake teeth on the drag head are reduced.

10. The method for measuring the ground clearance of the wear-resistant block according to claim 8, characterized in that, Controlling the working posture of the drag head according to the current ground clearance includes: Calculating the difference between the current ground clearance and the initial ground clearance to obtain a current clearance deviation value; the initial ground clearance is the ground clearance of the wear-resistant block when the dredger is not in operation; When the current gap deviation value is greater than the previous gap deviation value, increasing the cutting angle and cutting depth of the rake teeth on the rake head; the previous gap deviation value is the difference between the previous ground clearance and the initial ground clearance; When the current gap deviation value is smaller than the previous gap deviation value, the cutting angle and cutting depth of the rake teeth on the rake head are reduced.

11. The method for measuring the ground clearance of the wear-resistant block according to claim 10, characterized in that, Before calculating the difference between the current ground clearance and the initial ground clearance to obtain the current clearance deviation value, the following steps are further included: Obtain the pulling force of the drag head on the wear-resistant block when the dredger is not operating through the tension and compression sensor to obtain the initial pulling force, and obtain the reference pulling force by using the tension and compression sensor to acquire the pulling force of the drag head on the wear-resistant block when the dredger is not under working load; Calculate the initial ground clearance based on the initial pulling force and the reference pulling force.

12. A dredger, characterized in that, The dredger includes: At least one processor; and a memory communicatively connected to the at least one processor; Wherein, 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 so that the at least one processor can execute the method for measuring the ground clearance of the wear-resistant block according to any one of claims 1-11.

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