Real-time visualization system and method for rake pipe and rake head of clay type rake head excavator

Abstract

The invention discloses a real-time visualization system and method for a rake pipe and a rake head of a clay type rake head excavator, and belongs to the technical field of dredgers. The invention discloses a real-time visualization system for a rake pipe and a rake head of a clay type rake head excavator. The real-time visualization system comprises a communication module, a data acquisition module, a model construction module and a visualization module, the problem that in the prior art, in the actual use process, it is difficult for workers to judge the actual working state of the rake head, and consequently it is difficult to improve the sludge suction efficiency is solved, and the rake pipe and rake head fixing parameters, rake head fixing parameters and rake head flushing fixing parameters of the rake pipe and the rake head can be known by building the yield model; and meanwhile, rake suction pipe fixing parameters, rake head fixing parameters and rake head flushing fixing parameters are transmitted to the visual platform through the communication module for visual display, so that a worker can conveniently know the working state of the rake pipe and the rake head in time, various parameters of the rake pipe and the rake head are adjusted according to the working state of the rake pipe and the rake head, and the mud suction efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of dredgers, in particular to a real-time visualization system and method for a rake pipe and rake head of a clay-type rake head excavator. Background Art

[0002] In the dredging industry, a trailing suction hopper dredger is a large, self-propelled, bunker-loading dredger equipped with a drag head excavator and a hydraulic dredger. During dredging, the drag head and suction pipe are lowered to the riverbed. The vacuum pump draws mud from the riverbed through the drag head and suction pipe into the dredger's silo. Once the silo is full, the dredger is launched to the dumping area for disposal. The drag head is the front-end device in the dredger's mud or sediment suction system.

[0003] Chinese patent publication number CN220202806U discloses a drag head structure for a trailing suction dredger, comprising a housing, a collection mechanism, a discharge pipe, and an adjustment mechanism for adjusting the position of the housing relative to the surface. The adjustment mechanism comprises: a rotating pipe disposed on the discharge pipe and rotatably mounted on the housing; a driving member for driving the housing to rotate on the rotating pipe; and a detection member connected to the driving member for detecting the shape of the riverbed surface. This application places the drag head on the riverbed surface and controls the extension and retraction of the telescopic rod based on the surface shape detected by the detection member, ensuring that the housing always conforms to the riverbed surface. The excavating member then excavates and collects the silt. The excavated silt is filtered through a filter and then enters the housing. The silt is then crushed by a pulverizing member and discharged into the dredger through the discharge pipe. After a period of use, the filter is cleaned by a cleaning member, thereby improving the production efficiency of the dredger.

[0004] In actual use, the above patent makes it difficult for workers to judge the actual working status of the dredger's dredger head because the dredger's dredger head is underwater, making it difficult to improve the efficiency of mud suction. Therefore, it does not meet existing needs. In response to this, we propose a real-time visualization system and method for the dredger head of a clay-type dredger excavator. Summary of the Invention

[0005] The purpose of the present invention is to provide a real-time visualization system and method for the rake tube and rake head of a clay-type rake head excavator. By constructing a production model, the fixed parameters of the rake suction pipe, the rake head fixed parameters and the rake head flushing fixed parameters of the rake tube and rake head can be understood. At the same time, the fixed parameters of the rake suction pipe, the rake head fixed parameters and the rake head flushing fixed parameters are transmitted to the visualization platform through the communication module for visual display, so as to facilitate the staff to understand the working status of the rake tube and rake head in time, and then adjust the various parameters of the rake tube and rake head according to the working status of the rake tube and rake head, thereby improving the efficiency of mud suction and solving the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: a real-time visualization system for a rake pipe and rake head of a clay-type rake head excavator, comprising:

[0007] The virtual simulation module is used to analyze and predict the force conditions at each point of the rake head during the entire operation process of the rake head according to the planned operating posture of the rake head before the rake head of the clay-type rake head excavator is operated. The force conditions at each point of the rake head are compared with the designed force requirements of the rake head to determine whether the actual operation conforms to the designed operation mode, and the rake head operation is performed in accordance with the designed operation mode.

[0008] The communication module is used to establish a communication protocol between the rake tube and rake head of the clay type rake head excavator and the visualization display platform, convert the original data of the rake tube and rake head of the clay type rake head excavator, and generate a data set of the rake tube and rake head of the clay type rake head excavator;

[0009] The data acquisition module is used to collect parameters of the rake pipe and rake head of the clay type rake head excavator during operation;

[0010] The model building module is used to input the acquired parameters into the basic framework of the production model, build the production model, and calculate the adhesion force and friction force generated at the contact between the drag head and the mud surface, the resistance of the underwater drag pipe and drag head, and the bearing capacity of the mud surface;

[0011] The visualization module is used to automatically iterate the force balance and dynamic state of the drag head at ground speed, and display the calculation process on the visualization display platform.

[0012] Preferably, the communication module specifically includes:

[0013] Establish a communication protocol between the rake head of a clay-type rake excavator and the visualization display platform, and obtain the data format template of the visualization display platform;

[0014] Based on the data format template, the original data of the clay type drag head excavator rake pipe drag head is converted to generate the clay type drag head excavator rake pipe drag head dataset.

[0015] Preferably, the data acquisition module includes:

[0016] Fixed parameter collection module, used to collect fixed parameters of the rake pipe and rake head of the clay type rake head excavator, including fixed parameters of the rake suction pipe, fixed parameters of the rake head and fixed parameters of the rake head flushing;

[0017] Process parameter collection module, used to collect process parameters of the rake pipe and rake head of the clay type rake head excavator;

[0018] The soil parameter collection module is used to collect soil parameters at the working site of the rake pipe and rake head of the clay-type rake head excavator.

[0019] Preferably, the model building module includes:

[0020] The framework construction module is used to obtain input fixed parameters, process parameters and soil parameters, and input the obtained parameters into the basic framework of the yield model to perform yield modeling;

[0021] The calculation module is used to calculate the adhesion force generated at the contact point between the drag head and the mud surface, the friction force generated between the drag head and the mud surface, the resistance of the underwater drag pipe and drag head, and the bearing capacity of the mud surface.

[0022] Preferably, the calculation module includes:

[0023] The force calculation module is used to calculate the adhesion force generated at the contact point between the rake head and the mud surface and the friction force generated between the rake head and the mud surface;

[0024] Calculate the adhesion force generated at the contact point between the harrow head and the mud surface. The calculation formula is as follows:

[0025] F c =λ×a c ×A f

[0026] Where λ is the gravitational constant, a c is the mass of the mud surface, A f The distance from the mud surface to the handle;

[0027] Calculate the friction between the harrow head and the mud surface using the following formula:

[0028] F f =F s ×tan(δ)

[0029] Where, F s is the additional support force of the mud surface, δ is the external friction angle of the soil;

[0030] The hydrodynamic calculation module is used to calculate the resistance of the underwater rake tube and rake head, which includes rolling resistance and friction resistance;

[0031] Calculate the resistance of the underwater rake tube and rake head using the following formula:

[0032]

[0033] In the formula, S is the projected area of the object perpendicular to the direction of water flow, C d is the resistance coefficient, ρ w is the density of water, V 2 is the velocity of the water flow;

[0034] The bearing capacity calculation module is used to calculate the bearing capacity of the mud surface, and calculate the cutting depth and various force result parameters based on the mud surface bearing capacity.

[0035] Preferably, the bearing capacity calculation module specifically includes:

[0036] Taking the mud surface as the reference plane, each iteration step is set to H s , calculate the height of the mud surface from the tooth tip in each iteration step, the calculation formula is:

[0037] H so [i+1]=H so [i]+H s

[0038] Where H so [i+1] is the height of the mud surface from the tooth tip in each iteration step, H so is the effective cutting depth of the rake teeth, i = [0, 1, 2, 3, 4...n];

[0039] Calculate the force balance at the current cutting depth to obtain the support force of the mud surface on the harrow head, calculate the bearing capacity of the soil on the harrow teeth and determine whether it is greater than the current support force of the mud surface on the harrow head;

[0040] If the bearing capacity is greater than the supporting force of the mud surface on the harrow head, the iteration ends and the equilibrium result is obtained;

[0041] If the bearing capacity is less than the supporting force of the mud surface on the harrow head, continue iterating and determine whether the wear-resistant block contacts the mud surface;

[0042] If the wear-resistant block contacts the mud surface, the soil resistance and the soil bearing capacity of the wear-resistant block are added to the force balance calculation, and the iteration is continued until the balance is reached to obtain the cutting depth and various force result parameters.

[0043] Preferably, the framework construction module specifically includes:

[0044] S1: Input the fixed parameters of the harrow tube and harrow head, process parameters and soil parameters, and use the fixed parameters of the harrow tube and harrow head, process parameters and soil parameters to set the initial ground speed;

[0045] S2: Use the iterative method of dynamic cutting depth to calculate the force balance between the upper and lower rake tubes of the rake head and the relative state between the rake head and the mud surface.

[0046] Calculate the force balance of the upper rake pipe in the horizontal and vertical directions. The calculation formula is as follows:

[0047] ∑F ux =F ax +F w1 ×cosβ1+F bx +F f1 =0

[0048] ∑F uy =F ay +Fw1 ×sinβ1+F by +F g1 =0

[0049] Where, F ux The horizontal force balance of the upper rake tube, F uy is the vertical force balance of the lower rake tube, β1 is the angle between the wire rope at the center of the rake and the horizontal, F w1 Force of the wire rope at the hanging point in the rake, F g1 is the submerged weight of the upper rake pipe, F f1 F is the resistance of water flow on the upper rake pipe, ax is the horizontal support reaction force acting on the suction port, F ay is the vertical support reaction force acting on the suction port, F bx is the horizontal support reaction force acting on the cross joint, and F by is the vertical support reaction force acting on the cross-connection point;

[0050] Calculate the horizontal and vertical force balance of the lower rake pipe using the following formula:

[0051] ∑F x2 =F bx +F w2 ×cosβ2+F cx +F f2 =0

[0052] ∑F y2 =F by +F w2 ×sinβ2+F cy +F g2 =0

[0053] β2 is the angle between the wire rope at the lifting point of the rake head and the horizontal, F w2 is the force of the wire rope at the lifting point of the rake head, F g2 is the submerged weight of the lower rake pipe, F f2 It is the resistance of water flow acting on the lower rake pipe;

[0054] S3: Determine whether the horizontal force acting on the rake tube and rake head is greater than the thrust that the propeller can provide. If it is greater than the thrust that the propeller can provide, end the calculation;

[0055] The thrust calculation formula is as follows:

[0056] F d =F a -F w1 ×cos(β1)-F w2 ×cos(β2)

[0057] Where, F a is the support reaction force;

[0058] S4: If it is not greater than the thrust provided by the propeller, calculate the vertical force of the mud surface on the rake teeth during cutting and determine whether the vertical force is less than 0;

[0059] S5: If the vertical force is less than 0, reduce the angle of the lower rake tube. If the vertical force is not less than 0, calculate the pressure of the movable cover cylinder.

[0060] S6: Determine whether the pressure of the movable cover cylinder is greater than the set pressure. If so, retract the movable cover by one angle and return to step S2 for iterative calculation.

[0061] Calculate the pressure of the movable cover cylinder, including:

[0062] First, calculate the total torque acting on the movable cover shaft. The calculation formula is as follows:

[0063] M visor =M cutter +M press +M con_visor +M jet2 +M jet3 +M support

[0064] Where M visor is the total torque on the movable cover shaft, M press is the torque of the pressure difference force relative to the rotation point, M cutter is the torque generated by the cutting force, M con_visor Total torque of wear plates on both sides, M jet2 M is the direct relationship function between the nozzle angle on the rake teeth and the dynamic state of the rake head. jet3 is the nozzle parameter on the rotating shaft of the movable cover, M support is the supporting force of the movable cover;

[0065] Then calculate the dynamic force arm of the movable cover cylinder, the calculation formula is as follows:

[0066]

[0067] Where, l c is the distance from the movable end to the fixed end, r t is the distance from the center of the movable cover shaft to the movable end, r b L is the distance from the center of the movable cover shaft to the fixed end, cylinderv is the dynamic force arm of the movable cover cylinder, φ cy The angle at which the movable cover extends;

[0068] Calculate the force acting on the cylinder using the following formula:

[0069]

[0070] Calculate the pressure of each cylinder using the following formula:

[0071]

[0072] Where p cylinderv is the pressure of each cylinder;

[0073] S7: If it is greater than the set pressure, the in-situ cutting amount at the ground speed is calculated, and the flow rate and volume concentration at this speed are calculated in combination with the mud pump characteristics;

[0074] S8: Determine whether the current ground speed reaches the set maximum speed. If so, terminate the calculation.

[0075] S9: If the set maximum speed is not reached, increase the ground speed and return to step 4 to continue the calculation to obtain a yield curve with ground speed as the horizontal axis and yield as the vertical axis, which is the basic framework of the yield model.

[0076] Preferably, the virtual simulation module includes:

[0077] The drag head operating environment model building module is used to build a three-dimensional operating environment model of the drag head operating site based on laser scanning imaging;

[0078] The operation simulation analysis module is used to import the on-site three-dimensional operation environment model, obtain the predetermined operation posture of the rake head, use fixed parameter input data, perform virtual simulation analysis of the rake head operation force, and judge the force balance of the rake head operation. If the force balance does not meet the set requirements, the rake head operation posture is virtually adjusted according to the preset adjustment rules until the force balance meets the set requirements, and the rake head operation posture that meets the set force balance is output;

[0079] The rake head operation posture adjustment module is used to implement rake head operation posture adjustment and perform rake head operation according to the rake head operation posture output by the operation simulation analysis module.

[0080] Preferably, the real-time visualization system of the rake pipe and rake head of the clay type rake head excavator further includes:

[0081] The drag head operation trajectory planning module is used to obtain the operation target requirement information, combine the operation target requirement information, implement preliminary planning of the drag head operation trajectory based on the three-dimensional operation environment model, obtain multiple drag head operation trajectory operation plans, analyze the dredger movement for each operation plan, and select the drag head operation trajectory with the smallest dredger movement as the optimized operation plan;

[0082] The operation trajectory tracking and monitoring module is used to construct the operation area coordinate system, import the rake head operation trajectory of the optimized operation plan, implement the rake head operation according to the planned rake head operation trajectory, perform operation trajectory tracking and monitoring, and obtain the operation trajectory deviation;

[0083] The operation track correction module is used to compare the operation track deviation with the set maximum allowable deviation. If the operation track deviation is greater than the maximum allowable deviation, the operation track of the rake head is corrected.

[0084] The operation trajectory control stability evaluation module is used to evaluate the control stability of the current operation based on the deviation of the operation trajectory at each point of each operation trajectory tracking, and obtain the control stability index;

[0085] The equipment is evaluated based on the control stability index. If the control stability index exceeds the set limit, it means that the equipment needs to be repaired.

[0086] The method for real-time visualization of the rake pipe and rake head of a clay type rake head excavator and the system for real-time visualization of the rake pipe and rake head of a clay type rake head excavator include the following steps:

[0087] Step 1: Establish a communication connection between the rake tube and rake head of the clay type rake head excavator and the visualization display platform, and collect the working data set of the rake tube and rake head of the clay type rake head excavator;

[0088] Step 2: Obtain fixed parameters of the rake suction pipe, rake head, and rake head flushing, and input the obtained parameters into the basic framework of the yield model to build the yield model;

[0089] Step 3: Input the acquired process parameters and soil parameters into the yield model, automatically iterate the force balance and the dynamic state of the rake head under the ground speed, and display the calculation process on the visual display platform;

[0090] Step 4: After the calculation is completed, the production curve, cutting depth curve, main force curve of the rake head and rake tube, and moment balance data of the rake head movable cover are output, and the output data are displayed on the visual display platform to construct a schematic diagram.

[0091] Compared with the prior art, the present invention has the following beneficial effects:

[0092] The present invention can understand the fixed parameters of the rake pipe and suction pipe, the fixed parameters of the rake head and the fixed parameters of the rake head flushing by constructing a production model. At the same time, the fixed parameters of the rake pipe and suction pipe, the fixed parameters of the rake head and the fixed parameters of the rake head flushing are transmitted to the visualization platform through the communication module for visualization display, so as to facilitate the staff to understand the working status of the rake pipe and rake head in time, and then adjust the various parameters of the rake pipe and rake head according to the working status of the rake pipe and rake head, thereby improving the efficiency of mud suction. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] Figure 1 Schematic diagram of the real-time visualization system of the rake tube and rake head of the clay type rake head excavator of the present invention;

[0094] Figure 2 Schematic diagram of the real-time visualization method of the rake tube and rake head of the clay type rake head excavator of the present invention

[0095] Figure 3 The present invention provides a framework for a real-time visualization system for a rake tube and rake head of a clay-type rake head excavator. DETAILED DESCRIPTION

[0096] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0097] In order to solve the problem that in the actual use of the existing patent, it is difficult for the staff to judge the actual working status of the dredger's dredger head because the dredger's dredger head is underwater, thus making it difficult to improve the efficiency of mud suction, please refer to Figure 1-Figure 3 , this embodiment provides the following technical solutions

[0098] The real-time visualization system for the rake tube and rake head of a clay-type rake head excavator includes:

[0099] The virtual simulation module is used to analyze and predict the force conditions at each point of the rake head during the entire operation process of the rake head according to the planned operating posture of the rake head before the rake head of the clay-type rake head excavator is operated. The force conditions at each point of the rake head are compared with the designed force requirements of the rake head to determine whether the actual operation conforms to the designed operation mode, and the rake head operation is performed in accordance with the designed operation mode.

[0100] The communication module is used to establish a communication protocol between the rake tube and rake head of the clay type rake head excavator and the visualization display platform, convert the original data of the rake tube and rake head of the clay type rake head excavator, and generate a data set of the rake tube and rake head of the clay type rake head excavator;

[0101] The data acquisition module is used to collect parameters of the rake pipe and rake head of the clay type rake head excavator during operation;

[0102] The model building module is used to input the acquired parameters into the basic framework of the production model, build the production model, and calculate the adhesion force and friction force generated at the contact between the drag head and the mud surface, the resistance of the underwater drag pipe and drag head, and the bearing capacity of the mud surface;

[0103] The visualization module is used to automatically iterate the force balance and dynamic state of the drag head at ground speed, and display the calculation process on the visualization display platform.

[0104] Communication module, specifically including:

[0105] Establish a communication protocol between the rake head of a clay-type rake excavator and the visualization display platform, and obtain the data format template of the visualization display platform;

[0106] Based on the data format template, the original data of the clay type drag head excavator rake pipe drag head is converted to generate the clay type drag head excavator rake pipe drag head dataset.

[0107] Data acquisition module, including:

[0108] A fixed parameter acquisition module is used to acquire fixed parameters of the suction pipe of the rake tube rake head of a clay-type rake head excavator, perform parametric modeling of the rake suction pipe based on the fixed parameters of the rake suction pipe, acquire fixed parameters of the rake head of the rake tube rake head of a clay-type rake head excavator, perform parametric modeling of the rake head based on the fixed parameters of the rake head, acquire fixed parameters of the rake head flushing of the rake tube rake head of a clay-type rake head excavator, perform parametric modeling of the wear block flushing, rake tooth flushing, and movable cover flushing on the rake head based on the fixed parameters of the rake head flushing, and obtain a scouring model for the wear block;

[0109] Process parameter collection module, used to collect process parameters of the rake pipe and rake head of the clay type rake head excavator;

[0110] The soil parameter collection module is used to collect soil parameters at the working site of the rake pipe and rake head of the clay-type rake head excavator.

[0111] By obtaining these fixed parameters, the construction efficiency can be significantly improved, and the parameters of the suction pipe, suction head and flushing system can be accurately controlled to ensure the stability and continuity of the dredging operation. For example, during the construction process of the suction hopper dredger, the three-dimensional control of the suction arm posture can be achieved by setting the fixed depth and safety parameters, thereby improving the accuracy and real-time responsiveness of the dredging depth control, ensuring the construction quality and ship safety. Secondly, the acquisition of these fixed parameters is crucial to ensuring the construction quality. The accurate setting of construction parameters can avoid construction quality problems caused by improper operation or environmental changes, ensuring the accuracy and efficiency of the dredging project. For example, different types of soil require different drag heads and flushing methods. Accurate parameter settings can ensure the best dredging effect under different soil conditions. In addition, obtaining these fixed parameters can also enhance the safety of the ship. By accurately controlling the operating parameters of the drag suction pipe and drag head, the shaking and instability of the ship caused by improper operation can be reduced, thereby reducing the risk of safety accidents. For example, in a relatively severe wind and wave environment, a trailing suction hopper dredger can maintain a high dredging efficiency by setting a wave compensation device, ensuring the safe operation of the ship. Finally, obtaining these fixed parameters can also reduce construction costs.

[0112] Model building modules, including:

[0113] The framework construction module is used to obtain input fixed parameters, process parameters and soil parameters, and input the obtained parameters into the basic framework of the yield model to perform yield modeling;

[0114] The calculation module is used to calculate the adhesion force generated at the contact point between the drag head and the mud surface, the friction force generated between the drag head and the mud surface, the resistance of the underwater drag pipe and drag head, and the bearing capacity of the mud surface.

[0115] Computing module, including:

[0116] The force calculation module is used to calculate the adhesion force and friction force generated by the contact between the drag head and the mud surface. The adhesion force is divided into two parts: one is acting on the part of the wear-resistant plates on both sides of the movable cover that protrudes from the mud surface, and the other is acting on the bottom of the fixed body. The friction force only acts on the bottom of the fixed body;

[0117] Calculate the adhesion force generated at the contact point between the harrow head and the mud surface. The calculation formula is as follows:

[0118] F c =λ×a c ×A f

[0119] Where λ is the gravitational constant, a c is the mass of the mud surface, A f The distance from the mud surface to the handle;

[0120] Calculate the friction between the harrow head and the mud surface using the following formula:

[0121] F f =F s ×tan(δ)

[0122] Where, F s is the additional support force of the mud surface, δ is the external friction angle of the soil;

[0123] The hydrodynamic calculation module is used to calculate the resistance of the underwater rake tube and rake head, which includes rolling resistance and friction resistance;

[0124] Calculate the resistance of the underwater rake tube and rake head using the following formula:

[0125]

[0126] In the formula, S is the projected area of the object perpendicular to the direction of water flow, C d is the resistance coefficient, ρ w is the density of water, V 2 is the velocity of the water flow. It can be seen that the solution to the resistance is mainly to obtain the resistance coefficient of the object;

[0127] The bearing capacity calculation module is used to calculate the bearing capacity of the mud surface, and calculate the cutting depth and various force result parameters based on the mud surface bearing capacity.

[0128] The bearing capacity calculation module specifically includes:

[0129] Taking the mud surface as the reference plane, each iteration step is set to H s , calculate the height of the mud surface from the tooth tip in each iteration step, the calculation formula is:

[0130] H so [i+1]=H so [i]+H s

[0131] Where H so [i+1] is the height of the mud surface from the tooth tip in each iteration step, H so is the effective cutting depth of the rake teeth, i = [0, 1, 2, 3, 4...n];

[0132] Calculate the force balance at the current cutting depth to obtain the support force of the mud surface on the harrow head, calculate the bearing capacity of the soil on the harrow teeth and determine whether it is greater than the current support force of the mud surface on the harrow head;

[0133] If the bearing capacity is greater than the supporting force of the mud surface on the harrow head, the iteration ends and the equilibrium result is obtained;

[0134] If the bearing capacity is less than the supporting force of the mud surface on the harrow head, continue iterating and determine whether the wear-resistant block contacts the mud surface;

[0135] If the wear-resistant block contacts the mud surface, the soil resistance and the soil bearing capacity of the wear-resistant block are added to the force balance calculation, and the iteration is continued until the balance is reached to obtain the cutting depth and various force result parameters.

[0136] The framework building blocks include:

[0137] S1: Input fixed parameters of the rake tube and rake head, process parameters, and soil parameters. Fixed parameters are inherent parameters of the rake tube and rake head, such as the rake tube length and weight. Process parameters are the rake tube angle, wave compensation force, and movable cover angle. The initial ground speed is set using the fixed parameters of the rake tube and rake head, process parameters, and soil parameters.

[0138] S2: Use the iterative method of dynamic cutting depth to calculate the force balance between the upper and lower rake tubes of the rake head and the relative state between the rake head and the mud surface.

[0139] Calculate the force balance of the upper rake pipe in the horizontal and vertical directions. The calculation formula is as follows:

[0140] ∑F ux =F ax +F w1 ×cosβ1+F bx +F f1 =0

[0141] ∑F uy =F ay +F w1 ×sinβ1+F by +F g1 =0

[0142] Where, F ux The horizontal force balance of the upper rake tube, F uy is the vertical force balance of the lower rake tube, β1 is the angle between the wire rope at the center of the rake and the horizontal, F w1 Force of the wire rope at the hanging point in the rake, F g1 is the submerged weight of the upper rake pipe, F f1 F is the resistance of water flow on the upper rake pipe, ax is the horizontal support reaction force acting on the suction port, F ay is the vertical support reaction force acting on the suction port, F bx is the horizontal support reaction force acting on the cross joint, and F by is the vertical support reaction force acting on the cross-connection point;

[0143] Calculate the horizontal and vertical force balance of the lower rake pipe using the following formula:

[0144] ∑F x2 =F bx +Fw2 ×cosβ2+F cx +F f2 =0

[0145] ∑F y2 =F by +F w2 ×sinβ2+F cy +F g2 =0

[0146] β2 is the angle between the wire rope at the lifting point of the rake head and the horizontal, F w2 is the force of the wire rope at the lifting point of the rake head, F g2 is the submerged weight of the lower rake pipe, F f2 It is the resistance of water flow acting on the lower rake pipe;

[0147] S3: Determine whether the horizontal force acting on the rake tube and rake head is greater than the thrust that the propeller can provide. If it is greater than the thrust that the propeller can provide, end the calculation;

[0148] The thrust calculation formula is as follows:

[0149] F d =F a -F w1 ×cos(β1)-F w2 ×cos(β2)

[0150] Where, F a is the support reaction force;

[0151] S4: If it is not greater than the thrust provided by the propeller, calculate the vertical force of the mud surface on the rake teeth during cutting and determine whether the vertical force is less than 0;

[0152] S5: If the vertical force is less than 0, reduce the angle of the lower rake tube. If the vertical force is not less than 0, calculate the pressure of the movable cover cylinder.

[0153] S6: Determine whether the pressure of the movable cover cylinder is greater than the set pressure. If so, retract the movable cover by one angle and return to step S2 for iterative calculation.

[0154] Calculate the pressure of the movable cover cylinder, including:

[0155] First, calculate the total torque acting on the movable cover shaft. The calculation formula is as follows:

[0156] M visor =M cutter +M press +M con_visor +M jet2 +M jet3 +M support

[0157] Where M visor is the total torque on the movable cover shaft, M press is the torque of the pressure difference force relative to the rotation point, M cutter is the torque generated by the cutting force, M con_visor Total torque of wear plates on both sides, M jet2 M is the direct relationship function between the nozzle angle on the rake teeth and the dynamic state of the rake head. jet3 is the nozzle parameter on the rotating shaft of the movable cover, M support is the supporting force of the movable cover;

[0158] Then calculate the dynamic force arm of the movable cover cylinder, the calculation formula is as follows:

[0159]

[0160] Where, l c is the distance from the movable end to the fixed end, r t is the distance from the center of the movable cover shaft to the movable end, r b L is the distance from the center of the movable cover shaft to the fixed end, cylinderv is the dynamic force arm of the movable cover cylinder, φ cy The angle at which the movable cover extends;

[0161] Calculate the force acting on the cylinder using the following formula:

[0162]

[0163] Calculate the pressure of each cylinder using the following formula:

[0164]

[0165] Where p cylinderv is the pressure of each cylinder;

[0166] S7: If it is greater than the set pressure, the in-situ cutting amount at the ground speed is calculated, and the flow rate and volume concentration at this speed are calculated in combination with the mud pump characteristics;

[0167] S8: Determine whether the current ground speed reaches the set maximum speed. If so, terminate the calculation.

[0168] S9: If the set maximum speed is not reached, increase the ground speed and return to step 4 to continue the calculation to obtain a yield curve with ground speed as the horizontal axis and yield as the vertical axis, which is the basic framework of the yield model.

[0169] Based on the above embodiment, the virtual simulation module includes:

[0170] The drag head operating environment model building module is used to build a three-dimensional operating environment model of the drag head operating site based on laser scanning imaging;

[0171] The operation simulation analysis module is used to import the on-site three-dimensional operation environment model, obtain the predetermined operation posture of the rake head, use fixed parameter input data, perform virtual simulation analysis of the rake head operation force, and judge the force balance of the rake head operation. If the force balance does not meet the set requirements, the rake head operation posture is virtually adjusted according to the preset adjustment rules until the force balance meets the set requirements, and the rake head operation posture that meets the set force balance is output;

[0172] The rake head operation posture adjustment module is used to implement rake head operation posture adjustment and perform rake head operation according to the rake head operation posture output by the operation simulation analysis module.

[0173] Specifically, by adopting virtual simulation technology, according to the predetermined working posture of the rake head, the force conditions of each point in the entire operation process of the rake head can be analyzed and predicted before the actual operation of the rake head, and then the force conditions of each point of the rake head are compared with the design force requirements of the rake head. Since the rake head is designed based on force balance, it is used in accordance with the designed force balance, the loss of the equipment is balanced and the service life is long. The present invention takes this aspect into consideration. Therefore, when in use, the working posture that can keep the rake head in force balance is determined through simulation analysis, so that the actual operation is consistent with or close to the designed operation mode, avoiding local abnormal wear of the equipment, ensuring the accuracy of the operation during the life cycle of the rake head, and improving the service life of the equipment; among them, the three-dimensional working environment model can also be constructed using other imaging aspects, such as ultrasonic imaging.

[0174] Based on the above embodiment, the real-time visualization system of the rake pipe and rake head of the clay type rake head excavator further includes:

[0175] The drag head operation trajectory planning module is used to obtain the operation target requirement information, combine the operation target requirement information, implement preliminary planning of the drag head operation trajectory based on the three-dimensional operation environment model, obtain multiple drag head operation trajectory operation plans, analyze the dredger movement for each operation plan, and select the drag head operation trajectory with the smallest dredger movement as the optimized operation plan;

[0176] The operation trajectory tracking and monitoring module is used to construct the operation area coordinate system, import the rake head operation trajectory of the optimized operation plan, implement the rake head operation according to the planned rake head operation trajectory, and perform operation trajectory tracking and monitoring. The following formula is used to calculate the operation trajectory deviation:

[0177]

[0178] Among them, δ kis the deviation of the kth point in the working trajectory, x and y are the actual working coordinates of the drag head at the kth point, and x′ and y′ are the control working coordinates corresponding to the working trajectory of the drag head at the kth point;

[0179] The operation track correction module is used to compare the operation track deviation with the set maximum allowable deviation. If the operation track deviation is greater than the maximum allowable deviation, the operation track of the rake head is corrected.

[0180] The operation trajectory control stability evaluation module is used to evaluate the control stability of the current operation based on the deviation of the operation trajectory at each point in each operation trajectory tracking, and obtain the control stability index. The control stability evaluation uses the following formula to calculate the control stability index:

[0181]

[0182] Among them, τ is the control stability index of the current operation, w is the number of operation trajectory points of the current operation, δ k is the deviation of the kth point of the operation trajectory of the current operation, m is the total number of historical operations of the equipment, and n is the number of operation trajectory points with the least operation trajectory points in the m historical operations; δ ij is the deviation of the jth point of the operation trajectory of the i-th historical operation;

[0183] The equipment is evaluated based on the control stability index. If the control stability index exceeds the set limit, it means that the equipment needs to be repaired.

[0184] Specifically, before the actual operation of the rake head, in the project operation area, the operation trajectory planning is implemented in advance according to the operation target requirement information, and the optimal operation trajectory (route) is found. Then, the operation is carried out with the optimal operation trajectory, which can improve the operation effect and reduce the energy consumption of equipment in the project operation; during the operation, operation tracking and monitoring are implemented to prevent the operation from deviating from the optimal trajectory due to operation control, water flow or climate, etc., and timely adjustments are made when deviation trends are found through tracking and monitoring to ensure that the entire operation is carried out in accordance with the optimal operation trajectory; through the above-mentioned algorithm, quantitative analysis and control of deviation trends are achieved, making the control more accurate and reliable; the use of the present invention can not only improve operation efficiency, but also reduce operation energy consumption, thereby reducing operation costs; in addition, by recording the deviation of the operation trajectory of each point in each operation trajectory tracking, the above-mentioned control stability index algorithm is used, combined with the set limit value to evaluate the stability of the operation trajectory control, thereby examining the maintenance needs of the equipment, making equipment inspection and maintenance more scientific and reasonable, and reducing unnecessary repair and maintenance costs while ensuring the health of the equipment.

[0185] The method for real-time visualization of a rake tube and rake head of a clay type rake head excavator is applied in a real-time visualization system of a rake tube and rake head of a clay type rake head excavator, and is characterized by comprising the following steps:

[0186] Step 1: Establish a communication connection between the rake tube and rake head of the clay type rake head excavator and the visualization display platform, and collect the working data set of the rake tube and rake head of the clay type rake head excavator;

[0187] Step 2: Obtain fixed parameters of the rake suction pipe, rake head, and rake head flushing, and input the obtained parameters into the basic framework of the yield model to build the yield model;

[0188] Step 3: Input the acquired process parameters and soil parameters into the yield model, automatically iterate the force balance and the dynamic state of the rake head under ground speed, and display the calculation process on a visual display platform. This visual display of the calculation process can improve data comprehensibility and communication efficiency, making complex calculation processes intuitive and easy to understand, helping staff better understand the ins and outs of the data and make more informed decisions.

[0189] Step 4: After the calculation is completed, the production curve, cutting depth curve, main force curve of the rake head and rake pipe, and the torque balance data of the rake head movable cover are output, and the output data are displayed on a visual display platform, which can help staff understand the operating parameters of the rake pipe and rake head, and then understand the working status of the rake pipe and rake head. The parameters are optimized accordingly according to the working status, which improves work efficiency. By optimizing the parameter settings of the rake suction pipe, rake head and flushing system, energy utilization efficiency can be improved, unnecessary energy consumption and material waste can be reduced, thereby reducing construction costs. For example, precise control of the operation of the mud pump can reduce mud leakage and energy consumption, and improve overall economic benefits.

[0190] In summary, the real-time visualization system and method of the rake tube and rake head of a clay-type rake head excavator of the present invention can understand the fixed parameters of the rake suction pipe, rake head fixed parameters and rake head flushing fixed parameters of the rake tube and rake head by constructing a production model. At the same time, the fixed parameters of the rake suction pipe, rake head fixed parameters and rake head flushing fixed parameters are transmitted to the visualization platform through the communication module for visual display, which is convenient for the staff to understand the working status of the rake tube and rake head in time, and then adjust the various parameters of the rake tube and rake head according to the working status of the rake tube and rake head to improve the efficiency of mud suction.

[0191] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0192] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and alterations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. The real-time visualization system of the rake tube and rake head of the clay type rake head excavator is characterized by: include: The virtual simulation module is used to analyze and predict the force conditions at each point of the rake head during the entire operation process of the rake head according to the planned operating posture of the rake head before the rake head of the clay-type rake head excavator is operated. The force conditions at each point of the rake head are compared with the designed force requirements of the rake head to determine whether the actual operation conforms to the designed operation mode, and the rake head operation is performed in accordance with the designed operation mode. Communication module, used to establish communication protocol and generate data set of rake pipe and rake head of clay type rake head excavator; The data acquisition module is used to collect parameters of the rake pipe and rake head of the clay type rake head excavator during operation; The model building module is used to build a production model using the acquired parameters and calculate the drag head adhesion, friction, resistance and mud surface bearing capacity; The visualization module is used to automatically iterate the force balance and dynamic state of the drag head at ground speed and display the calculation process.

2. The real-time visualization system for the rake tube and rake head of a clay-type rake head excavator according to claim 1, characterized in that: The communication module specifically includes: Establish a communication protocol between the rake head of a clay-type rake excavator and the visualization display platform, and obtain the data format template of the visualization display platform; Based on the data format template, the original data of the clay type drag head excavator rake pipe drag head is converted to generate the clay type drag head excavator rake pipe drag head dataset.

3. The real-time visualization system for the rake tube and rake head of a clay-type rake head excavator according to claim 1 is characterized in that: The data acquisition module includes: Fixed parameter collection module, used to collect fixed parameters of the rake pipe and rake head of the clay type rake head excavator, including fixed parameters of the rake suction pipe, fixed parameters of the rake head and fixed parameters of the rake head flushing; Process parameter collection module, used to collect process parameters of the rake pipe and rake head of the clay type rake head excavator; The soil parameter collection module is used to collect soil parameters at the working site of the rake pipe and rake head of the clay-type rake head excavator.

4. The real-time visualization system for the rake tube and rake head of a clay-type rake head excavator according to claim 1, characterized in that: The model building module includes: The framework construction module is used to obtain input fixed parameters, process parameters and soil parameters, and input the obtained parameters into the basic framework of the yield model to perform yield modeling; The calculation module is used to calculate the adhesion force generated at the contact point between the drag head and the mud surface, the friction force generated between the drag head and the mud surface, the resistance of the underwater drag pipe and drag head, and the bearing capacity of the mud surface.

5. The real-time visualization system for the rake tube and rake head of a clay-type rake head excavator according to claim 4, characterized in that: The computing module includes: The force calculation module is used to calculate the adhesion force generated at the contact point between the rake head and the mud surface and the friction force generated between the rake head and the mud surface; Calculate the adhesion force generated at the contact point between the harrow head and the mud surface. The calculation formula is as follows: F c =λ×a c ×A f Where λ is the gravitational constant, a c is the mass of the mud surface, A f The distance from the mud surface to the handle; Calculate the friction between the harrow head and the mud surface using the following formula: F f =F s ×tan(δ) Where, F s is the additional support force of the mud surface, δ is the external friction angle of the soil; The hydrodynamic calculation module is used to calculate the resistance of the underwater rake tube and rake head, which includes rolling resistance and friction resistance; Calculate the resistance of the underwater rake tube and rake head using the following formula: In the formula, S is the projected area of the object perpendicular to the direction of water flow, C d is the resistance coefficient, ρ w is the density of water, V 2 is the velocity of the water flow; The bearing capacity calculation module is used to calculate the bearing capacity of the mud surface, and calculate the cutting depth and various force result parameters based on the mud surface bearing capacity.

6. The real-time visualization system for the rake tube and rake head of a clay-type rake head excavator according to claim 5, characterized in that: The bearing capacity calculation module specifically includes: Taking the mud surface as the reference plane, each iteration step is set to H s , calculate the height of the mud surface from the tooth tip in each iteration step, the calculation formula is: H so [i+1]=H so [i]+H s Where H so [i+1] is the height of the mud surface from the tooth tip in each iteration step, H so is the effective cutting depth of the rake teeth, i = [0, 1, 2, 3, 4...n]; Calculate the force balance at the current cutting depth to obtain the support force of the mud surface on the harrow head, calculate the bearing capacity of the soil on the harrow teeth and determine whether it is greater than the current support force of the mud surface on the harrow head; If the bearing capacity is greater than the supporting force of the mud surface on the harrow head, the iteration ends and the equilibrium result is obtained; If the bearing capacity is less than the supporting force of the mud surface on the harrow head, continue iterating and determine whether the wear-resistant block contacts the mud surface; If the wear-resistant block contacts the mud surface, the soil resistance and the soil bearing capacity of the wear-resistant block are added to the force balance calculation, and the iteration is continued until the balance is reached to obtain the cutting depth and various force result parameters.

7. The real-time visualization system for the rake tube and rake head of a clay-type rake head excavator according to claim 4, characterized in that: The framework building modules specifically include: S1: Input the fixed parameters of the harrow tube and harrow head, process parameters and soil parameters, and use the fixed parameters of the harrow tube and harrow head, process parameters and soil parameters to set the initial ground speed; S2: Use the iterative method of dynamic cutting depth to calculate the force balance between the upper and lower rake tubes of the rake head and the relative state between the rake head and the mud surface. Calculate the force balance of the upper rake pipe in the horizontal and vertical directions. The calculation formula is as follows: ∑F ux =F ax +F w1 ×cosβ1+F bx +F f1 =0 ∑F uy =F ay +F w1 ×sinβ1+F by +F g1 =0 Where, F ux The horizontal force balance of the upper rake tube, F uy is the vertical force balance of the lower rake tube, β1 is the angle between the wire rope at the center of the rake and the horizontal, F w1 Force of the wire rope at the hanging point in the rake, F g1 is the submerged weight of the upper rake pipe, F f1 F is the resistance of water flow on the upper rake pipe, ax is the horizontal support reaction force acting on the suction port, F ay is the vertical support reaction force acting on the suction port, F bx is the horizontal support reaction force acting on the cross joint, and F by is the vertical support reaction force acting on the cross-connection point; Calculate the horizontal and vertical force balance of the lower rake pipe using the following formula: ∑F x2 =F bx +F w2 ×cosβ2+F cx +F f2 =0 ∑F y2 =F by +F w2 ×sinβ2+F cy +F g2 =0 β2 is the angle between the wire rope at the lifting point of the rake head and the horizontal, F w2 is the force of the wire rope at the lifting point of the rake head, F g2 is the submerged weight of the lower rake pipe, F f2 It is the resistance of water flow acting on the lower rake pipe; S3: Determine whether the horizontal force acting on the rake tube and rake head is greater than the thrust that the propeller can provide. If it is greater than the thrust that the propeller can provide, end the calculation; The thrust calculation formula is as follows: F d =F a -F w1 ×cos(β1)-F w2 ×cos(β2) Where, F a is the support reaction force; S4: If it is not greater than the thrust provided by the propeller, calculate the vertical force of the mud surface on the rake teeth during cutting and determine whether the vertical force is less than 0; S5: If the vertical force is less than 0, reduce the angle of the lower rake tube. If the vertical force is not less than 0, calculate the pressure of the movable cover cylinder. S6: Determine whether the pressure of the movable cover cylinder is greater than the set pressure. If so, retract the movable cover by one angle and return to step S2 for iterative calculation. Calculate the pressure of the movable cover cylinder, including: First, calculate the total torque acting on the movable cover shaft. The calculation formula is as follows: M visor =M cutter +M press +M con_visor +M jet2 +M jet3 +M support Where M visor is the total torque on the movable cover shaft, M press is the torque of the pressure difference force relative to the rotation point, M cutter is the torque generated by the cutting force, M con_visor Total torque of wear plates on both sides, M jet2 M is the direct relationship function between the nozzle angle on the rake teeth and the dynamic state of the rake head. jet3 is the nozzle parameter on the rotating shaft of the movable cover, M support is the supporting force of the movable cover; Then calculate the dynamic force arm of the movable cover cylinder, the calculation formula is as follows: Where, l c is the distance from the movable end to the fixed end, r t is the distance from the center of the movable cover shaft to the movable end, r b L is the distance from the center of the movable cover shaft to the fixed end, cylinderv is the dynamic force arm of the movable cover cylinder, φ cy The angle at which the movable cover extends; Calculate the force acting on the cylinder using the following formula: Calculate the pressure of each cylinder using the following formula: Where p cylinderv is the pressure of each cylinder; S7: If it is greater than the set pressure, the in-situ cutting amount at the ground speed is calculated, and the flow rate and volume concentration at this speed are calculated in combination with the mud pump characteristics; S8: Determine whether the current ground speed reaches the set maximum speed. If so, terminate the calculation. S9: If the set maximum speed is not reached, increase the ground speed and return to step 4 to continue the calculation to obtain a yield curve with ground speed as the horizontal axis and yield as the vertical axis, which is the basic framework of the yield model.

8. The real-time visualization system for the rake tube and rake head of a clay type rake head excavator according to claim 1, characterized in that: The virtual simulation module includes: The drag head operating environment model building module is used to build a three-dimensional operating environment model of the drag head operating site based on laser scanning imaging; The operation simulation analysis module is used to import the on-site three-dimensional operation environment model, obtain the predetermined operation posture of the rake head, use fixed parameter input data, perform virtual simulation analysis of the rake head operation force, and judge the force balance of the rake head operation. If the force balance does not meet the set requirements, the rake head operation posture is virtually adjusted according to the preset adjustment rules until the force balance meets the set requirements, and the rake head operation posture that meets the set force balance is output; The rake head operation posture adjustment module is used to implement rake head operation posture adjustment and perform rake head operation according to the rake head operation posture output by the operation simulation analysis module.

9. The real-time visualization system for the rake tube and rake head of a clay-type rake head excavator according to claim 8, characterized in that: Also includes: The drag head operation trajectory planning module is used to obtain the operation target requirement information, combine the operation target requirement information, implement preliminary planning of the drag head operation trajectory based on the three-dimensional operation environment model, obtain multiple drag head operation trajectory operation plans, analyze the dredger movement for each operation plan, and select the drag head operation trajectory with the smallest dredger movement as the optimized operation plan; The operation trajectory tracking and monitoring module is used to construct the operation area coordinate system, import the rake head operation trajectory of the optimized operation plan, implement the rake head operation according to the planned rake head operation trajectory, perform operation trajectory tracking and monitoring, and obtain the operation trajectory deviation; The operation track correction module is used to compare the operation track deviation with the set maximum allowable deviation. If the operation track deviation is greater than the maximum allowable deviation, the operation track of the rake head is corrected. The operation trajectory control stability evaluation module is used to evaluate the control stability of the current operation based on the deviation of the operation trajectory at each point of each operation trajectory tracking, and obtain the control stability index; The equipment is evaluated based on the control stability index. If the control stability index exceeds the set limit, it means that the equipment needs to be repaired.

10. A method for real-time visualization of a rake tube and rake head of a clay-type rake head excavator, implemented based on the real-time visualization system for a rake tube and rake head of a clay-type rake head excavator according to claim 7, characterized in that: The following steps are involved: Step 1: Establish a communication connection between the rake tube and rake head of the clay type rake head excavator and the visualization display platform, and collect the working data set of the rake tube and rake head of the clay type rake head excavator; Step 2: Obtain fixed parameters of the rake suction pipe, rake head, and rake head flushing, and input the obtained parameters into the basic framework of the yield model to build the yield model; Step 3: Input the acquired process parameters and soil parameters into the yield model, automatically iterate the force balance and the dynamic state of the rake head under the ground speed, and display the calculation process on the visual display platform; Step 4: After the calculation is completed, the production curve, cutting depth curve, main force curve of the rake head and rake tube, and moment balance data of the rake head movable cover are output, and the output data are displayed on the visual display platform.

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