Method and device for determining insertion depth of insertion-depth-adjustable steel pile of dredging ship

Abstract

The invention discloses a method and a device for determining the pile insertion depth of an insertion-depth-adjustable steel pile of a dredging ship. The ultimate bearing capacity of a soil body is determined according to the soil body type, soil parameters and a steel pile diameter value of the current parking position of a target dredging ship; determining a P-Y curve of the soil body at the current parking position under different soil layer depth values according to the ultimate bearing capacity of the soil body and the experimental parameters; when the insertion depth adjustable steel pile is controlled to simulate to be inserted into the current parking position in the first direction, steel pile inclination distance information corresponding to the insertion depth value is determined according to the insertion depth value, the P-Y curve associated with the insertion depth value and the horizontal resultant force corresponding to the insertion depth adjustable steel pile; and when it is detected that the steel pile inclination distance information is smaller than or equal to the first insertion depth value of the preset distance threshold value, the target insertion depth value is determined according to the first insertion depth value, the reasonability of the pile insertion depth is guaranteed, and the stability of a dredging ship in the construction process is improved.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a method and apparatus for determining the insertion depth of adjustable steel piles for dredging vessels. Background Technology

[0002] In dredging projects of inland rivers, lakes, and reservoirs, dredging vessels are used in channel widening and inland river / reservoir dredging operations due to their shallow draft, high maneuverability, and low operating costs. The dredging of bottom sediment and polluted sediment in inland rivers, lakes, and reservoirs demands high precision from dredging vessels, typically down to the centimeter level. The operational stability of dredging vessels depends on the adjustable-depth steel piles they use; therefore, ensuring the appropriate depth of these piles is crucial.

[0003] Currently, the driving depth of adjustable steel piles is mainly determined based on the construction experience of on-site personnel. However, in actual operation scenarios, the geological conditions in the operating water area are complex and varied. The driving depth determined based on construction experience cannot guarantee the rationality of the driving depth. That is, when the driving depth of the adjustable steel piles determined based on construction experience is too shallow, it may cause the dredging vessel to drift, which may compromise the stability of the dredging vessel and affect its operational accuracy. On the other hand, when the driving depth of the adjustable steel piles determined based on construction experience is too deep, it will not only lead to difficulties in pile extraction, increasing the vessel's operation time and energy consumption, but also place higher demands on the steel pile lifting equipment. The huge negative friction generated by the extraction of the pile due to excessively deep insertion may damage the steel pile lifting equipment. Summary of the Invention

[0004] This invention provides a method and device for determining the insertion depth of adjustable steel piles for dredging vessels, which ensures the rationality of the insertion depth and improves the stability of dredging vessels during construction.

[0005] According to one aspect of the present invention, a method for determining the driving depth of adjustable steel piles for dredging vessels is provided, the method comprising:

[0006] The ultimate bearing capacity of the soil at the current mooring location is determined based on the soil type corresponding to the current mooring location, the soil parameters associated with the soil type, and the diameter of the steel piles of the adjustable-depth steel piles associated with the target dredging vessel.

[0007] Based on the ultimate bearing capacity of the soil and the experimental parameters corresponding to the soil type, determine the PY curves of the soil at the current stopping location at different soil depths.

[0008] When controlling the insertion depth adjustable steel pile to simulate insertion into the current stopping position along the first direction, the steel pile tilt distance information corresponding to the insertion depth value is determined based on the insertion depth value of the adjustable steel pile, the PY curve associated with the insertion depth value, and the horizontal resultant force corresponding to the adjustable steel pile; wherein, the insertion depth value is related to the soil type;

[0009] When a first insertion depth value is detected where the tilt distance of a steel pile is less than or equal to a preset distance threshold, the target insertion depth value of the adjustable steel pile is determined based on the first insertion depth value.

[0010] According to another aspect of the present invention, a device for determining the driving depth of adjustable steel piles for dredging vessels is provided, the device comprising:

[0011] The bearing capacity determination module is used to determine the ultimate bearing capacity of the soil at the current mooring location based on the soil type corresponding to the current mooring location of the target dredging vessel, the soil parameters associated with the soil type, and the diameter of the steel piles of the adjustable-depth steel piles associated with the target dredging vessel.

[0012] The relation curve determination module is used to determine the PY curves of the soil at the current stopping position at different soil depths based on the soil's ultimate bearing capacity and experimental parameters corresponding to the soil type.

[0013] The distance information determination module is used to determine the steel pile tilt distance information corresponding to the insertion depth value when the adjustable insertion depth steel pile is simulated to be inserted into the current stopping position along the first direction, based on the insertion depth value of the adjustable insertion depth steel pile, the PY curve associated with the insertion depth value, and the horizontal resultant force corresponding to the adjustable insertion depth steel pile; wherein, the insertion depth value is related to the soil type;

[0014] The insertion depth value determination module is used to determine the target insertion depth value of the adjustable steel pile based on the first insertion depth value when a first insertion depth value is detected that the tilt distance information of the steel pile is less than or equal to a preset distance threshold.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor; and

[0017] A memory that is communicatively connected to at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform the method for determining the insertion depth of adjustable steel piles for dredging vessels according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the method for determining the insertion depth of adjustable steel piles for dredging vessels according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, characterized in that, when executed by a processor, the computer program implements a method for determining the insertion depth of adjustable steel piles for dredging vessels as described in any embodiment of the present invention.

[0021] The technical solution of this invention determines the ultimate bearing capacity of the soil at the current mooring location based on the soil type, soil parameters corresponding to the soil type, and the diameter of the adjustable-depth steel pile associated with the target dredging vessel. Based on the ultimate bearing capacity and experimental parameters corresponding to the soil type, the PY curves for different soil depths at the current mooring location are determined. These PY curves describe the relationship between the horizontal soil resistance and the pile inclination distance at different insertion depths related to the soil type. When simulating the insertion of the adjustable-depth steel pile along a first direction into the current mooring location, the pile inclination distance information corresponding to the insertion depth is determined based on the insertion depth, the associated PY curve, and the horizontal resultant force, thus obtaining the pile inclination distance information for different insertion depths. When a first insertion depth value is detected where the tilt distance of a steel pile is less than or equal to a preset distance threshold, the target insertion depth value of the adjustable steel pile is determined based on the first insertion depth value. This invention solves the problem in the prior art where determining the insertion depth based on manual experience can lead to issues such as compromised vessel stability, increased vessel operating time and power consumption, and even damage to vessel components. It ensures the rationality of the determined insertion depth, improves the stability of steel pile positioning during dredging vessel construction, and further enhances the construction accuracy of dredging vessels.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a method for determining the insertion depth of adjustable steel piles for dredging vessels, provided in an embodiment of the present invention.

[0025] Figure 2 This is an example diagram of the PY curves corresponding to clay types at different soil depths provided in this embodiment of the invention;

[0026] Figure 3 This is an example diagram of the PY curves corresponding to sandy soil types at different soil depths provided in the embodiments of the present invention;

[0027] Figure 4 This is a schematic diagram of the stress analysis of the adjustable-depth steel piles of the cutter suction dredger provided in the embodiment of the present invention;

[0028] Figure 5 This is a flowchart of a method for determining the insertion depth of adjustable steel piles for dredging vessels, provided in an embodiment of the present invention.

[0029] Figure 6 This is an example diagram of finite element analysis provided in an embodiment of the present invention;

[0030] Figure 7 This is an example diagram illustrating the determination of steel pile tilt distance information based on finite element analysis, provided in an embodiment of the present invention.

[0031] Figure 8 This is an example graph of the function curve of the simulation function provided in the embodiment of the present invention;

[0032] Figure 9 This is a schematic diagram of the structure of a device for determining the insertion depth of adjustable steel piles for dredging vessels, provided in an embodiment of the present invention.

[0033] Figure 10 This is a schematic diagram of the structure of an electronic device for determining the insertion depth of adjustable steel piles for dredging vessels, as described in this embodiment of the invention. Detailed Implementation

[0034] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0036] Example 1

[0037] Figure 1 This is a flowchart of a method for determining the driving depth of adjustable steel piles for dredging vessels, provided in Embodiment 1 of the present invention. This embodiment is applicable to determining the reasonable driving depth of dredging vessels. The method can be executed by a device for determining the driving depth of adjustable steel piles for dredging vessels. This device can be implemented in hardware and / or software, and can be configured in electronic devices such as mobile phones, computers, or servers. Figure 1 As shown, the method includes:

[0038] S110. Determine the ultimate bearing capacity of the soil at the current mooring location based on the soil type corresponding to the current mooring location of the target dredging vessel, the soil parameters associated with the soil type, and the diameter of the steel piles of the adjustable-depth steel piles associated with the target dredging vessel.

[0039] The target dredging vessel can be an environmentally friendly dredging vessel engaged in operations such as channel widening and inland reservoir dredging. In this embodiment of the invention, the method for determining the target insertion depth value for various types of environmentally friendly dredging vessels is similar; therefore, the current environmentally friendly dredging vessel can be used as the target dredging vessel. The current anchorage location can be the area where the target dredging vessel is currently performing the corresponding operation.

[0040] The soil type refers to the soil type at the current stopping location. Optionally, the soil type can be categorized as clay or sand. It should be noted that the soil type can be related to the soil depth at the current stopping location. That is, different soil depths can correspond to different soil types. Soil parameters can be various parameters related to the soil type. For example, taking sand as the soil type, soil parameters could be parameters such as the internal friction angle and effective unit weight of sand.

[0041] The adjustable-depth steel piles associated with the target dredging vessel are used to fix the vessel's position and prevent it from shifting during operations. The diameter of the steel pile is the cross-sectional diameter of the adjustable-depth steel pile. The ultimate bearing capacity of soil can be understood as the maximum pressure that a unit area of ​​soil can withstand when it reaches overall shear failure and is about to lose stability under external loads.

[0042] Specifically, based on the target dredging vessel's current anchorage location, determine the soil type at at least one soil depth value below that location. Then, determine the soil parameters corresponding to each soil depth value. For at least one soil depth value, determine the ultimate bearing capacity of the soil corresponding to that depth value, based on the soil type, the corresponding soil parameters, and the diameter of the adjustable-depth steel pile. It should be noted that the soil depth values ​​correspond to the insertion depth values ​​mentioned later.

[0043] In this embodiment of the invention, the method for determining the ultimate bearing capacity of soil may be: obtaining soil samples with different soil depth values; for soil samples corresponding to different soil depth values, determining the ultimate bearing capacity of soil based on the soil parameters of the soil samples and the diameter of the steel piles of the adjustable-depth steel piles; wherein, the soil parameters include: clay parameters corresponding to clay-type soil samples or sand parameters corresponding to sand-type soil samples, the clay parameters include: undrained shear strength value and effective unit weight of clay, and the sand parameters include internal friction angle and effective unit weight of sand.

[0044] The soil depth value characterizes the depth of the soil layer below the current stopping position. The soil sample can be a soil sample obtained from at least one soil depth value below the current stopping position. Optionally, the soil sample is an undisturbed soil sample. Soil types can be categorized as clay or sand. Since the soil types corresponding to different soil depth values ​​can be the same or different, the soil parameters corresponding to soil samples at different soil depth values ​​can include: clay parameters corresponding to clay-type soil samples or sand parameters corresponding to sand-type soil samples. For example, when the soil depth is 2 meters, the corresponding soil sample can be sandy, and the corresponding soil parameters are sandy. When the soil depth is 10 meters, the corresponding soil sample can be clay, and the corresponding soil parameters are clay.

[0045] In clay, the undrained shear strength parameter characterizes the ultimate ability of soil to resist shear failure under undrained conditions. The effective unit weight of clay characterizes the mass of solid particles per unit volume of soil. In sand, the internal friction angle parameter can be the ratio of the frictional force to the normal stress on the contact surface between sand particles, characterizing the sand's ability to resist sliding during shear failure. The effective unit weight of sand can be understood as the weight per unit volume of sand under saturated conditions, after deducting the buoyancy of water.

[0046] Specifically, soil samples corresponding to different soil depths at the current stopping position are obtained. For each soil sample at a different depth, the soil type and soil parameters corresponding to that depth are determined. Based on the soil type and soil parameters corresponding to each depth, and the diameter of the adjustable-depth steel pile, the ultimate bearing capacity of the soil corresponding to each depth is determined using a preset function.

[0047] Optionally, if the soil sample at the current soil depth is clay, the ultimate bearing capacity of the clay sample at the current soil depth is determined based on the undrained shear strength, effective unit weight of clay, and diameter of the adjustable-depth steel pile.

[0048] Optionally, if the soil sample at the current soil depth is sandy soil, the ultimate bearing capacity of the soil sample at the current soil depth is determined based on the internal friction angle, effective unit weight of the sandy soil, and the diameter of the steel pile of the adjustable-depth steel pile.

[0049] S120. Based on the ultimate bearing capacity of the soil and the experimental parameters corresponding to the soil type, determine the PY curves of the soil at the current stopping position at different soil depths.

[0050] The experimental parameters corresponding to the soil type can be parameters obtained from experiments conducted on soil samples at different soil depths. Optionally, in the case of clay, the strain value corresponding to half of the maximum stress can be determined by conducting undrained compression tests on clay samples, and this strain value can be used as the experimental parameter corresponding to the clay type. Optionally, in the case of sand, the experimental parameters corresponding to the sand type can include: the mechanical response information of sand under cyclic loading conditions or under static loading conditions, and the subgrade reaction modulus corresponding to the sand type, etc.

[0051] The PY curve is used to characterize the nonlinear relationship between the horizontal soil resistance (P) and the pile side displacement (Y) corresponding to the depth-adjustable steel pile. The pile side displacement corresponds to the pile tilt distance, which will be mentioned later.

[0052] Specifically, for multiple soil depth values, the PY curve corresponding to the current soil depth value and soil type is determined based on the ultimate bearing capacity of the soil corresponding to the current soil depth value and the experimental parameters corresponding to the soil type of the current soil depth value.

[0053] Optionally, if the soil type corresponding to the current soil depth value is clay, the PY curve corresponding to the clay at the current soil depth value can be determined based on the ultimate bearing capacity of the clay at the current soil depth value and the strain value that appears when the maximum stress reaches half of the undrained compression test.

[0054] Optionally, if the soil type corresponding to the current soil depth is sand, the PY curve corresponding to the sand at the current soil depth can be determined based on the ultimate bearing capacity of the sand at the current soil depth, the mechanical response information of the sand under cyclic loading or static loading, and experimental parameters such as the subgrade reaction modulus corresponding to the sand type. It should be noted that the PY curve calculation function applied varies depending on the soil type and soil depth.

[0055] For example, if the adjustable-depth steel pile is a square hollow tube made of Q355B steel, with a pile diameter of 400 mm, a wall thickness of 14 mm, and a pile length of 12 meters, and the soil type corresponding to the current anchoring position is clay, and the target dredging vessel is a cutter suction dredger operating on a non-rapid-flow section of an inland lake, then the PY curves corresponding to different soil depths can be determined based on the soil parameters corresponding to the clay type, the steel pile diameter, and the experimental parameters corresponding to the clay type. The PY curves can be defined as follows: Figure 2 As shown. See also Figure 2 , Figure 2 Example PY curves for clay soils at different soil depths. Figure 2 The soil depth value in the PY curve is represented by Z, P represents the horizontal soil resistance corresponding to the depth-adjustable steel pile, and Y represents the pile side displacement.

[0056] Correspondingly, if the soil type is sandy, the corresponding PY curve can be as follows: Figure 3 As shown. See also Figure 3 , Figure 3 Example PY curves for sandy soil types at different soil depths are shown. Figure 3 The soil depth value in the PY curve is represented by Z, P represents the horizontal soil resistance corresponding to the depth-adjustable steel pile, and Y represents the pile side displacement.

[0057] Optionally, before determining the steel pile tilt distance information corresponding to different insertion depth values ​​based on the horizontal resultant force and the PY curve, the horizontal resultant force can be determined first based on the following method.

[0058] Specifically, the environmental loads corresponding to the target dredging vessel under different operating conditions are simulated; based on the functional type of the target dredging vessel, the operating loads corresponding to the target dredging vessel under different operating conditions are determined; based on the environmental loads and operating loads corresponding to different operating conditions, the horizontal resultant force corresponding to the adjustable-depth steel pile under different operating conditions is determined, so as to select the horizontal resultant force that is compatible with the current simulated operating condition from multiple operating conditions.

[0059] The operating condition can be understood as the operational state and environmental conditions of the target dredging vessel when performing a specific operation. Environmental loads characterize the natural factors corresponding to different operating conditions, such as the forces exerted on the target dredging vessel by wind, waves, and ocean currents. Optionally, environmental loads may include wind loads, wave loads, and ocean current loads. Functional type characterizes the function of the target dredging vessel; that is, different functional types of target dredging vessels perform different operations. Correspondingly, different functional types of target dredging vessels experience different operational loads. Operational loads can be understood as the forces acting on the target dredging vessel when performing a specific operation. For example, if the target dredging vessel is a cutter suction dredger, the corresponding operational loads could be the soil reaction force and lateral anchor pull force experienced during cutter excavation. The target dredging vessel can also be a grab dredger; correspondingly, the operational loads could be the grab dredging operation loads. Different functional types of target dredging vessels can be analyzed based on the forces experienced under specific operating conditions to determine the corresponding operational loads.

[0060] Correspondingly, the horizontal resultant force can be the resultant force acting on the adjustable-depth steel piles, determined by analyzing the forces acting on the entire target dredging vessel under the environmental and operational loads under the corresponding operating conditions, with the adjustable-depth steel piles as the origin. The current simulated operating condition can be a simulated operating condition adapted to the current mooring position of the target dredging vessel.

[0061] Specifically, the environmental loads on the target dredging vessel under different operating conditions are simulated. Based on the functional type of the target dredging vessel, the operational loads it experiences under different operating conditions are determined. Based on this, the horizontal resultant force corresponding to different operating conditions is obtained. Based on the current simulated operating condition suitable for the target dredging vessel at its current mooring position, the horizontal resultant force corresponding to the current simulated operating condition is determined from the horizontal resultant forces corresponding to multiple operating conditions.

[0062] For example, referring to the above example, the target dredging vessel can be a cutter suction dredger. The operational load is solved using empirical formulas, and the environmental load is determined based on the environmental conditions corresponding to the current simulated operational conditions. Specifically, the ocean current load in the environmental load can be taken as 0, while the wave load and wind load can be determined by analyzing the hull parameters of the target dredging vessel and the current simulated operational conditions using empirical formulas. Based on the determined environmental and operational loads, a force analysis is performed on the cutter suction dredger, determining that when both wind and wave loads act parallel to the vessel's length, the maximum horizontal resultant force on the adjustable-depth steel pile is 54.892 kN.

[0063] S130. When controlling the adjustable insertion depth steel pile to simulate insertion into the current stopping position along the first direction, determine the steel pile tilt distance information corresponding to the insertion depth value based on the insertion depth value of the adjustable insertion depth steel pile, the PY curve associated with the insertion depth value, and the horizontal resultant force corresponding to the adjustable insertion depth steel pile.

[0064] The first direction can be the insertion direction of the adjustable-depth steel pile into its current stopping position. Alternatively, see [link to relevant documentation]. Figure 4 The first direction can be perpendicular to the horizontal plane. It should be noted that the insertion depth value is related to the soil type. That is, different soil types require different insertion depth values. The insertion depth value can be understood as the depth at which the adjustable steel pile is simulated and inserted into its current stopping position. The PY curve associated with the insertion depth value can be selected from the PY curves corresponding to different soil depth values, specifically the PY curve corresponding to the soil depth value coinciding with the insertion depth value.

[0065] The pile tilt distance information, i.e., the maximum lateral displacement of the adjustable-depth steel pile, is used to characterize the maximum horizontal displacement of the adjustable-depth steel pile under the action of a horizontal resultant force, and under the constraint of the soil on the steel pile described by the PY curve. In other words, when the adjustable-depth steel pile is subjected to a horizontal resultant force, its pile body will undergo lateral bending deformation, and the pile tilt distance information is used to characterize the degree of lateral bending deformation of the adjustable-depth steel pile.

[0066] Specifically, based on the parameters of the adjustable-depth steel pile, a corresponding steel pile model is constructed. The steel pile parameters should include at least the pile length, cross-sectional parameters, and material information. The adjustable-depth steel pile is simulated being inserted into the current stopping position along the first direction using the steel pile model. Based on the current insertion depth value corresponding to the steel pile model, the PY curve corresponding to the current insertion depth value is determined from the PY curves corresponding to different soil depth values. Finite element analysis is then performed on the steel pile model based on the PY curve corresponding to the current insertion depth value and the corresponding horizontal resultant force to determine the steel pile tilt distance information corresponding to the current insertion depth value. That is, the PY curve is used as the boundary condition for the finite element analysis, and the horizontal resultant force is used as the load input for the finite element analysis to obtain the steel pile tilt distance information corresponding to the current insertion depth value.

[0067] It should be noted that during the simulated insertion process, multiple insertion depth values ​​can be set based on different soil layer depth values. Correspondingly, the PY curve corresponding to each insertion depth value can be determined to determine the steel pile tilt distance information corresponding to each insertion depth value.

[0068] For example, in conjunction with the above, using the PY curve corresponding to the current insertion depth value as a constraint, finite element analysis is performed through the distance between the pile top and the ship-pile connection and the horizontal resultant force to determine the maximum lateral displacement of the free end of the pile top, thus obtaining the steel pile tilt distance information corresponding to the current insertion depth value.

[0069] S140. When it is detected that the tilt distance information of the steel pile is less than or equal to the first insertion depth value of the preset distance threshold, the target insertion depth value of the adjustable steel pile is determined based on the first insertion depth value.

[0070] The first insertion depth value can be an insertion depth value where the corresponding steel pile tilt distance is less than or equal to a preset distance threshold. The preset distance threshold can be the maximum allowable steel pile tilt distance for the target dredging vessel. The preset distance threshold can be determined based on the lateral displacement limit between the adjustable-depth steel pile and the clamp of the target dredging vessel. The target insertion depth value can be the actual insertion depth corresponding to the adjustable-depth steel pile.

[0071] Specifically, the inclined distance information of the steel pile corresponding to different insertion depth values ​​is compared with the preset distance threshold. If there is an insertion depth value whose inclined distance information of the steel pile is less than or equal to the preset distance threshold, then the insertion depth value is taken as the first insertion depth value. Based on the first insertion depth value, the target insertion depth value of the adjustable steel pile is determined, so that the adjustable steel pile is driven into the pile according to the target insertion depth value.

[0072] If the tilt distance of the steel pile exceeds the preset distance threshold, it indicates that the insertion depth of the adjustable steel pile is too shallow. In this case, a corresponding prompt message can be sent to adjust the insertion depth. For example, the prompt message could be "Insertion depth does not meet requirements; adjust insertion depth value."

[0073] The technical solution of this embodiment determines the ultimate bearing capacity of the soil at the current mooring location based on the soil type, soil parameters corresponding to the soil type, and the diameter of the adjustable-depth steel pile associated with the target dredging vessel. Based on the ultimate bearing capacity and experimental parameters corresponding to the soil type, the PY curves for different soil depths at the current mooring location are determined. These PY curves describe the relationship between the horizontal soil resistance and the pile inclination distance at different insertion depths related to the soil type. When simulating the insertion of the adjustable-depth steel pile along a first direction into the current mooring location, the pile inclination distance information corresponding to the insertion depth is determined based on the insertion depth, the associated PY curve, and the horizontal resultant force. This yields information on the pile inclination distance for different insertion depths. When a first insertion depth value is detected where the tilt distance of a steel pile is less than or equal to a preset distance threshold, the target insertion depth value of the adjustable steel pile is determined based on the first insertion depth value. This invention solves the problem in the prior art where determining the insertion depth based on manual experience can lead to issues such as compromised vessel stability, increased vessel operating time and power consumption, and even damage to vessel components. It ensures the rationality of the determined insertion depth, improves the stability of steel pile positioning during dredging vessel construction, and further enhances the construction accuracy of dredging vessels.

[0074] Example 2

[0075] Figure 5 This is a flowchart illustrating a method for determining the insertion depth of adjustable steel piles for dredging vessels, as provided in Embodiment 2 of the present invention. This embodiment is a preferred embodiment of the above embodiments. For specific implementation details, please refer to the technical solution of this embodiment. Technical terms that are the same as or corresponding to those in the above embodiments will not be repeated here. Figure 5 As shown, the method includes:

[0076] S210. Determine the ultimate bearing capacity of the soil at the current mooring location based on the soil type corresponding to the current mooring location of the target dredging vessel, the soil parameters associated with the soil type, and the diameter of the steel piles of the adjustable-depth steel piles associated with the target dredging vessel.

[0077] S220. Based on the ultimate bearing capacity of the soil and the experimental parameters corresponding to the soil type, determine the PY curves of the soil at the current stopping position at different soil depths.

[0078] S230. When simulating the insertion of an adjustable steel pile into the current stopping position along the first direction, the PY curve is used as a constraint function to determine the tilt distance information of the steel pile, and the constraint force information corresponding to the adjustable steel pile under different insertion depth values ​​is determined.

[0079] The constraint function characterizes the soil's constraint on the depth-adjustable steel pile. Using the PY curve as the constraint function to determine the pile's tilt distance information means that, during the simulation, the pile's tilt distance is limited by the PY curve. The constraint force information characterizes the constraint forces associated with the PY curve at different insertion depths of the depth-adjustable steel pile.

[0080] Specifically, the PY curve is used as a constraint function to determine the tilt distance information of the steel pile. Constraints are applied to the depth-adjustable steel pile based on the PY curve. That is, the constraint force information corresponding to the depth-adjustable steel pile at different insertion depth values ​​is determined, and constraints are applied to the depth-adjustable steel pile based on the constraint force information.

[0081] S240. Based on the constraint force information and the horizontal resultant force, determine the steel pile tilt distance information corresponding to the insertion depth value.

[0082] Specifically, under the condition that the horizontal resultant force acts on the adjustable insertion depth steel pile, and under the constraint conditions corresponding to the constraint force information, the steel pile tilt distance information corresponding to the insertion depth value is determined.

[0083] For example, in conjunction with the above examples, see Figure 6 and Figure 7 Based on the parameters of the adjustable-depth steel pile, a model is created to determine the pile model (pile body model). The constraint effect of the soil on the pile can be replaced by spring elements, and the PY curves corresponding to different soil depths are used as the force-displacement real constant inputs for the spring elements at the corresponding locations. The PY curve corresponding to the soil depth value that matches the current insertion depth is used as the boundary condition for the spring elements at the current insertion depth. Under the constraint of the boundary conditions, finite element analysis is performed based on the horizontal resultant force applied to the adjustable-depth steel pile to determine the pile inclination distance information corresponding to the current insertion depth value. Figure 7 The maximum displacement result is shown.

[0084] S250. When it is detected that the tilt distance information of the steel pile is less than or equal to the first insertion depth value of the preset distance threshold, when the first insertion depth value is less than the preset depth threshold, multiple discrete depth values ​​are determined from the first insertion depth value according to the preset step size until the discrete depth value reaches the preset depth threshold.

[0085] The preset depth threshold can be the maximum depth that the target dredging vessel is allowed to insert. The preset depth threshold is related to the cylinder stroke of the target dredging vessel. That is, the cylinder stroke length limits the maximum depth to which the adjustable-depth steel pile can be inserted into the ground.

[0086] The preset step size can be a pre-defined, fixed amount of change between each selected depth value. Multiple discrete depth values ​​are the multiple depth values ​​selected between the discrete depth values ​​and the preset depth threshold. It should be noted that, in order to obtain as many discrete depth values ​​as possible, the insertion depth value (shallowest depth value) where the steel pile tilt distance information is equal to the preset distance threshold can be used as the first insertion depth value.

[0087] Specifically, if the first insertion depth is less than a preset depth threshold, multiple discrete depth values ​​are sequentially determined based on a preset step size, starting from the first insertion depth, until the discrete depth values ​​reach the preset depth threshold. Conversely, if the first insertion depth is equal to the preset depth threshold, the first insertion depth can be used as a discrete depth value to provide a reference for the piling of the target dredging vessel, or the target insertion position of the adjustable-depth steel pile can be readjusted.

[0088] For example, the insertion depth value (shallowest depth value) corresponding to when the steel pile tilt distance information equals a preset distance threshold can be used as the first insertion depth value, denoted as insertion depth 1. A preset depth threshold (maximum depth value) corresponding to the cylinder stroke of the target dredging vessel is determined, denoted as insertion depth 2. When insertion depth 1 is less than insertion depth 2, multiple discrete depth values ​​are selected within the depth range from insertion depth 1 to insertion depth 2 according to a preset step size, and the steel pile tilt distance information corresponding to each discrete depth value is determined. Based on this, a reasonable and safe insertion depth range (depth range from insertion depth 1 to insertion depth 2) is obtained, providing a reference for subsequent actual pile insertion.

[0089] S260. Based on the steel pile tilt distance information corresponding to each discrete depth value simulated, determine the simulation function of depth and tilt distance, and determine the target insertion depth value based on the simulation function.

[0090] The simulation function can be determined by fitting multiple discrete depth values ​​and corresponding steel pile tilt distance information.

[0091] Specifically, based on multiple simulated discrete depth values, the corresponding steel pile inclination distance information is determined for each discrete depth value. A formula fitting process is then performed on the multiple discrete depth values ​​and the corresponding steel pile inclination distance information to determine the simulation function corresponding to the depth and inclination distance. This simulation function is then used to determine the target insertion depth value. Based on this, the objective function provides a reference for actual pile insertion within a reasonable and safe insertion depth range.

[0092] For example, in conjunction with the above, see Figure 8 If the insertion depth is 1 meter and the steel pile tilt distance information equals the preset distance threshold, then insertion depth 1 is determined to be 1 meter. If the preset depth threshold corresponding to the cylinder stroke of the target dredging vessel is 2 meters, then insertion depth 2 is recorded as 2 meters. With a preset step size of 0.1 meters, multiple discrete depth values ​​are selected from the reasonable insertion depth range of 1 meter to 2 meters. A formula is fitted based on these discrete depth values ​​and the corresponding steel pile tilt distance information (maximum lateral displacement) to obtain the following result: Figure 8 The example graph of the simulated function shown provides a reference for actual pile driving.

[0093] Optionally, the insertion depth value corresponding to when the steel pile tilt distance information is equal to the preset distance threshold can be used as the first insertion depth value. If the first insertion depth value is greater than the preset depth threshold, the target insertion position of the adjustable steel pile can be readjusted.

[0094] The insertion depth value corresponding to when the steel pile tilt distance equals the preset distance threshold is the shallowest depth allowed for the adjustable insertion depth steel pile. The target insertion position can be the actual insertion position of the adjustable insertion depth steel pile. Before adjustment, the target insertion position is the current stopping position.

[0095] Specifically, if the first insertion depth value corresponding to the steel pile tilt distance information is greater than the preset depth threshold when the distance threshold is equal to the preset distance threshold, that is, the shallowest depth allowed for the insertion of the adjustable steel pile exceeds the preset depth threshold corresponding to the cylinder stroke, it indicates that it is unsafe to insert the adjustable steel pile at the current stopping position, and the target insertion position of the adjustable steel pile can be readjusted.

[0096] For example, referring to the above example, when the insertion depth 1 is greater than the insertion depth 2, a corresponding prompt message can be generated. Based on this prompt message, the target insertion position of the adjustable-depth steel pile can be readjusted. For example, the prompt message could be: "The minimum applicable insertion depth is greater than the preset depth threshold. Positioning the adjustable-depth steel pile at this location is unsafe. An alternative location should be chosen for the pile."

[0097] The technical solution of this embodiment determines the ultimate bearing capacity of the soil at the current mooring position based on the soil type corresponding to the target dredging vessel, the soil parameters corresponding to the soil type, and the diameter of the adjustable-depth steel pile associated with the target dredging vessel. Based on the ultimate bearing capacity of the soil and the experimental parameters corresponding to the soil type, the PY curves corresponding to different soil depths at the current mooring position are determined. These PY curves describe the relationship between the horizontal soil resistance and the pile inclination distance at different insertion depths related to the soil type. When simulating the insertion of the adjustable-depth steel pile along a first direction into the current mooring position, the PY curve is used as a constraint function to determine the pile inclination distance information, thus determining the constraint force information corresponding to different insertion depths. Based on the constraint force information and the horizontal resultant force, the pile inclination distance information corresponding to the insertion depth is determined. When a first insertion depth value is detected where the steel pile tilt distance is less than or equal to a preset distance threshold, multiple discrete depth values ​​are determined starting from the first insertion depth value according to a preset step size until the discrete depth values ​​reach the preset depth threshold. Based on the steel pile tilt distance information corresponding to each simulated discrete depth value, a simulation function of depth and tilt distance is determined, and the target insertion depth value is determined based on this simulation function. This invention solves the problem in the prior art where determining the pile insertion depth through manual experience leads to issues such as unreliable vessel stability, increased vessel operating time and power consumption, and even damage to vessel components. It ensures the rationality of the determined pile insertion depth, improves the stability of steel pile positioning during dredging vessel construction, and further enhances the construction accuracy of dredging vessels.

[0098] Example 3

[0099] Figure 9 This is a schematic diagram of the structure of a device for determining the insertion depth of adjustable steel piles for dredging vessels, provided in Embodiment 3 of the present invention. Figure 9 As shown, the device includes: a load-bearing capacity determination module 310, a relationship curve determination module 320, a distance information determination module 330, and an insertion depth value determination module 340.

[0100] The bearing capacity determination module 310 is used to determine the ultimate bearing capacity of the soil corresponding to the current mooring position based on the soil type corresponding to the current mooring position of the target dredging vessel, the soil parameters associated with the soil type, and the diameter of the steel pile of the adjustable-depth steel pile associated with the target dredging vessel; the relationship curve determination module 320 is used to determine the PY curve of the soil at the current mooring position at different soil depths based on the ultimate bearing capacity of the soil and the experimental parameters corresponding to the soil type; the distance information determination module 330 is used to control the adjustable-depth steel pile... When the pile is simulated to be inserted into the current stopping position along the first direction, the pile tilt distance information corresponding to the insertion depth value is determined based on the insertion depth value of the adjustable-depth steel pile, the PY curve associated with the insertion depth value, and the horizontal resultant force corresponding to the adjustable-depth steel pile; wherein, the insertion depth value is related to the soil type; the insertion depth value determination module 340 is used to determine the target insertion depth value of the adjustable-depth steel pile based on the first insertion depth value when a first insertion depth value is detected that the pile tilt distance information is less than or equal to a preset distance threshold.

[0101] The technical solution of this embodiment determines the ultimate bearing capacity of the soil at the current mooring location based on the soil type, soil parameters corresponding to the soil type, and the diameter of the adjustable-depth steel pile associated with the target dredging vessel. Based on the ultimate bearing capacity and experimental parameters corresponding to the soil type, the PY curves for different soil depths at the current mooring location are determined. These PY curves describe the relationship between the horizontal soil resistance and the pile inclination distance at different insertion depths related to the soil type. When simulating the insertion of the adjustable-depth steel pile along a first direction into the current mooring location, the pile inclination distance information corresponding to the insertion depth is determined based on the insertion depth, the associated PY curve, and the horizontal resultant force. This yields information on the pile inclination distance for different insertion depths. When a first insertion depth value is detected where the tilt distance of a steel pile is less than or equal to a preset distance threshold, the target insertion depth value of the adjustable steel pile is determined based on the first insertion depth value. This invention solves the problem in the prior art where determining the insertion depth through manual experience can lead to issues such as compromised vessel stability, increased vessel operating time and power consumption, and even damage to vessel components. It ensures the rationality of the determined insertion depth, improves the stability of steel pile positioning during dredging vessel construction, and further enhances the construction accuracy of dredging vessels.

[0102] Based on the above embodiments, optionally, a bearing capacity determination module is used to obtain soil samples with different soil depth values; for soil samples corresponding to different soil depth values, the ultimate bearing capacity of the soil is determined according to the soil parameters of the soil samples and the diameter value of the steel pile of the adjustable insertion depth steel pile; wherein, the soil parameters include: clay parameters corresponding to clay-type soil samples or sand parameters corresponding to sand-type soil samples, the clay parameters include: undrained shear strength value and effective unit weight of clay, and the sand parameters include internal friction angle and effective unit weight of sand.

[0103] Optionally, the device further includes: a horizontal resultant force determination module, used to simulate the environmental load corresponding to the target dredging vessel under different operating conditions; determine the operating load corresponding to the target dredging vessel under different operating conditions based on the functional type of the target dredging vessel; and determine the horizontal resultant force corresponding to the adjustable insertion depth steel pile under different operating conditions based on the environmental load and operating load corresponding to different operating conditions, so as to select the horizontal resultant force that is compatible with the current simulated operating condition from multiple operating conditions.

[0104] Optionally, a distance information determination module is used to use the PY curve as a constraint function to determine the inclination distance information of the steel pile, and to determine the constraint force information corresponding to the adjustable insertion depth steel pile at different insertion depth values; based on the constraint force information and the horizontal resultant force, the inclination distance information of the steel pile corresponding to the insertion depth value is determined.

[0105] Optionally, the insertion depth value determination module is used to determine multiple discrete depth values ​​starting from the first insertion depth value according to a preset step size when the first insertion depth value is less than a preset depth threshold until the discrete depth value reaches the preset depth threshold; and to determine a simulation function of depth and inclination distance according to the steel pile tilt distance information corresponding to each simulated discrete depth value, so as to determine the target insertion depth value based on the simulation function.

[0106] Optionally, the device further includes an insertion position adjustment module, used to readjust the target insertion position of the adjustable insertion depth steel pile when the first insertion depth value is greater than the preset depth threshold.

[0107] The device for determining the insertion depth of adjustable steel piles for dredging vessels provided in this embodiment of the invention can execute the method for determining the insertion depth of adjustable steel piles for dredging vessels provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0108] Example 4

[0109] Figure 10This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0110] like Figure 10 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0111] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0112] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for determining the driving depth of adjustable steel piles for dredging vessels.

[0113] In some embodiments, the method for determining the driving depth of adjustable steel piles for dredging vessels can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for determining the driving depth of adjustable steel piles for dredging vessels described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the method for determining the driving depth of adjustable steel piles for dredging vessels by any other suitable means (e.g., by means of firmware).

[0114] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0115] The computer program for determining the driving depth of the adjustable steel piles for implementing the present invention on a dredging vessel can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are performed. The computer program can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0116] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication unit 19, or installed from storage unit 18, or installed from ROM 12. When the computer program is executed by processor 11, it performs the functions defined in the methods of the embodiments of the present invention.

[0117] Example 5

[0118] Embodiment 5 of the present invention also provides a computer-readable storage medium storing computer instructions for causing a processor to execute a method for determining the driving depth of adjustable steel piles for dredging vessels, the method comprising:

[0119] Based on the soil type corresponding to the current mooring position of the target dredging vessel, the soil parameters associated with the soil type, and the diameter of the adjustable-depth steel pile associated with the target dredging vessel, the ultimate bearing capacity of the soil corresponding to the current mooring position is determined. Based on the ultimate bearing capacity of the soil and the experimental parameters corresponding to the soil type, the PY curves corresponding to different soil depths at the current mooring position are determined. When controlling the adjustable-depth steel pile to simulate insertion into the current mooring position along a first direction, the tilt distance information of the steel pile corresponding to the insertion depth value is determined based on the insertion depth value of the adjustable-depth steel pile, the PY curve associated with the insertion depth value, and the horizontal resultant force corresponding to the adjustable-depth steel pile. The insertion depth value is related to the soil type. When a first insertion depth value is detected where the tilt distance information of the steel pile is less than or equal to a preset distance threshold, the target insertion depth value of the adjustable-depth steel pile is determined based on the first insertion depth value.

[0120] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0121] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0122] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0123] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0124] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0125] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for determining the insertion depth of adjustable steel piles for dredging vessels, characterized in that, include: The ultimate bearing capacity of the soil at the current mooring location is determined based on the soil type corresponding to the current mooring location, the soil parameters associated with the soil type, and the diameter of the steel piles of the adjustable-depth steel piles associated with the target dredging vessel. Based on the ultimate bearing capacity of the soil and the experimental parameters corresponding to the soil type, determine the PY curves of the soil at the current stopping position at different soil depths. When controlling the adjustable-depth steel pile to simulate insertion into the current stopping position along the first direction, the tilt distance information of the steel pile corresponding to the insertion depth value is determined based on the insertion depth value of the adjustable-depth steel pile, the PY curve associated with the insertion depth value, and the horizontal resultant force corresponding to the adjustable-depth steel pile; wherein, the insertion depth value is related to the soil type; When a first insertion depth value is detected where the tilt distance of the steel pile is less than or equal to a preset distance threshold, the target insertion depth value of the adjustable steel pile is determined based on the first insertion depth value.

2. The method according to claim 1, characterized in that, The determination of the ultimate bearing capacity of the soil at the current mooring location, based on the soil type corresponding to the current mooring location of the target dredging vessel, the soil parameters associated with the soil type, and the diameter of the adjustable-depth steel piles associated with the target dredging vessel, includes: Obtain soil samples at different soil depths; For soil samples corresponding to different soil depths, the ultimate bearing capacity of the soil is determined based on the soil parameters of the soil samples and the diameter of the steel piles of the adjustable-depth steel piles. The soil parameters include: clay parameters corresponding to clay-type soil samples or sand parameters corresponding to sand-type soil samples. The clay parameters include: undrained shear strength and effective unit weight of clay. The sand parameters include: internal friction angle and effective unit weight of sand.

3. The method according to claim 1, characterized in that, The horizontal resultant force corresponding to the depth-adjustable steel pile is determined in the following manner: Simulate the environmental loads corresponding to the target dredging vessel under different operating conditions; Based on the functional type of the target dredging vessel, determine the corresponding operating load of the target dredging vessel under different operating conditions; Based on the environmental load and operational load corresponding to different operating conditions, the horizontal resultant force corresponding to the adjustable insertion depth steel pile under different operating conditions is determined, so as to select the horizontal resultant force that is suitable for the current simulated operating condition from multiple operating conditions.

4. The method according to claim 1, characterized in that, The step of determining the pile inclination distance information corresponding to the insertion depth value based on the insertion depth value of the adjustable-depth steel pile, the PY curve associated with the insertion depth value, and the horizontal resultant force corresponding to the adjustable-depth steel pile includes: The PY curve is used as a constraint function to determine the tilt distance information of the steel pile, and the constraint force information corresponding to the adjustable insertion depth steel pile under different insertion depth values ​​is determined. Based on the constraint force information and the horizontal resultant force, the tilt distance information of the steel pile corresponding to the insertion depth value is determined.

5. The method according to claim 1, characterized in that, Determining the target insertion depth value of the adjustable steel pile based on the first insertion depth value includes: When the first insertion depth value is less than the preset depth threshold, multiple discrete depth values ​​are determined starting from the first insertion depth value according to the preset step size until the discrete depth value reaches the preset depth threshold. Based on the simulated pile tilt distance information corresponding to each discrete depth value, a simulation function for depth and tilt distance is determined, and the target insertion depth value is determined based on the simulation function.

6. The method according to claim 5, characterized in that, The method further includes: When the first insertion depth value is greater than the preset depth threshold, the target insertion position of the adjustable insertion depth steel pile is readjusted.

7. A device for determining the insertion depth of adjustable steel piles for dredging vessels, characterized in that, include: The bearing capacity determination module is used to determine the ultimate bearing capacity of the soil corresponding to the current mooring position based on the soil type corresponding to the current mooring position of the target dredging vessel, the soil parameters associated with the soil type, and the diameter value of the steel pile of the adjustable-depth steel pile associated with the target dredging vessel. The relationship curve determination module is used to determine the PY curves of the soil at the current stopping position at different soil depth values ​​based on the ultimate bearing capacity of the soil and the experimental parameters corresponding to the soil type. The distance information determination module is used to determine the steel pile tilt distance information corresponding to the insertion depth value when controlling the adjustable insertion depth steel pile to simulate insertion into the current stopping position along the first direction, based on the insertion depth value of the adjustable insertion depth steel pile, the PY curve associated with the insertion depth value, and the horizontal resultant force corresponding to the adjustable insertion depth steel pile; wherein, the insertion depth value is related to the soil type; The insertion depth value determination module is used to determine the target insertion depth value of the adjustable steel pile based on the first insertion depth value when a first insertion depth value is detected that the tilt distance information of the steel pile is less than or equal to a preset distance threshold.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the method for determining the driving depth of the adjustable steel piles for the dredging vessel according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for determining the insertion depth of the adjustable steel piles of the dredging vessel as described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for determining the insertion depth of the adjustable steel piles for dredging vessels as described in any one of claims 1-6.

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