A method, apparatus, device and storage medium for biasing calibration of a dredging implement

Abstract

The application discloses a method, device and equipment for calibrating eccentric wear of a dredging tool and a storage medium, and relates to the technical field of dredging. The method comprises the following steps: in a process in which a contact model of the dredging tool and a to-be-dug soil body is simulated based on process parameters, target parameters are determined according to initial wear depths of each contact point at a preset time and updated wear depths after each process parameter is updated; in a process in which the contact model is simulated based on the target parameters, an installation deflection angle at which wear depths of each wear side of the dredging tool are consistent is determined as a calibration angle; a target parameter is taken as an independent variable, and an installation deflection angle corresponding to the target parameter is taken as a dependent variable, so that an eccentric wear calibration angle model is constructed; actual target parameters under a current construction condition are obtained, the actual target parameters are substituted into the eccentric wear calibration angle model, an eccentric wear calibration angle is obtained, and the installation angle of the dredging tool is adjusted based on the eccentric wear calibration angle.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of dredging technology, and in particular to a method, apparatus, equipment and storage medium for calibrating the wear of dredging equipment. Background Technology

[0002] In large-scale engineering operations such as waterway dredging, dredging vessels play a crucial role, and dredging equipment, as the core excavation component of these devices, directly affects the efficiency and quality of the project. In traditional dredging equipment design, the installation angle is fixed. Due to the vector combination of lateral and rotational speeds, the wear degree on each wear side of the dredging equipment is uneven, resulting in a short lifespan and low dredging efficiency.

[0003] In existing technologies, dredging equipment is typically calibrated for uneven wear based on the experience of the workers. This method often relies on the workers' extensive calibration experience, resulting in low accuracy in uneven wear calibration.

[0004] Therefore, there is an urgent need for a method for calibrating the uneven wear of dredging equipment, which can automatically calibrate the uneven wear of dredging equipment and improve the consistency of wear on each side of the equipment. Summary of the Invention

[0005] This invention provides a method, apparatus, equipment, and storage medium for calibrating the wear of dredging equipment, so as to achieve automated wear calibration of dredging equipment.

[0006] In a first aspect, embodiments of the present invention provide a method for calibrating the wear of dredging equipment, comprising:

[0007] In the contact model between the dredging equipment and the soil to be excavated, the sliding velocity and contact pressure of each contact point of the dredging equipment are determined based on the process parameters during the process of the dredging equipment excavating the soil to be excavated. The process parameters include equipment parameters and soil parameters.

[0008] Based on the sliding speed, contact pressure, tool parameters, and soil parameters of each contact point, the initial wear depth of each contact point at a preset time is determined. Based on the initial wear depth and the updated wear depth determined after updating each of the process parameters, the target parameter is determined from the tool parameters and soil parameters.

[0009] During the process of the contact model simulating the dredging equipment excavating the soil to be excavated based on the target parameters, the installation deflection angle of the dredging equipment is adjusted until the wear depth of each wear side of the dredging equipment is consistent, and the installation deflection angle when the wear depth is consistent is determined as the calibration angle.

[0010] A wear calibration angle model is constructed by taking the target parameter as the independent variable and the calibration angle corresponding to the target parameter as the dependent variable.

[0011] Obtain the actual target parameters under the current construction conditions, substitute the actual target parameters into the wear calibration angle model to obtain the wear calibration angle, and adjust the installation angle of the dredging equipment based on the wear calibration angle.

[0012] The technical solution of this invention provides a method for calibrating the wear of dredging equipment, comprising: determining the slip velocity and contact pressure of each contact point of the dredging equipment during the process of the dredging equipment excavating the soil to be excavated, based on process parameters in a contact model between the dredging equipment and the soil to be excavated; determining the initial wear depth of each contact point at a preset time according to the slip velocity, contact pressure, dredging parameters, and soil parameters; and determining the initial wear depth of each contact point at a preset time according to the initial wear depth and the updated wear depth determined after updating the process parameters, and calibrating the wear depth of each contact point at a preset time according to the dredging equipment parameters and the soil parameters. The target parameters are determined from the data. During the process of the dredging equipment excavating the soil to be excavated, based on the target parameters in the contact model, the installation deflection angle of the dredging equipment is adjusted until the wear depth of each wear side of the dredging equipment is consistent, and the installation deflection angle when the wear depth is consistent is determined as the calibration angle. The target parameters are used as independent variables and the calibration angle corresponding to the target parameters is used as dependent variables to construct a wear calibration angle model. The actual target parameters under the current construction conditions are obtained, and the actual target parameters are substituted into the wear calibration angle model to obtain the wear calibration angle. The installation angle of the dredging equipment is adjusted based on the wear calibration angle. The above technical solution, in the process of simulating contact tests between the dredging equipment and the soil to be excavated based on process parameters in the contact model, determines the sliding velocity and contact pressure of each contact point of the dredging equipment when excavating the soil. Based on the sliding velocity, contact pressure, and the equipment and soil parameters included in the process parameters, the initial wear depth of each contact point at a preset time is determined. Based on the initial wear depth and the updated wear depth determined after updating each process parameter, target parameters are determined among the equipment and soil parameters. This achieves the determination of the target parameters that cause eccentric wear on the dredging equipment when excavating the soil. In the process of simulating the dredging equipment excavating the soil based on the target parameters in the contact model, the installation deflection angle of the dredging equipment is adjusted to ensure that each wear side of the dredging equipment... The wear depth is made consistent, and the installation deflection angle when the wear depth is consistent is determined as the calibration angle. This allows for the determination of the calibration angle corresponding to the target parameter. By using the target parameter as the independent variable and the corresponding calibration angle as the dependent variable, a wear calibration angle model is constructed to achieve reasonable reasoning about the mathematical relationship between the target parameter and the calibration angle. The actual target parameter under the current construction conditions is substituted into the wear calibration angle model to determine the calibration angle corresponding to the target parameter. This enables the automated determination of the calibration angle required for wear calibration of dredging equipment. By adjusting the installation angle of the dredging equipment to the calibration angle, the wear depth of each wear side of the dredging equipment remains consistent during the excavation of the soil to be excavated, improving the consistency of wear degree on the wear side of the dredging equipment and achieving targeted reduction of wear.

[0013] Further, based on the sliding velocity, contact pressure, tool parameters, and soil parameters of each contact point, the initial wear depth of each contact point at a preset time is determined, including:

[0014] For each contact point, the sliding velocity and contact pressure of the contact point, as well as the soil parameters and the tool parameters, are substituted into the wear model to obtain the initial wear depth of the contact point at the preset time.

[0015] Furthermore, the formula for the wear model is expressed as: ,in, K represents the wear depth, and K represents the wear coefficient. This represents the volume fraction of effective abrasive particles in the soil to be excavated. V represents the contact pressure at the contact point. slip The sliding velocity at the contact point is represented by t, which represents the preset time. This indicates the Vickers hardness or equivalent hardness of dredging equipment. This indicates the particle size of the effective abrasive particles in the soil to be excavated. The reference particle size is represented by α, and the particle size correction factor is represented by α.

[0016] Further, based on the initial wear depth and the updated wear depth determined after updating each of the aforementioned process parameters, target parameters are determined from the tool parameters and the soil parameters, including:

[0017] For each of the process parameters, the wear depth difference corresponding to each contact point is determined based on the initial wear depth of each contact point at the preset time and the updated wear depth determined after updating each of the process parameters. The rate of change of the degree of uneven wear corresponding to each contact point is determined based on the ratio of the wear depth difference corresponding to each contact point to the initial wear depth.

[0018] Compare the rate of change of wear degree corresponding to each process parameter with the rate of change threshold, and determine the machine parameter and the soil parameter corresponding to the rate of change of wear degree greater than the rate of change threshold as the target parameter.

[0019] Furthermore, during the process of the contact model simulating the dredging equipment excavating the soil to be excavated based on the target parameters, the installation deflection angle of the dredging equipment is adjusted until the wear depth on each wear side of the dredging equipment is consistent, and the installation deflection angle when the wear depths are consistent is determined as the calibration angle, including:

[0020] During the process of the dredging equipment excavating the soil to be excavated, based on the target parameters, the wear depth of each contact point of the dredging equipment is determined, and the wear depth of at least two wear sides is determined according to the wear depth of each contact point.

[0021] Adjust the installation deflection angle of the dredging equipment until all wear depths are consistent, and determine the installation deflection angle when all wear depths are consistent as the calibration angle.

[0022] Further, using the target parameter as the independent variable and the calibration angle corresponding to the target parameter as the dependent variable, a wear calibration angle model is constructed, including:

[0023] Using the target parameter as the independent variable and the calibration angle corresponding to the target parameter as the dependent variable, regression analysis is performed based on multiple sets of target parameters and the calibration angles corresponding to each set of target parameters to determine the wear calibration angle model.

[0024] Furthermore, before the contact model between the dredging equipment and the soil to be excavated simulates the dredging equipment excavating the soil to be excavated based on process parameters, it also includes:

[0025] The contact model is constructed based on the motion model corresponding to the dredging equipment and the soil parameters of the soil to be excavated.

[0026] Secondly, embodiments of the present invention also provide a calibrating device for wear of dredging equipment, comprising:

[0027] The first determining module is used to determine the sliding speed and contact pressure of each contact point of the dredging equipment during the process of the dredging equipment excavating the soil to be excavated by the contact model between the dredging equipment and the soil to be excavated based on process parameters. The process parameters include equipment parameters and soil parameters.

[0028] The second determining module is used to determine the initial wear depth of each contact point at a preset time based on the sliding speed, contact pressure, tool parameters and soil parameters of each contact point, and to determine the target parameter from the tool parameters and soil parameters based on the initial wear depth and the updated wear depth determined after updating each of the process parameters.

[0029] The adjustment module is used to adjust the installation deflection angle of the dredging equipment during the process of the contact model simulating the dredging equipment excavating the soil to be excavated based on the target parameters, until the wear depth of each wear side of the dredging equipment is consistent, and to determine the installation deflection angle when the wear depths are consistent as the calibration angle.

[0030] The module is used to construct a wear calibration angle model by taking the target parameter as the independent variable and the calibration angle corresponding to the target parameter as the dependent variable.

[0031] The execution module is used to obtain the actual target parameters under the current construction conditions, substitute the actual target parameters into the wear calibration angle model to obtain the wear calibration angle, and adjust the installation angle of the dredging equipment based on the wear calibration angle.

[0032] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising:

[0033] At least one processor; and a memory communicatively connected to said at least one processor;

[0034] The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the eccentricity calibration method for dredging equipment as described in any of the first aspects.

[0035] Fourthly, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the eccentricity calibration method for dredging equipment as described in any of the first aspects.

[0036] Fifthly, this application provides a computer program product including computer instructions that, when executed on a computer, cause the computer to perform the eccentricity calibration method for dredging equipment as provided in the first aspect.

[0037] It should be noted that the aforementioned computer instructions may be stored, in whole or in part, on a computer-readable storage medium. This computer-readable storage medium may be packaged together with the processor of the dredging equipment's wear calibration device, or it may be packaged separately from the processor of the dredging equipment's wear calibration device; this application does not impose any limitations on this.

[0038] The descriptions of the second, third, fourth, and fifth aspects in this application can be referred to the detailed description of the first aspect; and the beneficial effects of the descriptions of the second, third, fourth, and fifth aspects can be referred to the analysis of the beneficial effects of the first aspect, which will not be repeated here.

[0039] In this application, the name of the aforementioned dredging equipment wear calibration device does not limit the equipment or functional module itself. In actual implementation, these devices or functional modules may appear under other names. As long as the function of each device or functional module is similar to that of this application, it falls within the scope of the claims of this application and its equivalents.

[0040] These or other aspects of this application will become more readily apparent in the following description. Attached Figure Description

[0041] 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.

[0042] Figure 1 A flowchart illustrating a method for calibrating the wear of dredging equipment according to an embodiment of the present invention;

[0043] Figure 2 A flowchart of another method for calibrating the wear of dredging equipment provided in an embodiment of the present invention;

[0044] Figure 3 Example diagram of the motion model of the auger provided in the embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of the structure of a wear calibration device for dredging equipment provided in an embodiment of the present invention;

[0046] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0048] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0049] The terms "first" and "second," etc., used in the specification and drawings of this application are used to distinguish different objects or to distinguish different treatments of the same object, rather than to describe a specific order of objects.

[0050] Furthermore, the terms "comprising" and "having," and any variations thereof, used in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0051] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the figures. The process can correspond to a method, function, procedure, subroutine, subroutine, etc. Moreover, embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0052] It should be noted that in the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0053] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0054] Figure 1 This is a flowchart illustrating a method for calibrating the wear of dredging equipment according to an embodiment of the present invention. This embodiment is applicable to situations requiring wear adjustment of dredging equipment. The method can be executed by a wear calibration device for the dredging equipment. Figure 1 As shown, the specific steps include the following:

[0055] Step 110: In the process of dredging equipment excavating the soil to be excavated, based on the process parameters, the sliding speed and contact pressure of each contact point of the dredging equipment are determined in the contact model between the dredging equipment and the soil to be excavated.

[0056] The process parameters include tool parameters and soil parameters. Tool parameters may include: rotational speed, lateral speed, cutter tooth installation angle, cutting edge angle, cutting depth / penetration depth, radius position of cutter tooth, and axial position, etc. Soil parameters may include: layer thickness, soil type, abrasive particle size, abrasive volume fraction, etc.

[0057] When dredging equipment excavates soil, both the equipment parameters and the soil parameters can cause uneven wear on the equipment. To determine the target parameters that cause uneven wear, it is necessary to perform uneven wear analysis on the dredging equipment during the excavation process. Specifically, this can be done by simulating the dredging equipment excavating the soil, changing any equipment parameter or any soil parameter while keeping other parameters constant, and determining the changes in wear depth at each contact point of the dredging equipment. The equipment and soil parameters whose changes meet preset conditions are then identified as the target parameters.

[0058] Specifically, in the contact model simulating the excavation of soil by dredging equipment based on equipment and soil parameters, the contact model can directly output the contact pressure at each contact point of the dredging equipment by simulating translation and rotation. It can also output the slip velocity at each contact point, specifically obtaining the change in the position coordinates of each contact point over time during its movement, thus obtaining the trajectory of each contact point. Simultaneously, it can calculate the magnitude and direction of the velocity at each contact point at different times, obtaining the slip velocity vector of each contact point.

[0059] In this embodiment of the invention, by conducting a simulated contact test between the dredging equipment and the soil to be excavated, the sliding speed and contact pressure of each contact point of the dredging equipment when excavating the soil to be excavated are determined.

[0060] Step 120: Determine the initial wear depth of each contact point at a preset time based on the sliding speed, contact pressure, tool parameters, and soil parameters of each contact point; determine the target parameter from the tool parameters and soil parameters based on the initial wear depth and the updated wear depth determined after updating each of the process parameters.

[0061] Specifically, the wear depth of each contact point at a preset time can be determined by inputting the sliding velocity and contact pressure of each contact point, as well as the tool parameters and soil parameters, into the corresponding wear model. For any process parameter, after determining the initial wear depth, the process parameter can be updated to determine the updated wear depth of each contact point at a preset time corresponding to the updated process parameter.

[0062] Then, the rate of change of the degree of wear corresponding to each process parameter can be determined based on the initial wear depth of each contact point at a preset time and the updated wear depth of each contact point at a preset time corresponding to the updated process parameter, and the target parameter can be determined based on the rate of change of the degree of wear corresponding to each process parameter.

[0063] In practical applications, target parameters can include target equipment parameters and target soil parameters. Target equipment parameters can include rotation speed, lateral speed and installation angle, while target soil parameters can include soil type.

[0064] In this embodiment of the invention, by conducting a simulated contact test between the dredging equipment and the soil to be excavated, the target parameters of the wear effect on the dredging equipment when it excavates the soil to be excavated are determined.

[0065] Step 130: During the process of the contact model simulating the dredging equipment excavating the soil to be excavated based on the target parameters, the installation deflection angle of the dredging equipment is adjusted until the wear depth of each wear side of the dredging equipment is consistent, and the installation deflection angle when the wear depth is consistent is determined as the calibration angle.

[0066] Dredging equipment excavates the soil to be excavated, causing wear on at least two sides; therefore, there are at least two sides of wear.

[0067] Specifically, based on the contact model, the dredging equipment corresponding to the target parameters is used to excavate the soil to be excavated. During the simulation, the wear depth of at least two wear sides of the dredging equipment is determined. Specifically, for each wear side, the wear depth corresponding to the wear side can be determined according to the wear depth of each contact point in the wear side. That is, the average wear depth of each contact point in the wear side can be determined as the wear depth corresponding to the wear side.

[0068] Furthermore, the installation deflection angle of the dredging equipment can be adjusted, and the wear depth of at least two wear sides can be continuously calculated during the adjustment process until the wear depths are consistent. The installation deflection angle when the wear depths are consistent is the calibration angle, thus determining the calibration angle corresponding to the target parameters.

[0069] In this embodiment of the invention, during the process of simulating the excavation of soil by dredging equipment based on target parameters in the contact model, the installation deflection angle of the dredging equipment is adjusted to make the wear depth of each wear side of the dredging equipment consistent, and the installation deflection angle when the wear depth is consistent is determined as the calibration angle, thereby determining the calibration angle corresponding to the target parameters.

[0070] Step 140: Construct a wear calibration angle model by taking the target parameter as the independent variable and the calibration angle corresponding to the target parameter as the dependent variable.

[0071] Specifically, regression analysis was performed using the target parameter as the independent variable and the corresponding calibration angle as the dependent variable to determine the wear calibration angle model.

[0072] In this embodiment of the invention, by using the target parameter as the independent variable and the calibration angle corresponding to the target parameter as the dependent variable, a wear calibration angle model is constructed to achieve reasonable reasoning about the mathematical relationship between the target parameter and the calibration angle.

[0073] Step 150: Obtain the actual target parameters under the current construction conditions, substitute the actual target parameters into the wear calibration angle model to obtain the wear calibration angle, and adjust the installation angle of the dredging equipment based on the calibration angle.

[0074] Specifically, the current construction condition can be the dredging equipment excavating the soil to be excavated. Under this condition, the dredging equipment's rotational speed, lateral speed, and installation angle can be obtained. For example, these parameters can be acquired from the dredging equipment's controller. The soil type can also be determined, such as rock, clay, or gravel. This allows for real-time acquisition of the actual target parameters affecting the dredging equipment's wear and tear during excavation.

[0075] The wear calibration angle model can represent the mathematical relationship between the target parameter and the calibration angle. By substituting the target parameter into the wear calibration angle model, the model can determine the calibration angle corresponding to the target parameter. Based on the calibration angle corresponding to the target parameter, the installation angle of the dredging equipment can be adjusted. Specifically, the installation angle of the dredging equipment can be adjusted to the calibration angle to achieve wear calibration of the dredging equipment.

[0076] In this embodiment of the invention, the actual target parameters under the current construction conditions are substituted into the eccentric wear calibration angle model to determine the calibration angle corresponding to the target parameters. This enables the automated determination of the calibration angle required for eccentric wear calibration of the dredging equipment. By adjusting the installation angle of the dredging equipment to the calibration angle, the dredging equipment maintains a consistent wear depth on each wear side during the excavation of the soil to be excavated, thereby improving the consistency of wear on the wear sides of the dredging equipment and achieving targeted reduction of eccentric wear.

[0077] The eccentric wear calibration method for dredging equipment provided in this embodiment of the invention includes: determining the slip velocity and contact pressure of each contact point of the dredging equipment during the process of the dredging equipment excavating the soil to be excavated, based on process parameters in a contact model between the dredging equipment and the soil to be excavated; determining the initial wear depth of each contact point at a preset time according to the slip velocity, contact pressure, dredging parameters, and soil parameters; and determining, based on the initial wear depth and the updated wear depth determined after updating the process parameters, the wear depth of each contact point is determined from the dredging equipment parameters and soil parameters. Target parameters; during the process of the contact model simulating the dredging equipment excavating the soil to be excavated based on the target parameters, the installation deflection angle of the dredging equipment is adjusted until the wear depth of each wear side of the dredging equipment is consistent, and the installation deflection angle when the wear depth is consistent is determined as the calibration angle; the target parameters are used as independent variables and the calibration angle corresponding to the target parameters is used as dependent variables to construct a wear calibration angle model; the actual target parameters under the current construction conditions are obtained, and the actual target parameters are substituted into the wear calibration angle model to obtain the wear calibration angle, and the installation angle of the dredging equipment is adjusted based on the wear calibration angle. The above technical solution, in the process of simulating contact tests between the dredging equipment and the soil to be excavated based on process parameters in the contact model, determines the sliding velocity and contact pressure of each contact point of the dredging equipment when excavating the soil. Based on the sliding velocity, contact pressure, and the equipment and soil parameters included in the process parameters, the initial wear depth of each contact point at a preset time is determined. Based on the initial wear depth and the updated wear depth determined after updating each process parameter, target parameters are determined among the equipment and soil parameters. This achieves the determination of the target parameters that cause eccentric wear on the dredging equipment when excavating the soil. In the process of simulating the dredging equipment excavating the soil based on the target parameters in the contact model, the installation deflection angle of the dredging equipment is adjusted to ensure that each wear side of the dredging equipment... The wear depth is made consistent, and the installation deflection angle when the wear depth is consistent is determined as the calibration angle. This allows for the determination of the calibration angle corresponding to the target parameter. By using the target parameter as the independent variable and the corresponding calibration angle as the dependent variable, a wear calibration angle model is constructed to achieve reasonable reasoning about the mathematical relationship between the target parameter and the calibration angle. The actual target parameter under the current construction conditions is substituted into the wear calibration angle model to determine the calibration angle corresponding to the target parameter. This enables the automated determination of the calibration angle required for wear calibration of dredging equipment. By adjusting the installation angle of the dredging equipment to the calibration angle, the wear depth of each wear side of the dredging equipment remains consistent during the excavation of the soil to be excavated, improving the consistency of wear degree on the wear side of the dredging equipment and achieving targeted reduction of wear.

[0078] Figure 2 This is a flowchart illustrating another method for calibrating uneven wear of dredging equipment according to an embodiment of the present invention. This embodiment is a specific modification based on the above embodiments. Figure 2 As shown, in this embodiment, the method may further include:

[0079] Step 210: Construct the contact model based on the motion model corresponding to the dredging equipment and the soil parameters of the soil to be excavated.

[0080] Specifically, the motion model corresponding to the dredging equipment is constructed based on the 3D model after the 3D model of the dredging equipment is built. For example, for dredging equipment with physical components, the 3D model can be constructed based on 3D scanning. First, a 3D scanner (such as a laser scanner) can be used to scan the entire surface of the physical equipment, setting the scanning accuracy, and collecting the 3D coordinate data of all points on the surface of the physical equipment to form a point cloud dataset. Then, point cloud processing software can be used for calculation and processing, setting a noise point threshold, and automatically identifying and deleting redundant and noise points through software algorithms. Based on the equipment outline and hub edge surface features, the Iterative Closest Point (ICP) algorithm is used to stitch together the point cloud data from multiple stations, calculate the stitching error, simplify the number of point clouds according to the model accuracy requirements through software algorithms, and then reconstruct a Non-Uniform Rational B-Spline (NURBS) surface based on the point cloud data to generate a complete 3D model. For dredging equipment that does not have a physical form, a 3D model can be built using modeling software. When the dredging equipment is a cutter head, structural parameters can be extracted from the cutter head design drawings, including key geometric parameters such as the number of cutter teeth, cutter tooth width / angle, rotation diameter, and hub size. In the 3D modeling software, based on the extracted parameters, component models are built one by one in the order of "hub → cutter arm → cutter teeth". Each component is then constrained and assembled according to the design assembly relationship to form a complete 3D model.

[0081] Furthermore, a motion model can be constructed based on the 3D model. When the dredging equipment is a cutterhead, a motion model can be constructed as follows: Figure 3 The motion model is shown below. Specifically, a right-handed rectangular coordinate system is established with the rotation center of the dredging equipment as the origin. The Z-axis is parallel to the rotation axis, the X-axis is the lateral movement direction, and the Y-axis is horizontal and perpendicular to the lateral movement direction. The motion of the excavating equipment is decomposed into main motion forms such as rotational motion and lateral movement. For dredging equipment with rotational motion, such as a cutter head, any point on the dredging equipment can be represented as: Taking the derivative with respect to time, we can determine that the velocity at any point on the dredging equipment can be expressed as: Where O(a, b, c) represents the fixed center point around which one end of the rotating shaft revolves, d represents the distance from any point on the dredging equipment to the rotating shaft, h represents the distance from any point on the dredging equipment to point O parallel to the rotating shaft, ω represents the angular velocity of any point on the dredging equipment rotating around the axis of rotation, Ω represents the angular velocity of the rotating shaft as a whole rotating around point O, and t represents the motion time. For dredging equipment with translational motion, such as a rake head, the velocity of any point on the dredging equipment can be expressed as: ,in, Indicates lateral velocity. This represents the lateral displacement radius vector. For dredging equipment whose motion is a combination of rotation and lateral displacement, such as bucket wheels, its motion is essentially the superposition of the rotational motion of the dredging equipment around its own axis of rotation and the lateral displacement motion of the entire machine / bridge. Any point on the dredging equipment can be represented as: Taking the derivative with respect to time, we can determine that the velocity at any point on the dredging equipment can be expressed as: Where (x0, y0, z0) represents the center of rotation of the dredging equipment, and v t V represents the lateral velocity of the entire machine / bridge along the X-axis, and h represents the fixed offset distance of any point on the dredging equipment relative to the center of rotation axis along the Y-axis. h remains constant during the movement, therefore V y (t) = 0, ω represents the phase angle of any point on the dredging equipment relative to the reference direction at the initial moment, ω represents the angular velocity of any point on the dredging equipment rotating around the axis of rotation, and r represents the radial distance from any point on the dredging equipment to the center of the axis of rotation of the dredging equipment. When the dredging equipment is a bucket wheel, r can represent the radius of rotation from any point on the bucket wheel to the center of the bucket wheel.

[0082] Furthermore, a contact model between the dredging equipment and the soil to be excavated can be constructed based on the motion model of the dredging equipment and the soil parameters of the soil to be excavated. The contact model can be a contact model established based on finite element simulation.

[0083] In this embodiment of the invention, a contact model between the dredging equipment and the soil to be excavated is constructed, providing a basis for simulating the dredging equipment excavating the soil to be excavated.

[0084] Step 220: In the process of dredging equipment excavating the soil to be excavated, based on the process parameters, the sliding speed and contact pressure of each contact point of the dredging equipment are determined in the contact model between the dredging equipment and the soil to be excavated.

[0085] Specifically, in the contact model simulating the dredging excavation process based on equipment and soil parameters, the contact model established based on finite element simulation, which has been validated by the model, can directly output the contact pressure at each contact point through simulated translation and rotation. It can also output the sliding velocity of each contact point on the dredging equipment. Specifically, it can obtain the change law of the position coordinates of each contact point on the dredging equipment over time during the movement process, thereby obtaining the motion trajectory of each contact point. Simultaneously, it can calculate the magnitude and direction of the velocity of each contact point at different times, obtaining the sliding velocity vector of each contact point.

[0086] Contact pressure is essentially the "force per unit area" exerted by dredging equipment on the soil. It can be determined by first determining the contact area between the dredging equipment and the soil, then calculating the total force exerted by the dredging equipment on the soil through equilibrium conditions or soil failure criteria, and finally determining the contact pressure by "total force ÷ contact area".

[0087] Depending on the cutting scenario, contact pressure calculation is divided into "compression contact" when dredging equipment vertically presses into the soil and "cutting contact" when dredging equipment horizontally cuts into the soil.

[0088] For compression-type contact, when the dredging equipment is a cutterhead, the total vertical pressure exerted by the cutterhead on the soil can be expressed as: Where b represents the width of the cutting edge (m), h represents the penetration depth (m), and c represents the soil cohesion (Pa or kPa). Indicates the cutting edge angle of the knife teeth. This indicates the unit weight of soil, expressed in kN / m³. , This represents the bearing capacity coefficient, which is only related to the internal friction angle φ of the soil and can be determined by referring to tables or empirical formulas. It also represents the contact area between the cutting edge and the soil. , The length of the cutting edge along the pressing direction indicates the contact pressure. .

[0089] For cutting-type contact, when the dredging equipment is a cutter tooth, the resultant force of the cutting force and the vertical reaction force of the cutter tooth on the soil can be expressed as: Where δ represents the friction angle between the blade teeth and the soil. This represents the internal friction angle of the soil, and the cutting contact area between the cutting teeth and the soil. The contact pressure can be determined. .

[0090] In this embodiment of the invention, by conducting a simulated contact test between the dredging equipment and the soil to be excavated, the sliding speed and contact pressure of each contact point of the dredging equipment when excavating the soil to be excavated are determined.

[0091] Step 230: Determine the initial wear depth of each contact point at a preset time based on the sliding speed, contact pressure, tool parameters, and soil parameters of each contact point.

[0092] In one implementation, step 230 may specifically include:

[0093] For each contact point, the sliding velocity and contact pressure of the contact point, as well as the soil parameters and the tool parameters, are substituted into the wear model to obtain the initial wear depth of the contact point at the preset time.

[0094] The wear of metal by soil is a low-stress scratch-type wear. The hardness of soil abrasives is usually lower than that of metal, but the particles are sharp and act continuously, resulting in surface scratches and material detachment. Therefore, when determining the wear depth, factors such as the effective abrasive particle volume fraction in the soil, contact pressure, slip velocity, and particle size can be considered, and the wear depth can be determined based on the Archard wear model.

[0095] Furthermore, the formula for the Archard wear model is expressed as: ,in, K represents the wear depth, and K represents the wear coefficient. This represents the volume fraction of effective abrasive particles in the soil to be excavated. If the soil to be excavated is pure clay (without sand particles), ρ represents the volume fraction of effective abrasive particles in the soil. s =0, wear is minimal. If the soil to be excavated is sandy gravel, ρ s The value range is 0.6 to 0.9. This represents the contact pressure at the contact point, expressed in Pa or V. slip The sliding velocity at the contact point is expressed in m / s. Since the soil is relatively stationary, the sliding velocity is taken as the absolute value of the sliding velocity of the dredging equipment relative to the soil to be excavated. t represents the preset time. This indicates the wear volume over a preset time. The Vickers hardness or equivalent hardness of the dredging equipment should be expressed in Pa (Pa). This indicates the particle size of the effective abrasive particles in the soil to be excavated. The reference particle size is usually 0.1 and is used to normalize the effect of particle size. α represents the particle size correction coefficient, which is dimensionless and obtained experimentally. The value of α usually ranges from 0.2 to 0.5. The larger the abrasive particle size α is, the more severe the scratches are and the larger the correction term is.

[0096] In practical applications, if the slip velocity or angular velocity varies with time, the preset time t can be divided into segments. The movement or rotation of the dredging equipment within each segment can be considered as uniform velocity or uniform angular velocity, and the wear volume V within each segment can be calculated. i Then sum them up to determine the total wear volume. .

[0097] It should be noted that, to ensure the accuracy of wear depth calculation, wear parameters can be calibrated by combining the wear conditions of dredging equipment in actual engineering projects. In actual engineering operations, wear measuring instruments are used to periodically measure the wear depth of dredging equipment, and the corresponding process parameters and contact pressure data are recorded; that is, the recorded data is used to calculate K.

[0098] Soil-metal abrasion tests can also be conducted, using specimens made from the same materials as actual dredging equipment, applying a known normal pressure P in the same soil mass, and controlling the slip velocity V. slip After the test time t, the wear depth is measured, and K is calculated in reverse.

[0099] In this embodiment of the invention, by conducting a simulated contact test between the dredging equipment and the soil to be excavated, the wear depth of the dredging equipment during the excavation of the soil to be excavated is determined.

[0100] Step 240: Determine the target parameter from the tool parameters and the soil parameters based on the initial wear depth and the updated wear depth determined after updating each of the process parameters.

[0101] In one implementation, step 240 may specifically include:

[0102] For each of the process parameters, the wear depth difference corresponding to each contact point is determined based on the initial wear depth at the preset time and the updated wear depth determined after updating each of the process parameters. The rate of change of the degree of uneven wear corresponding to each contact point is determined based on the ratio of the wear depth difference to the initial wear depth. The rate of change of the degree of uneven wear corresponding to each process parameter is compared with a rate of change threshold, and the tool parameter and the soil parameter corresponding to the rate of change of the degree of uneven wear that is greater than the rate of change threshold are determined as the target parameters.

[0103] Specifically, for any process parameter, after determining the initial wear depth, the process parameter can be updated to determine the updated wear depth of each contact point corresponding to the updated process parameter at a preset time.

[0104] After determining the initial wear depth and the renewed wear depth of each contact point corresponding to the process parameters at a preset time, the wear depth difference between the initial wear depth and the renewed wear depth of each contact point at the preset time can be determined. Then, the rate of change of the degree of wear corresponding to each contact point can be determined based on the ratio of the wear depth difference of each contact point at the preset time to the initial wear depth. Furthermore, the rate of change of the degree of wear corresponding to the process parameters can be determined based on the average of the rate of change of the degree of wear corresponding to each contact point.

[0105] When the rate of change of the wear degree corresponding to the process parameter is greater than the rate of change threshold, it indicates that the process parameter has a significant impact on the wear of dredging equipment. Therefore, the rate of change of the wear degree of each process parameter can be compared with the rate of change threshold, and the process parameter corresponding to the rate of change of the wear degree greater than the rate of change threshold can be determined as the target parameter. This allows for the selection of target parameters that have a significant impact on the wear of dredging equipment from among many process parameters.

[0106] In this embodiment of the invention, by conducting a simulated contact test between the dredging equipment and the soil to be excavated, the target parameters of the wear effect on the dredging equipment when it excavates the soil to be excavated are determined.

[0107] Step 250: During the process of the contact model simulating the dredging equipment excavating the soil to be excavated based on the target parameters, the installation deflection angle of the dredging equipment is adjusted until the wear depth of each wear side of the dredging equipment is consistent, and the installation deflection angle when the wear depth is consistent is determined as the calibration angle.

[0108] In one implementation, step 250 may specifically include:

[0109] During the process of the contact model simulating the dredging equipment excavating the soil to be excavated based on the target parameters, the wear depth of each contact point of the dredging equipment is determined, and the wear depth of at least two wear sides is determined according to the wear depth of each contact point; the installation deflection angle of the dredging equipment is adjusted until the wear depths are consistent, and the installation deflection angle when the wear depths are consistent is determined as the calibration angle.

[0110] Dredging equipment excavates the soil to be excavated, causing wear on at least two sides; therefore, there are at least two sides of wear.

[0111] Specifically, based on the contact model, the dredging equipment corresponding to the target parameters is used to excavate the soil to be excavated. During the simulation, the wear depth of at least two wear sides of the dredging equipment is determined. Specifically, for each wear side, the wear depth corresponding to the wear side can be determined according to the wear depth of each contact point in the wear side. That is, the average wear depth of each contact point in the wear side can be determined as the wear depth corresponding to the wear side.

[0112] Furthermore, the installation deflection angle of the dredging equipment can be adjusted, and the wear depth of at least two wear sides can be continuously calculated during the adjustment process until the wear depths are consistent. The installation deflection angle when the wear depths are consistent is the calibration angle, thus determining the calibration angle corresponding to the target parameters.

[0113] In this embodiment of the invention, during the process of simulating the excavation of soil by dredging equipment based on target parameters in the contact model, the installation deflection angle of the dredging equipment is adjusted to make the wear depth of each wear side of the dredging equipment consistent, and the installation deflection angle when the wear depth is consistent is determined as the calibration angle, thereby determining the calibration angle corresponding to the target parameters.

[0114] Step 260: Using the target parameter as the independent variable and the calibration angle corresponding to the target parameter as the dependent variable, perform regression analysis based on multiple sets of target parameters and the calibration angle corresponding to each set of target parameters to determine the wear calibration angle model.

[0115] Specifically, regression analysis is performed using the target parameter as the independent variable and the corresponding calibration angle as the dependent variable. Multiple linear regression is then conducted based on multiple sets of target parameters and the corresponding calibration angles of each set of target parameters to determine the wear calibration angle model.

[0116] In this embodiment of the invention, by using the target parameter as the independent variable and the calibration angle corresponding to the target parameter as the dependent variable, a wear calibration angle model is constructed to achieve reasonable reasoning about the mathematical relationship between the target parameter and the calibration angle.

[0117] Step 270: Obtain the actual target parameters under the current construction conditions, substitute the actual target parameters into the wear calibration angle model to obtain the wear calibration angle, and adjust the installation angle of the dredging equipment based on the wear calibration angle.

[0118] Specifically, it is possible to obtain the actual target parameters of the dredging equipment's wear effect on the dredging equipment during excavation of the soil under the current construction conditions. This includes obtaining the actual equipment parameters and the actual soil parameters. In practical applications, the actual equipment parameters may include rotational speed, lateral speed, and installation angle, while the actual soil parameters may include soil type. Therefore, it is possible to obtain the dredging equipment's rotational speed, lateral speed, and installation angle under the current construction conditions. For example, these parameters can be obtained from the dredging equipment's controller. Furthermore, the soil type of the soil to be excavated can be obtained, such as rock, clay, or gravel.

[0119] By substituting the actual target parameters into the wear calibration angle model, the model can determine the calibration angle corresponding to the target parameters. The installation angle of the dredging equipment is then adjusted to the calibration angle to achieve wear calibration of the dredging equipment.

[0120] In practical applications, when the dredging equipment is a cutterhead, the sliding velocity V on both sides of the cutter teeth can be determined. slip1 and V slip2 And the contact pressures P1 and P2 on both sides of the cutting teeth, based on the sliding velocity V on both sides of the cutting teeth.slip1 and V slip2 The wear degree is determined by the contact pressures P1 and P2 on both sides of the cutting teeth: , where K η The wear correction factor can be determined using engineering data. P represents the mean of the slip velocity. avg This represents the average contact pressure. The degree of abrasion can then be used to determine the abrasion level. If η > 30%, the abrasion level is determined to be severe; if 10% < η ≤ 30%, the abrasion level is determined to be moderate; and if η ≤ 10%, the abrasion level is determined to be slight. Alternatively, the abrasion level can be used as a constraint to adjust the abrasion calibration angle model, ensuring that after calibration of the dredging equipment, the abrasion level is less than 10% after calibration using the calibration angle determined by the abrasion calibration angle model.

[0121] Furthermore, based on the wear distribution pattern of dredging equipment (such as more severe wear on the inner ring), optimization suggestions can be provided for the material zoning and layout optimization of dredging equipment.

[0122] In this embodiment of the invention, the actual target parameters under the current construction conditions are substituted into the eccentric wear calibration angle model to determine the calibration angle corresponding to the target parameters. This enables the automated determination of the calibration angle required for eccentric wear calibration of the dredging equipment. By adjusting the installation angle of the dredging equipment to the calibration angle, the dredging equipment maintains a consistent wear depth on each wear side during the excavation of the soil to be excavated, thereby improving the consistency of wear on the wear sides of the dredging equipment and achieving targeted reduction of eccentric wear.

[0123] The eccentric wear calibration method for dredging equipment provided in this embodiment of the invention includes: constructing a contact model based on the motion model corresponding to the dredging equipment and the soil parameters of the soil to be excavated; determining the sliding velocity and contact pressure of each contact point of the dredging equipment during the process of the dredging equipment excavating the soil to be excavated based on process parameters in the contact model between the dredging equipment and the soil to be excavated; determining the initial wear depth of each contact point at a preset time according to the sliding velocity, contact pressure, equipment parameters, and soil parameters of each contact point; determining a target parameter among the equipment parameters and soil parameters based on the initial wear depth and the updated wear depth determined after updating each of the process parameters; and determining the wear depth of each contact point at a preset time based on the initial wear depth and the updated wear depth determined after updating each of the process parameters. The model simulates the process of dredging equipment excavating the soil to be excavated based on the target parameters. It adjusts the installation deflection angle of the dredging equipment until the wear depth on each wear side of the dredging equipment is consistent, and determines the installation deflection angle when the wear depth is consistent as the calibration angle. Using the target parameters as independent variables and the corresponding calibration angles as dependent variables, regression analysis is performed based on multiple sets of target parameters and their corresponding calibration angles to determine the wear calibration angle model. The actual target parameters under the current construction conditions are obtained, and these parameters are substituted into the wear calibration angle model to obtain the wear calibration angle. The installation angle of the dredging equipment is then adjusted based on the wear calibration angle.The above technical solution first constructs a contact model for simulating contact tests between the dredging equipment and the soil to be excavated, based on the motion model of the dredging equipment and the soil parameters of the soil to be excavated. During the simulated contact test based on process parameters, the sliding velocity and contact pressure at each contact point of the dredging equipment are determined when it excavates the soil. Based on the sliding velocity, contact pressure, and the equipment and soil parameters included in the process parameters, the initial wear depth at each contact point at a preset time is determined. Based on the initial wear depth and the updated wear depth determined after updating the process parameters, target parameters are determined from the equipment and soil parameters. This achieves the determination of the target parameters that cause eccentric wear on the dredging equipment when it excavates the soil. The contact model then simulates the dredging equipment excavating the soil based on these target parameters. During the process, the installation deflection angle of the dredging equipment is adjusted to ensure that the wear depth on each wear side of the dredging equipment is consistent. The installation deflection angle when the wear depth is consistent is determined as the calibration angle, thus determining the calibration angle corresponding to the target parameter. By using the target parameter as the independent variable and the corresponding calibration angle as the dependent variable, a wear calibration angle model is constructed to achieve a reasonable inference of the mathematical relationship between the target parameter and the calibration angle. The actual target parameter under the current construction conditions is substituted into the wear calibration angle model to determine the calibration angle corresponding to the target parameter. This achieves automated determination of the calibration angle required for wear calibration of the dredging equipment. By adjusting the installation angle of the dredging equipment to the calibration angle, the wear depth on each wear side of the dredging equipment remains consistent during the excavation of the soil to be excavated, improving the consistency of the wear degree on the wear side of the dredging equipment and achieving targeted reduction of wear.

[0124] Figure 4 This is a schematic diagram of a wear calibration device for dredging equipment according to an embodiment of the present invention. This device is applicable in situations requiring wear adjustment of dredging equipment, improving the accuracy of wear calibration. The device can be implemented through software and / or hardware and is generally integrated into electronic devices, such as computer equipment.

[0125] like Figure 4 As shown, the device includes:

[0126] The first determining module 410 is used to determine the sliding speed and contact pressure of each contact point of the dredging equipment during the process of the dredging equipment excavating the soil to be excavated by the contact model between the dredging equipment and the soil to be excavated based on process parameters. The process parameters include equipment parameters and soil parameters.

[0127] The second determining module 420 is used to determine the initial wear depth of each contact point at a preset time based on the sliding speed, contact pressure, tool parameters and soil parameters of each contact point, and to determine the target parameter from the tool parameters and soil parameters based on the initial wear depth and the updated wear depth determined after updating each of the process parameters.

[0128] The adjustment module 430 is used to adjust the installation deflection angle of the dredging equipment during the process of the contact model simulating the dredging equipment excavating the soil to be excavated based on the target parameters, until the wear depth of each wear side of the dredging equipment is consistent, and to determine the installation deflection angle when the wear depths are consistent as the calibration angle.

[0129] Construction module 440 is used to construct a wear calibration angle model by taking the target parameter as the independent variable and the calibration angle corresponding to the target parameter as the dependent variable.

[0130] The execution module 450 is used to obtain the actual target parameters under the current construction conditions, substitute the actual target parameters into the wear calibration angle model to obtain the wear calibration angle, and adjust the installation angle of the dredging equipment based on the wear calibration angle.

[0131] The eccentric wear calibration device for dredging equipment provided in this embodiment determines the slip velocity and contact pressure at each contact point of the dredging equipment during the process of excavating the soil by the dredging equipment based on process parameters in a contact model between the dredging equipment and the soil to be excavated. The process parameters include equipment parameters and soil parameters. Based on the slip velocity, contact pressure, equipment parameters, and soil parameters of each contact point, the initial wear depth of each contact point at a preset time is determined. Based on the initial wear depth and the updated wear depth determined after updating the process parameters, a target is determined from the equipment parameters and soil parameters. Parameters; during the process of the contact model simulating the dredging equipment excavating the soil to be excavated based on the target parameters, the installation deflection angle of the dredging equipment is adjusted until the wear depth of each wear side of the dredging equipment is consistent, and the installation deflection angle when the wear depth is consistent is determined as the calibration angle; the target parameters are used as independent variables and the calibration angle corresponding to the target parameters is used as dependent variables to construct a wear calibration angle model; the actual target parameters under the current construction conditions are obtained, and the actual target parameters are substituted into the wear calibration angle model to obtain the wear calibration angle, and the installation angle of the dredging equipment is adjusted based on the wear calibration angle. The above technical solution, in the process of simulating contact tests between the dredging equipment and the soil to be excavated based on process parameters in the contact model, determines the sliding velocity and contact pressure of each contact point of the dredging equipment when excavating the soil. Based on the sliding velocity, contact pressure, and the equipment and soil parameters included in the process parameters, the initial wear depth of each contact point at a preset time is determined. Based on the initial wear depth and the updated wear depth determined after updating each process parameter, target parameters are determined among the equipment and soil parameters. This achieves the determination of the target parameters that cause eccentric wear on the dredging equipment when excavating the soil. In the process of simulating the dredging equipment excavating the soil based on the target parameters in the contact model, the installation deflection angle of the dredging equipment is adjusted to ensure that each wear side of the dredging equipment... The wear depth is made consistent, and the installation deflection angle when the wear depth is consistent is determined as the calibration angle. This allows for the determination of the calibration angle corresponding to the target parameter. By using the target parameter as the independent variable and the corresponding calibration angle as the dependent variable, a wear calibration angle model is constructed to achieve reasonable reasoning about the mathematical relationship between the target parameter and the calibration angle. The actual target parameter under the current construction conditions is substituted into the wear calibration angle model to determine the calibration angle corresponding to the target parameter. This enables the automated determination of the calibration angle required for wear calibration of dredging equipment. By adjusting the installation angle of the dredging equipment to the calibration angle, the wear depth of each wear side of the dredging equipment remains consistent during the excavation of the soil to be excavated, improving the consistency of wear degree on the wear side of the dredging equipment and achieving targeted reduction of wear.

[0132] Based on the above embodiments, the second determining module 420 is specifically used for:

[0133] For each contact point, the sliding velocity, contact pressure, soil parameters, and equipment parameters of the contact point are substituted into the wear model to obtain the initial wear depth of the contact point at the preset time. For each process parameter, the wear depth difference corresponding to each contact point is determined based on the initial wear depth of each contact point at the preset time and the updated wear depth determined after updating each process parameter. The rate of change of the degree of uneven wear corresponding to each contact point is determined based on the ratio of the wear depth difference to the initial wear depth. The rate of change of the degree of uneven wear corresponding to each process parameter is compared with a rate of change threshold, and the equipment parameters and soil parameters corresponding to the rate of change of the degree of uneven wear that are greater than the rate of change threshold are determined as the target parameters.

[0134] In one embodiment, the wear model is expressed as follows: ,in, K represents the wear depth, and K represents the wear coefficient. This represents the volume fraction of effective abrasive particles in the soil to be excavated. V represents the contact pressure at the contact point. slip The sliding velocity at the contact point is represented by t, which represents the preset time. This indicates the Vickers hardness or equivalent hardness of dredging equipment. This indicates the particle size of the effective abrasive particles in the soil to be excavated. The reference particle size is represented by α, and the particle size correction factor is represented by α.

[0135] Based on the above embodiments, module 430 is adjusted to specifically be used for:

[0136] During the process of the contact model simulating the dredging equipment excavating the soil to be excavated based on the target parameters, the wear depth of each contact point of the dredging equipment is determined, and the wear depth of at least two wear sides is determined according to the wear depth of each contact point; the installation deflection angle of the dredging equipment is adjusted until the wear depths are consistent, and the installation deflection angle when the wear depths are consistent is determined as the calibration angle.

[0137] Based on the above embodiments, module 440 is adjusted to specifically be used for:

[0138] Using the target parameter as the independent variable and the calibration angle corresponding to the target parameter as the dependent variable, regression analysis is performed based on multiple sets of target parameters and the calibration angles corresponding to each set of target parameters to determine the wear calibration angle model.

[0139] Based on the above embodiments, the device further includes:

[0140] A construction module is used to construct the contact model based on the motion model corresponding to the dredging equipment and the soil parameters of the soil to be excavated.

[0141] The eccentric wear calibration device for dredging equipment provided in this embodiment of the invention can execute the eccentric wear calibration method for dredging equipment provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the eccentric wear calibration method for dredging equipment.

[0142] It is worth noting that in the embodiments of the above-mentioned dredging equipment wear calibration device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0143] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Figure 5 A block diagram of an exemplary electronic device 5 suitable for implementing embodiments of the present invention is shown. Figure 5 The electronic device 5 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0144] like Figure 5 As shown, electronic device 5 is represented in the form of a general-purpose computing electronic device. The components of electronic device 5 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0145] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0146] Electronic device 5 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 5, including volatile and non-volatile media, removable and non-removable media.

[0147] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Electronic device 5 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (… Figure 5 Not shown; usually referred to as a "hard drive"). Although Figure 5 As not shown, disk drives for reading and writing to removable non-volatile disks (e.g., "floppy disks") and optical disc drives for reading and writing to removable non-volatile optical discs (e.g., CD-ROMs, DVD-ROMs, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0148] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0149] Electronic device 5 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with electronic device 5, and / or with any device that enables electronic device 5 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed through input / output (I / O) interface 22. Furthermore, electronic device 5 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) through network adapter 20. Figure 5 As shown, network adapter 20 communicates with other modules of electronic device 5 via bus 18. It should be understood that, although... Figure 5 As not shown, other hardware and / or software modules may be used in conjunction with electronic device 5, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0150] Processing unit 16 executes various functional applications and page displays by running programs stored in system memory 28, such as implementing the eccentric wear calibration method for dredging equipment provided in this embodiment of the invention, the method comprising:

[0151] In the contact model between the dredging equipment and the soil to be excavated, the sliding velocity and contact pressure of each contact point of the dredging equipment are determined based on the process parameters during the process of the dredging equipment excavating the soil to be excavated. The process parameters include equipment parameters and soil parameters.

[0152] Based on the sliding speed, contact pressure, tool parameters, and soil parameters of each contact point, the initial wear depth of each contact point at a preset time is determined. Based on the initial wear depth and the updated wear depth determined after updating each of the process parameters, the target parameter is determined from the tool parameters and soil parameters.

[0153] During the process of the contact model simulating the dredging equipment excavating the soil to be excavated based on the target parameters, the installation deflection angle of the dredging equipment is adjusted until the wear depth of each wear side of the dredging equipment is consistent, and the installation deflection angle when the wear depth is consistent is determined as the calibration angle.

[0154] A wear calibration angle model is constructed by taking the target parameter as the independent variable and the calibration angle corresponding to the target parameter as the dependent variable.

[0155] Obtain the actual target parameters under the current construction conditions, substitute the actual target parameters into the wear calibration angle model to obtain the wear calibration angle, and adjust the installation angle of the dredging equipment based on the wear calibration angle.

[0156] Of course, those skilled in the art will understand that the processor can also implement the technical solution of the dredging equipment wear calibration method provided in any embodiment of the present invention.

[0157] This invention provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the program implements, for example, the eccentric wear calibration method for dredging equipment provided in this invention. The method includes:

[0158] In the contact model between the dredging equipment and the soil to be excavated, the sliding velocity and contact pressure of each contact point of the dredging equipment are determined based on the process parameters during the process of the dredging equipment excavating the soil to be excavated. The process parameters include equipment parameters and soil parameters.

[0159] Based on the sliding speed, contact pressure, tool parameters, and soil parameters of each contact point, the initial wear depth of each contact point at a preset time is determined. Based on the initial wear depth and the updated wear depth determined after updating each of the process parameters, the target parameter is determined from the tool parameters and soil parameters.

[0160] During the process of the contact model simulating the dredging equipment excavating the soil to be excavated based on the target parameters, the installation deflection angle of the dredging equipment is adjusted until the wear depth of each wear side of the dredging equipment is consistent, and the installation deflection angle when the wear depth is consistent is determined as the calibration angle.

[0161] A wear calibration angle model is constructed by taking the target parameter as the independent variable and the calibration angle corresponding to the target parameter as the dependent variable.

[0162] Obtain the actual target parameters under the current construction conditions, substitute the actual target parameters into the wear calibration angle model to obtain the wear calibration angle, and adjust the installation angle of the dredging equipment based on the wear calibration angle.

[0163] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0164] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0165] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0166] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0167] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0168] Furthermore, the acquisition, storage, use, and processing of data in the technical solution of this invention all comply with relevant laws and regulations.

[0169] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for calibrating the uneven wear of dredging equipment, characterized in that, include: In the contact model between the dredging equipment and the soil to be excavated, the sliding velocity and contact pressure of each contact point of the dredging equipment are determined based on the process parameters during the process of the dredging equipment excavating the soil to be excavated. The process parameters include equipment parameters and soil parameters. Based on the sliding speed, contact pressure, tool parameters, and soil parameters of each contact point, the initial wear depth of each contact point at a preset time is determined. Based on the initial wear depth and the updated wear depth determined after updating each of the process parameters, the target parameter is determined from the tool parameters and soil parameters. During the process of the contact model simulating the dredging equipment excavating the soil to be excavated based on the target parameters, the installation deflection angle of the dredging equipment is adjusted until the wear depth of each wear side of the dredging equipment is consistent, and the installation deflection angle when the wear depth is consistent is determined as the calibration angle. A wear calibration angle model is constructed by taking the target parameter as the independent variable and the calibration angle corresponding to the target parameter as the dependent variable. Obtain the actual target parameters under the current construction conditions, substitute the actual target parameters into the wear calibration angle model to obtain the wear calibration angle, and adjust the installation angle of the dredging equipment based on the wear calibration angle.

2. The method for calibrating the wear of dredging equipment according to claim 1, characterized in that, Based on the sliding velocity, contact pressure, tool parameters, and soil parameters of each contact point, the initial wear depth of each contact point at a preset time is determined, including: For each contact point, the sliding velocity and contact pressure of the contact point, as well as the soil parameters and the tool parameters, are substituted into the wear model to obtain the initial wear depth of the contact point at the preset time.

3. The method for calibrating the wear of dredging equipment according to claim 2, characterized in that, The formula for the wear model is expressed as follows: ,in, K represents the wear depth, and K represents the wear coefficient. This represents the volume fraction of effective abrasive particles in the soil to be excavated. V represents the contact pressure at the contact point. slip The sliding velocity at the contact point is represented by t, which represents the preset time. This indicates the Vickers hardness or equivalent hardness of dredging equipment. This indicates the particle size of the effective abrasive particles in the soil to be excavated. The reference particle size is represented by α, and the particle size correction factor is represented by α.

4. The method for calibrating the wear of dredging equipment according to claim 2, characterized in that, Based on the initial wear depth and the updated wear depth determined after updating each of the aforementioned process parameters, target parameters are determined from the tool parameters and the soil parameters, including: For each of the process parameters, the wear depth difference corresponding to each contact point is determined based on the initial wear depth of each contact point at the preset time and the updated wear depth determined after updating each of the process parameters. The rate of change of the degree of uneven wear corresponding to each contact point is determined based on the ratio of the wear depth difference corresponding to each contact point to the initial wear depth. Compare the rate of change of the degree of wear corresponding to each of the process parameters with the rate of change threshold, and determine the machine parameters and soil parameters corresponding to the rate of change of the degree of wear that is greater than the rate of change threshold as the target parameters.

5. The method for calibrating the wear of dredging equipment according to claim 1, characterized in that, During the process of the contact model simulating the dredging equipment excavating the soil to be excavated based on the target parameters, the installation deflection angle of the dredging equipment is adjusted until the wear depth on each wear side of the dredging equipment is consistent, and the installation deflection angle when the wear depth is consistent is determined as the calibration angle, including: During the process of the dredging equipment excavating the soil to be excavated, based on the target parameters, the wear depth of each contact point of the dredging equipment is determined, and the wear depth of at least two wear sides is determined according to the wear depth of each contact point. Adjust the installation deflection angle of the dredging equipment until all wear depths are consistent, and determine the installation deflection angle when all wear depths are consistent as the calibration angle.

6. The method for calibrating the wear of dredging equipment according to claim 1, characterized in that, Using the target parameter as the independent variable and the corresponding calibration angle as the dependent variable, a wear calibration angle model is constructed, including: Using the target parameter as the independent variable and the calibration angle corresponding to the target parameter as the dependent variable, regression analysis is performed based on multiple sets of target parameters and the calibration angles corresponding to each set of target parameters to determine the wear calibration angle model.

7. The method for calibrating the wear of dredging equipment according to claim 1, characterized in that, Before the contact model between the dredging equipment and the soil to be excavated simulates the dredging equipment excavating the soil to be excavated based on process parameters, it also includes: The contact model is constructed based on the motion model corresponding to the dredging equipment and the soil parameters of the soil to be excavated.

8. A device for calibrating the wear of dredging machinery, characterized in that, include: The first determining module is used to determine the sliding speed and contact pressure of each contact point of the dredging equipment during the process of the dredging equipment excavating the soil to be excavated by the contact model between the dredging equipment and the soil to be excavated based on process parameters. The process parameters include equipment parameters and soil parameters. The second determining module is used to determine the initial wear depth of each contact point at a preset time based on the sliding speed, contact pressure, tool parameters and soil parameters of each contact point, and to determine the target parameter from the tool parameters and soil parameters based on the initial wear depth and the updated wear depth determined after updating each of the process parameters. The adjustment module is used to adjust the installation deflection angle of the dredging equipment during the process of the contact model simulating the dredging equipment excavating the soil to be excavated based on the target parameters, until the wear depth of each wear side of the dredging equipment is consistent, and to determine the installation deflection angle when the wear depths are consistent as the calibration angle. The module is used to construct a wear calibration angle model by taking the target parameter as the independent variable and the calibration angle corresponding to the target parameter as the dependent variable. The execution module is used to obtain the actual target parameters under the current construction conditions, substitute the actual target parameters into the wear calibration angle model to obtain the wear calibration angle, and adjust the installation angle of the dredging equipment based on the wear calibration angle.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to said at least one processor; The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the eccentricity calibration method for dredging equipment as described in any one of claims 1-7.

10. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the wear calibration method for dredging equipment as described in any one of claims 1-7.

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