Construction control method and system for underwater breaking ship based on multi-source positioning

Abstract

The application discloses a construction control method and system for an underwater breaking ship based on multi-source positioning, and relates to the technical field of underwater rock-soil breaking. The method collects navigation data, underwater acoustic positioning data, breaking hammer cylinder pressure, piston displacement and ship body strain data; the impact moment and single impact energy are extracted from the cylinder pressure and piston displacement, the impact energy spectrum density is calculated according to the impact transient strain, and a ship body torsional dynamics model is established to correct the underwater acoustic positioning data by solving the instantaneous deflection angle of the underwater acoustic positioning array; the real-time ship body pose is obtained by using the decay memory filtering weighted by the impact energy spectrum density; the rock stratum breaking degree is inversed, and the geological layering data is updated; the pose deviation and the predicted breaking recoil force are superimposed to obtain the propeller thrust compensation and the breaking arm adjustment amount, and the driving is executed; after the execution, the torsional model is corrected and the recoil force prediction is updated according to the response feedback. The application can realize the construction control of the geological state evolution and the adaptive structure parameters.

Description

Technical Field

[0001] This application relates to the field of underwater rock and soil breaking technology, and in particular to a construction control method and system for underwater rock breaking vessels based on multi-source positioning. Background Technology

[0002] In existing technologies, the positioning of underwater hydraulic breakers primarily relies on a combination of Global Navigation Satellite Systems (GNSS) and Ultra-Short Baseline (USBR) underwater acoustic positioning systems (UABS). During actual operation of the hydraulic breaker, the impact reaction force generated by a single strike is transmitted to the hull through the hoisting system, causing torsional vibration of the hull's cross-section. This results in a momentary deflection of the mounting base of the USBR underwater acoustic positioning array. However, existing USBR positioning system positioning calculation models do not consider the dynamic deflection caused by the impact, leading to systematic deviations in the underwater acoustic positioning data during the impact transient.

[0003] Existing ship dynamics models mostly use fixed parameters, which cannot reflect the dynamic evolution of the coupling characteristics of the ship's structural state and sea state during construction. This leads to the gradual inaccuracy of underwater acoustic positioning correction and recoil force prediction based on fixed models.

[0004] Therefore, a construction control method and system for underwater crushers based on multi-source positioning is needed. Summary of the Invention

[0005] This application provides a construction control method and system for underwater crushing vessels based on multi-source positioning, which realizes the source correction of positioning errors, adaptive adjustment of construction parameters, and online iterative optimization of dynamic models, thereby improving the positioning accuracy and construction intelligence level of underwater crushing construction.

[0006] This application provides a construction control method and system for an underwater crusher based on multi-source positioning, employing the following technologies: A construction control method and system for underwater crushers based on multi-source positioning includes: S1. Collect navigation data, underwater acoustic positioning data, hydraulic breaker cylinder pressure data, hydraulic breaker piston displacement data, hull strain data, and hull structural parameters. S2. Extract the impact time and single impact energy of the hydraulic breaker based on the hydraulic breaker cylinder pressure data and the hydraulic breaker piston displacement data. Calculate the impact energy spectral density and extract the hull natural frequency based on the hull strain data at the impact time. Establish a hull torsional dynamics model based on the hull structural parameters, the hull natural frequency, and the hull strain data. S3. Input the impact energy spectral density into the ship torsional dynamics model, solve for the instantaneous deflection angle and deflection frequency of the underwater acoustic positioning array, correct the underwater acoustic positioning data and generate the hydraulic breaker chisel frequency adjustment command. S4. The corrected underwater acoustic positioning data is spatiotemporally registered and fused with the navigation data, and attenuation memory filtering based on the impact energy spectral density weighting is used to obtain real-time hull attitude data. S5. Determine the coordinates of the target breaking point based on the pre-stored geological stratification data and the real-time hull posture data, invert the degree of rock stratification at the drilling point based on the hydraulic breaker cylinder pressure data and the hull strain data, update the geological stratification data, and generate the operation path. S6. Calculate the position deviation of the real-time hull position data relative to the operation path, predict the crushing recoil force, and superimpose the thrust compensation amount of the propeller and the position adjustment amount of the crushing arm to obtain the thrust compensation amount of the propeller and the position adjustment amount of the crushing arm. Adjust the single impact energy and the chiseling frequency adjustment command according to the degree of rock fragmentation. S7. Drive the thruster, the breaker arm and the breaker hammer to perform the crushing action according to the thrust compensation amount of the thruster, the position adjustment amount of the breaker arm, the single impact energy adjustment amount and the chiseling frequency adjustment command. S8. After execution, collect the response data of hull strain and hydraulic breaker piston displacement, invert and calculate the hull seawater coupling damping coefficient and the change in hull structural stiffness, and feed back to correct the hull torsional dynamics model and update the predicted value of the breakage reaction force.

[0007] Optionally, the extraction of the impact moment of the hydraulic breaker includes: The pressure change rate is calculated by performing time difference calculation on the pressure data of the hydraulic breaker cylinder. The moment when the rate of pressure change exceeds a preset threshold is determined as the impact initiation moment; The moment when the pressure change rate recovers to the baseline slope is determined as the impact termination moment; The impact time is the time period between the impact start time and the impact termination time.

[0008] Optionally, the calculation of the impact energy spectral density and extraction of the hull's natural frequencies includes: At the moment of impact, the transient strain component and the residual strain component of the impact are separated from the hull strain data; The impact energy spectral density is calculated based on the amplitude and frequency of the impact transient strain components. The hull's natural frequency is extracted based on the frequency of the impact transient strain component.

[0009] Optionally, the generation of the hydraulic breaker impact frequency adjustment command includes: Calculate the frequency difference between the deflection frequency and the hull's natural frequency; When the frequency difference is less than a preset frequency difference threshold, the striking frequency of the hydraulic breaker is reduced.

[0010] Optionally, the attenuation memory filter based on impact energy spectral density weighting includes: Set a time-varying decay factor that is positively correlated with the impact energy spectral density; At the moment of impact, the time-varying decay factor is used to exponentially decay the historical measurement data of inertial navigation, thereby reducing the contribution of historical measurement data to the current state estimation during the impact transient.

[0011] Optionally, the degree of rock fragmentation is determined based on the pressure decay rate of the hydraulic breaker cylinder after the impact termination time; the greater the decay rate, the higher the degree of rock fragmentation.

[0012] Optionally, the predicted breakage recoil force includes: The product of the cylinder pressure of the hydraulic breaker and the effective area of ​​the piston of the hydraulic breaker is taken as the instantaneous striking force. The instantaneous impact force is vector-decomposed along the current orientation of the breaker arm to obtain the recoil force vector acting in the ship's coordinate system. The recoil force vector is used as the predicted recoil force value at the next impact moment, and the duration of the action is the duration of the impact moment.

[0013] Optionally, adjusting the single impact energy of the hydraulic breaker according to the degree of rock fragmentation includes: When the degree of rock fragmentation is lower than the benchmark threshold, the single impact energy is increased. When the degree of rock fragmentation is higher than or equal to the benchmark threshold, the single impact energy is reduced.

[0014] Optionally, the inversion calculation of the hull seawater coupling damping coefficient and the change in hull structural stiffness includes: Perform a Fourier transform on the hull strain response data from the execution feedback to extract the frequency domain amplitude of the response; The ratio of the frequency domain amplitude of the response to the frequency domain amplitude of the predicted breakage reaction force is calculated, and the ratio is used as the hull seawater coupling damping coefficient at the current moment. The change in hull structural stiffness is calculated based on the frequency difference between the frequency domain dominant frequency of the strain response data and the hull's natural frequency; the larger the frequency difference, the greater the change in structural stiffness.

[0015] Optionally, the underwater crusher construction control system based on multi-source positioning includes a data acquisition module, an impact response separation module, a frequency control module, a pose fusion module, a geological model reconstruction module, a feedforward compensation module, a drive module, and an identification feedback module, wherein: The data acquisition module is used to collect navigation data, underwater acoustic positioning data, hydraulic breaker cylinder pressure data, hydraulic breaker piston displacement data, hull strain data, and hull structural parameters. The impact response separation module is used to extract the impact time and single impact energy based on the hydraulic breaker cylinder pressure data and the hydraulic breaker piston displacement data, calculate the impact energy spectral density based on the hull strain data, extract the hull natural frequency, and establish a hull torsional dynamics model based on the hull structural parameters, the hull natural frequency, and the impact transient strain components. The frequency control module is used to input the impact energy spectral density into the hull torsional dynamics model, solve the instantaneous deflection angle and deflection frequency of the underwater acoustic positioning array, so as to correct the underwater acoustic positioning data and generate the hydraulic breaker chisel frequency adjustment command. The pose fusion module is used to fuse the corrected underwater acoustic positioning data with the navigation data, and to obtain real-time hull pose data by using attenuation memory filtering based on the impact energy spectral density weighting. The geological model reconstruction module is used to determine the spatial coordinates of the crushing target point based on the pre-stored geological stratification data and the real-time hull pose data, and to invert the rock strata crushing degree based on the hydraulic breaker cylinder pressure data and the impact residual strain, so as to update the geological stratification data and generate the operation path. The feedforward compensation module is used to calculate the posture deviation and predict the crushing recoil force, and superimpose them to obtain the thrust compensation amount of the propeller and the posture adjustment amount of the crusher arm. It also adjusts the single impact energy of the breaker hammer and the chiseling frequency adjustment command according to the degree of rock fragmentation. The drive module is used to drive the thruster, the breaker arm and the breaker hammer to perform breakering actions according to the thrust compensation amount of the thruster, the position adjustment amount of the breaker arm, the single impact energy adjustment amount and the chiseling frequency adjustment command. The identification feedback module is used to invert and calculate the hull seawater coupling damping coefficient and the change in hull structural stiffness, so as to correct the hull torsional dynamics model and update the predicted value of the breakage reaction force at the next impact moment.

[0016] The advantages of this application are as follows: The underwater breaker construction control method and system based on multi-source positioning proposed in this application corrects the measurement origin and beam pointing angle of the underwater acoustic positioning data by establishing a hull torsional dynamics model, thus solving the deviation problem of the ultra-short baseline underwater acoustic positioning system caused by the impact of the breaker hammer; by using attenuation memory filtering based on impact energy spectral density weighting, the attenuation rate of historical measurement data is adaptively adjusted to suppress the disturbance of the impact transient to the zero bias of inertial navigation; by inverting the hull seawater coupling damping coefficient and the change in hull structural stiffness, and feeding them back to the hull torsional dynamics model for online parameter correction, the dynamics model can be adaptively updated with the evolution of the coupling characteristics of the hull structure and sea state. Attached Figure Description

[0017] Figure 1A flowchart illustrating the construction control method for an underwater crusher based on multi-source positioning, provided in an embodiment of this application. Figure 2 This is a block diagram of an underwater crusher construction control system based on multi-source positioning, provided as an embodiment of this application.

[0018] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] The main solution in this application's embodiments is: The underwater crusher construction control method based on multi-source positioning includes: S1. Collect navigation data, underwater acoustic positioning data, hydraulic breaker cylinder pressure data, hydraulic breaker piston displacement data, hull strain data, and hull structural parameters. S2. Extract the impact moment and single impact energy of the hydraulic breaker based on the cylinder pressure data and piston displacement data of the hydraulic breaker. Calculate the impact energy spectral density and extract the natural frequency of the hull based on the hull strain data at the impact moment. Establish a torsional dynamics model of the hull based on the hull structural parameters, natural frequency, and strain data. S3. Input the impact energy spectral density into the ship's torsional dynamics model, solve for the instantaneous deflection angle and deflection frequency of the underwater acoustic positioning array, correct the underwater acoustic positioning data, and generate the hydraulic breaker's chisel frequency adjustment command. S4. The corrected underwater acoustic positioning data and navigation data are spatiotemporally registered and fused, and attenuation memory filtering based on the impact energy spectral density weighting is used to obtain real-time hull attitude data. S5. Determine the coordinates of the target breaking point based on the pre-stored geological stratification data and real-time hull position data, invert the degree of rock stratification at the drilling point based on the hydraulic breaker cylinder pressure data and hull strain data, update the geological stratification data, and generate the operation path. S6. Calculate the positional deviation of the real-time hull positional data relative to the working path, predict the crushing recoil force, and superimpose it to obtain the thrust compensation amount of the propeller and the positional adjustment amount of the crusher arm. Adjust the single impact energy and the chiseling frequency adjustment command according to the degree of rock fragmentation. S7. Drive the thruster, breaker arm and breaker hammer to perform crushing actions according to the thrust compensation amount of the thruster, the position adjustment amount of the breaker arm, the single impact energy adjustment amount and the chiseling frequency adjustment command. S8. After execution, collect the response data of hull strain and hydraulic breaker piston displacement, invert and calculate the hull seawater coupling damping coefficient and hull structural stiffness change, and feed back to correct the hull torsional dynamics model and update the predicted value of the breakage reaction force.

[0020] Because the high-frequency impact of the hydraulic breaker in the prior art causes torsional vibration of the hull, resulting in instantaneous deflection of the underwater acoustic positioning array and zero-bias disturbance of the inertial navigation, and the geological model is out of sync with reality, this application provides a construction control method and system for underwater hydraulic breakers based on multi-source positioning. By establishing a torsional dynamic model of the hull to correct the underwater acoustic positioning data, using attenuation memory filtering with impact energy spectral density weighting to suppress navigation disturbances, inverting the degree of rock fragmentation to update the geological model online, predicting the crushing reaction force for feedforward compensation, and identifying the feedback correction model of the hull seawater coupling damping and structural stiffness change, a closed-loop construction control system for impact interference suppression, geological state evolution, and structural parameter adaptation is achieved.

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can understand it.

[0022] refer to Figure 1 The underwater crusher construction control method based on multi-source positioning provided in one embodiment of the present invention has the following implementation steps: S1. Collect navigation data, underwater acoustic positioning data, hydraulic breaker cylinder pressure data, hydraulic breaker piston displacement data, hull strain data, and hull structural parameters.

[0023] In the specific implementation process, the Global Navigation Satellite System (GNSS) receiver and Inertial Measurement Unit (IMU) deployed on the breaker ship synchronously collect navigation data; the Ultra Short Baseline (USBL) transceiver array installed on the keel of the ship collects underwater acoustic positioning data; two piezoresistive pressure sensors installed at the oil inlet and outlet of the breaker's main hydraulic cylinder collect breaker cylinder pressure data; the magnetostrictive displacement sensor installed on the piston rod collects breaker piston displacement data; the fiber optic strain sensor array deployed on the outer plating of the hull side and the bulkhead below the waterline collects hull strain data; and the hull structural parameters are determined through finite element calculations and actual ship measurements.

[0024] S2. Extract the impact moment and single impact energy of the hydraulic breaker based on the cylinder pressure data and piston displacement data of the hydraulic breaker. Calculate the impact energy spectral density and extract the natural frequency of the hull based on the hull strain data at the impact moment. Establish a torsional dynamic model of the hull based on the hull structural parameters, natural frequency, and strain data.

[0025] In the specific implementation process, the pressure data of the hydraulic breaker cylinder is... Perform first-order time-difference calculation to calculate the rate of pressure change. When the rate of change of pressure Exceeding the preset threshold At that time, the moment was determined to be the moment of impact initiation. When the rate of change of pressure Restore to baseline slope threshold At that time, the moment is determined to be the moment the impact terminates. The moment of impact Defined as from the moment of impact onset Until the moment the impact ends The time period.

[0026] Single impact energy By the moment of impact The result is obtained by numerically integrating the changes in cylinder pressure and piston displacement: in, This represents the increment of the piston displacement within the sampling interval; For hydraulic breaker cylinder pressure data .

[0027] At the moment of impact Internal, hull strain data Includes impact transient strain components and impact residual strain components The impact transient strain component and impact residual strain component are separated from the hull strain data at the moment of impact. The specific process is as follows: The impact analysis time window of the hull strain data is captured at the moment of impact; the average strain value of the pre-acquisition window before the impact is taken as the baseline, and baseline compensation is performed on the hull strain data within the window; high-pass filtering is used to extract the high-frequency decaying oscillation signal generated by the impact excitation as the impact transient strain component; low-pass filtering is performed on the baseline-compensated hull strain data to remove high-frequency oscillations, and the deformation signal after impact is extracted as the impact residual strain component.

[0028] Impact transient strain components A Fast Fourier Transform (FFT) is performed. The FFT is an efficient algorithmic implementation of the Discrete Fourier Transform (DFT), used to convert time-domain signals to the frequency domain for analysis. The power spectral density is calculated based on the amplitude and frequency of the transient strain components of the impact. : Where N is the number of sampling points during the moment of impact; For impact transient strain components; This represents the sampling time interval.

[0029] Impact energy spectral density Defined as Integral value within the dominant frequency band of hull vibration: in, The lower limit of integration, ; This is the maximum number of points. The dominant frequency band of hull vibration is used to extract the natural frequencies of the hull. Centered on, the lower limit of the frequency band is taken as upper limit of frequency band .

[0030] Impact transient strain components Perform a Fast Fourier Transform to extract the peak frequency with the largest amplitude in the spectrum, which is the ship's natural frequency. This frequency reflects the inherent dynamic characteristics of the hull structure in the direction of torsional vibration, and is determined by the mass distribution and stiffness distribution of the hull structure.

[0031] A torsional dynamic model of the hull is established based on the hull structural parameters, natural frequencies, and impact transient strain. The torsional dynamic model employs a two-degree-of-freedom lumped parameter model to describe the torsional vibration of the hull cross-section. in, Let be the torsional moment of inertia of the hull cross section; It is the angle of twist; It is the torsional angular velocity; ω is the torsional angular acceleration; C is the structural damping coefficient; K is the torsional stiffness; For impact torque.

[0032] The process of establishing the ship's torsional dynamics model is as follows: As the initial value of the moment of inertia; utilizing the ship's natural frequency Establish stiffness constraints Based on the transient strain components of impact The amplitude and sensor placement are used to invert the impact torque amplitude. Set the initial structural damping coefficient. Therefore, a torsional dynamics model of the hull was established, which takes the impact energy spectral density as the external excitation input and the instantaneous deflection angle of the base as the output.

[0033] S3. Input the impact energy spectral density into the ship's torsional dynamics model, solve for the instantaneous deflection angle and deflection frequency of the underwater acoustic positioning array, correct the underwater acoustic positioning data, and generate the hydraulic breaker's chisel frequency adjustment command.

[0034] In the specific implementation process, the impact energy spectral density will be... Input the ship's torsional dynamics model. Since there is a positive correlation between the impact energy spectral density and the impact torque amplitude, Through calibration coefficients Convert to equivalent impact torque amplitude Calibration coefficient Through actual ship calibration tests, the following results were obtained: Multiple sets of known impact energies were output by controlling the hydraulic breaker to perform chiseling operations; hull strain data were collected to calculate the corresponding impact energy spectral density for each set; simultaneously, the actual impact torque amplitude at the array installation location was obtained; a linear fit was performed between the multiple sets of impact energy spectral densities and the actual impact torque amplitude, and the slope obtained from the fit was used as the calibration coefficient. .

[0035] The Newmark-β method is a step-by-step integration method for solving dynamic differential equations. Its basic idea is to linearly interpolate the acceleration within each time step and then solve for the displacement and velocity at the next time step using recursive formulas. This paper uses the Newmark-β method to perform step-by-step integration on the differential equation of torsional vibration, solving for the value at the moment of impact. Inner twist angle The time history series includes tilt angle time series. Timing of bow roll The maximum tilt angle displacement is obtained by extracting the vibration decay time window from the moment of impact and calculating the maximum absolute value of the tilt angle within the window. The maximum bow roll displacement is obtained by finding the maximum absolute value of the bow roll angle in the time series. , , Together, they represent the amplitude of the instantaneous deflection angle; simultaneously, the torsion angle is extracted. oscillation frequency , as the deflection frequency.

[0036] Correction of underwater acoustic positioning data includes two aspects: measurement origin correction and beam pointing angle correction. Measurement origin correction: based on the spatial coordinates of the array mounting base relative to the ship's center of gravity. and instantaneous deflection angle The actual spatial coordinate offset of each transducer under impact is calculated. The actual coordinate offset is then compensated into the USBL solution model to correct the measurement origin.

[0037] The principle of the USBL solution model is as follows: Ranging: The system measures the time difference between the sound wave emitted from the array and the return of the underwater transponder, multiplies it by the speed of sound in water, and obtains the slant distance R from the center of the array to the transponder.

[0038] Direction finding: The phase difference between the signals received by different transducers in the array is used to calculate the horizontal azimuth angle α and the vertical elevation angle β of the transponder relative to the array coordinate system.

[0039] Relative positioning: Based on the transformation relationship between spherical coordinate system and rectangular coordinate system, calculate the three-dimensional relative coordinates (x, y, z) of the transponder relative to the center of the array.

[0040] Geodetic coordinate transformation: By combining the above relative coordinates with the real-time attitude and geodetic coordinates of the hull, the absolute position of the underwater transponder, i.e. the breaker head, in the geodetic coordinate system is finally calculated through coordinate rotation and translation matrices.

[0041] Beam pointing angle correction: Calculate the projection components of the tilt and yaw angle displacements onto the beam emission directions of each transducer in the array. Let the first... The nominal beam emission direction vector of each transducer for: in, For the first Nominal azimuth angle of each transducer; For the first The nominal pitch angle of each transducer.

[0042] Beam pointing angle correction for: in, For vectors x-axis component; For vectors y-axis component; The angle of heel; The bow roll angle of the ship.

[0043] Corrected beam horizontal azimuth for: Based on the corrected measurement origin and beam pointing angle, the relative position of the underwater transponder is recalculated to obtain the corrected underwater acoustic positioning data.

[0044] Calculate the deflection frequency With the ship's natural frequency frequency difference : when Less than the preset frequency difference threshold When this occurs, it indicates that the current drilling frequency is close to the ship's natural frequency, posing a risk of resonance amplification. At this point, a command to adjust the hydraulic breaker's drilling frequency is generated to reduce the drilling frequency. By reducing the chiseling frequency, the deflection frequency is moved away from the ship's natural frequency, suppressing the amplification of the ship's torsional vibration and reducing the continuous disturbance to the underwater acoustic positioning array.

[0045] S4. The corrected underwater acoustic positioning data is spatiotemporally registered and fused with the navigation data, and attenuation memory filtering based on impact energy spectral density weighting is used to obtain real-time hull attitude data.

[0046] In the specific implementation, the second pulse signal output by the GNSS receiver is used as the unified time reference. The USBL data sampling frequency is 10Hz, and the IMU data sampling frequency is 100Hz. Their timestamps are recorded by their respective internal clocks. The two data streams are aligned using the PPS signal: taking the rising edge of the PPS as the integer second, cubic spline interpolation is performed on the USBL and IMU data to unify them to a 1Hz fusion time node. The relative position information output by the USBL is converted to the geodetic coordinate system. Using the absolute position of the ship output by the GNSS receiver as the reference, combined with the ship's attitude angle output by the IMU, the relative position of the USBL is converted to the absolute position in the geodetic coordinate system through coordinate rotation and translation transformations.

[0047] A decaying memory filter is used to fuse multi-source data. The decay factor of a standard decaying memory filter is a fixed value. The present invention sets a time-varying attenuation factor based on the impact energy spectral density. : in The baseline attenuation factor; This is the proportionality coefficient; This represents the impact energy spectral density at the current moment. At the moment of impact... Inside, Enlargement, leading to Increase. The filter applies exponential weighting to the historical measurement data. for: Where N is the current time sequence number; k is the historical time sequence number. The larger the value, the faster the historical data decays, and the lower its contribution to the current state estimation.

[0048] During strong impacts, the filter rapidly forgets historical data affected by zero-bias disturbances; during weak impacts, the filter resumes its normal decay rate, maintaining navigation continuity. The filter output is real-time ship attitude data.

[0049] S5. Determine the coordinates of the target breaking point based on the pre-stored geological stratification data and real-time hull position data. Update the geological stratification data and generate the operation path based on the rock stratification degree of the drilling point inverted by the hydraulic breaker cylinder pressure data and impact residual strain.

[0050] In practice, the degree of rock fragmentation is determined by a combination of pressure decay rate and residual strain decay rate. Extracting hydraulic breaker cylinder pressure data at the moment of impact termination Pressure decay rate after : in, For attenuation observation window; The moment the impact terminates; The pressure inside the hydraulic breaker cylinder at the moment the impact ends; For the impact to end, after The cylinder pressure after the time window. The larger the decay rate dr / dt, the more brittle the rock strata are under impact and release energy, and the higher the degree of fragmentation; the smaller the decay rate, the more elastic the rock strata are, and the lower the degree of fragmentation.

[0051] Analysis of impact residual strain components The spatial distribution of measuring points across the hull structure. The measuring point with the largest strain amplitude at the moment of impact is designated as the peak point. The ratio of the strain amplitude at other measuring points to that at the peak point is calculated as the residual strain decay rate. When the ratio decays to 0.1, the measuring point is considered to have exceeded the fracture influence boundary of this impact. The spatial range enclosed by the fracture influence boundary is the fracture range of this drilling. A larger fracture range indicates more fully developed rock fractures and a higher degree of fracture.

[0052] Using min The maximum normalization method is used to perform dimensionless processing on both the pressure decay rate and the residual strain decay rate, resulting in normalized pressure decay rate and normalized residual strain decay rate. Weighting coefficients are then set. Calculate the comprehensive crushing evaluation index : in, Normalized pressure decay rate; This represents the normalized residual strain decay rate. Weighting coefficients. The degree of rock fragmentation at the drilling point is determined by comparing the comprehensive fragmentation evaluation index S with the preset level threshold. When the comprehensive fragmentation evaluation index is greater than the sufficient fragmentation threshold, the rock fragmentation at the current point is determined to be complete. Based on the determination result, the pre-stored geological stratification data is updated, and the subsequent crushing vessel operation path is generated.

[0053] Based on the cumulative effect of the degree and extent of rock fracturing, the geological parameters of the grid cell containing the current fracturing target point are updated online: Updated equivalent elastic modulus of rock strata: in, The degree of rock strata damage is constrained to (0-1) after normalization calculation. The equivalent elastic modulus of the rock strata before the update; The updated equivalent elastic modulus of the rock strata; This represents the softening coefficient. The higher the degree of fragmentation, the lower the equivalent elastic modulus of the rock strata, indicating a decrease in the integrity of the rock mass.

[0054] Deep UI update: in, The equivalent crushing depth increment is estimated based on the crushing range and the geometric parameters of the breaker hammer. The interface depth before the update; This represents the updated interface depth. The updated geological parameters are marked as stratum update markers to distinguish them from the original survey data for undeveloped areas.

[0055] The operation path is generated based on the updated geological stratification data and the current coordinates of the target fracturing point.

[0056] S6. Calculate the positional deviation of the real-time hull positional data relative to the working path, predict the crushing recoil force, and superimpose it to obtain the thrust compensation amount of the propeller and the positional adjustment amount of the crushing arm. Adjust the single impact energy and the chiseling frequency adjustment command according to the degree of rock fragmentation.

[0057] In the specific implementation process, the positional deviation of the real-time hull pose data relative to the current target point in the operation path is calculated. : in, , , Real-time three-dimensional position of the ship's hull; , , This indicates the three-dimensional position of the current target point on the work path.

[0058] Calculate the attitude deviation of the real-time hull pose data relative to the current target point in the operation path. : in, , , These are the ship's real-time roll, pitch, and bow attitude angles, respectively. , , The desired attitude angle for the current target point on the work path.

[0059] Predicting the crushing recoil force based on the hydraulic parameters of the hydraulic breaker and the geometric attitude of the breaker arm: The product of the cylinder pressure of the hydraulic breaker and the effective area of ​​the piston of the hydraulic breaker is taken as the instantaneous impact force. : in, This represents the current cylinder pressure. This represents the effective area of ​​the piston.

[0060] The instantaneous impact force is vector-decomposed along the current orientation of the breaker arm to obtain the recoil force vector acting in the ship's coordinate system. : in, This is the unit direction vector of the breaker arm's operating direction.

[0061] Predicting the crushing recoil force at the next impact moment: The recoil force vector calculated from this impact... Directly as the next impact moment Recoil force prediction ,Right now: Amplitude: Direction: Uses the unit direction vector of the breaker arm in this case; Duration of impact: The duration of the current impact. : The thrust compensation is obtained by superimposing the attitude deviation and the predicted breakup recoil force. : in, , , For PID control parameters, These are the feedforward compensation coefficients. Feedforward terms. Before the recoil force acts on the hull, a reverse thrust is generated in advance to counteract the drift caused by the recoil force.

[0062] The positional deviation and the predicted crushing recoil force are superimposed to obtain the positional adjustment of the crusher arm: Based on posture deviation and recoil torque Calculate the adjustment angle Δθ_arm for each joint to maintain the spatial stability of the hammerhead during impact. Recoil torque. The calculation formula is: in, This is the current lever arm vector of the crusher arm.

[0063] Based on the degree of rock strata fragmentation Commands to adaptively adjust the single impact energy and impact frequency of the hydraulic breaker: If the degree of rock fragmentation is less than the benchmark threshold, it indicates that the rock fragmentation is insufficient, and the hydraulic breaker should operate with the maximum single impact energy and the minimum chiseling frequency. If the degree of rock fragmentation is greater than or equal to the benchmark threshold, it indicates that the rock fragmentation is sufficient, and the hydraulic breaker should operate with the minimum single impact energy and the maximum chiseling frequency for fine crushing and finishing.

[0064] S7. Drive the thruster, breaker arm and breaker hammer to perform breakering actions according to the thrust vector compensation amount, position adjustment amount, single impact energy adjustment amount and chiseling frequency adjustment command. In the specific implementation process, the thrust vector compensation is decomposed into the speed control signal of each thruster. The speed control signal is output to the thruster frequency converter in the form of a 4-20mA analog signal. The posture adjustment is converted into the oil flow distribution signal of each hydraulic cylinder and output to the boom proportional valve controller in the form of PWM to adjust the oil flow of each cylinder. The single impact energy adjustment is converted into the pressure control signal and flow control signal of the hydraulic system of the breaker. The adjustment is performed through the electro-hydraulic proportional pressure valve and the accumulator charging valve to change the impact energy output of the breaker. At the same time, the chiseling frequency adjustment command is output to the hydraulic controller of the breaker to adjust the switching frequency of the hydraulic directional valve.

[0065] S8. After execution, collect the response data of hull strain and hydraulic breaker piston displacement, invert and calculate the hull seawater coupling damping coefficient and hull structural stiffness change, and feed back to correct the hull torsional dynamics model and update the predicted value of the breakage reaction force.

[0066] In the specific implementation process, after the drive is executed, the ship's strain response data is collected. and hydraulic breaker piston displacement response data .

[0067] Hull strain response data Perform a Fast Fourier Transform to extract its frequency domain amplitude within the main frequency band. The predicted breakage recoil force in step S6. Similarly, perform a Fourier transform to extract the frequency domain amplitude. Calculate the ratio of the two. : Within the main frequency band The arithmetic mean is taken to obtain the current moment's seawater coupling damping coefficient of the ship's hull.

[0068] Extracting strain response data frequency domain main frequency This refers to the frequency corresponding to the peak value in the FFT amplitude spectrum. Calculate the frequency difference. : Hull structural stiffness variation Calculated using the following formula: in, This represents the initial torsional stiffness. A larger frequency difference indicates a greater change in the hull structure stiffness relative to its initial state. Under repeated impacts, the hull structure may develop microcracks, loose connections, and other damage, leading to a decrease in stiffness, manifested as… Shift to lower frequencies.

[0069] The identified coupling damping coefficient at the current moment Feedback to step S2 replaces the original structural damping coefficient C in the hull torsional dynamics model; changes in structural stiffness are then processed. The feedback is sent to step S2 to correct the hull structural parameters. The corrected model can more accurately describe the hull's dynamic response in the next impact cycle.

[0070] The coupling damping coefficient at the current moment and structural stiffness change The feedback is sent to step S6 to update the recoil force prediction model. By updating these parameters online, the predicted recoil force can adapt to the evolution of the ship's structural state, improving the accuracy of feedforward compensation.

[0071] Reference Figure 2 Corresponding to the underwater crusher construction control method based on multi-source positioning provided in the embodiments of the present invention, the embodiments of the present invention also provide an underwater crusher construction control system based on multi-source positioning, the system comprising: The system comprises the following modules: a data acquisition module for performing data acquisition in step S1; an impact response separation module for performing impact moment extraction and model building in step S2; a frequency control module for performing underwater acoustic positioning correction and frequency control in step S3; a pose fusion module for performing attenuation memory filtering and pose output in step S4; a geological model reconstruction module for performing rock stratum fracturing inversion and path generation in step S5; a feedforward compensation module for performing pose deviation calculation, recoil force prediction, and energy control in step S6; a drive module for performing signal conversion and drive functions in step S7; and an identification feedback module for performing damping stiffness identification and feedback correction in step S8.

[0072] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Any modifications, equivalent substitutions, and improvements made by those skilled in the art within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0073] In the description of this application, it should be noted that the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0074] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0075] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0076] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0077] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0078] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the claims.

[0079] Furthermore, although the operations of the method of this application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

Claims

1. A construction control method for underwater crusher based on multi-source positioning, characterized in that, include: S1. Collect navigation data, underwater acoustic positioning data, hydraulic breaker cylinder pressure data, hydraulic breaker piston displacement data, hull strain data, and hull structural parameters. S2. Extract the impact time and single impact energy of the hydraulic breaker based on the hydraulic breaker cylinder pressure data and the hydraulic breaker piston displacement data. Calculate the impact energy spectral density and extract the hull natural frequency based on the hull strain data at the impact time. Establish a hull torsional dynamics model based on the hull structural parameters, the hull natural frequency, and the hull strain data. S3. Input the impact energy spectral density into the ship torsional dynamics model, solve for the instantaneous deflection angle and deflection frequency of the underwater acoustic positioning array, correct the underwater acoustic positioning data and generate the hydraulic breaker chisel frequency adjustment command. S4. The corrected underwater acoustic positioning data is spatiotemporally registered and fused with the navigation data, and attenuation memory filtering based on the impact energy spectral density weighting is used to obtain real-time hull attitude data. S5. Determine the coordinates of the target breaking point based on the pre-stored geological stratification data and the real-time hull posture data, invert the degree of rock stratification at the drilling point based on the hydraulic breaker cylinder pressure data and the hull strain data, update the geological stratification data, and generate the operation path. S6. Calculate the position deviation of the real-time hull position data relative to the operation path, predict the crushing recoil force, and superimpose the thrust compensation amount of the propeller and the position adjustment amount of the crushing arm to obtain the thrust compensation amount of the propeller and the position adjustment amount of the crushing arm. Adjust the single impact energy and the chiseling frequency adjustment command according to the degree of rock fragmentation. S7. Drive the thruster, the breaker arm and the breaker hammer to perform the crushing action according to the thrust compensation amount of the thruster, the position adjustment amount of the breaker arm, the single impact energy adjustment amount and the chiseling frequency adjustment command. S8. After execution, collect the response data of hull strain and hydraulic breaker piston displacement, invert and calculate the hull seawater coupling damping coefficient and the change in hull structural stiffness, and feed back to correct the hull torsional dynamics model and update the predicted value of the breakage reaction force.

2. The underwater crusher construction control method based on multi-source positioning according to claim 1, characterized in that, The moment of impact of the hydraulic breaker is extracted includes: The pressure change rate is calculated by performing time difference calculation on the pressure data of the hydraulic breaker cylinder. The moment when the rate of pressure change exceeds a preset threshold is determined as the impact initiation moment; The moment when the pressure change rate recovers to the baseline slope is determined as the impact termination moment; The impact time is the time period between the impact start time and the impact termination time.

3. The underwater crusher construction control method based on multi-source positioning according to claim 2, characterized in that, The calculation of the impact energy spectral density and extraction of the ship's natural frequencies include: At the moment of impact, the transient strain component and the residual strain component of the impact are separated from the hull strain data; The impact energy spectral density is calculated based on the amplitude and frequency of the impact transient strain components. The hull's natural frequency is extracted based on the frequency of the impact transient strain component.

4. The underwater crusher construction control method based on multi-source positioning according to claim 1, characterized in that, The generation of the hydraulic breaker impact frequency adjustment command includes: Calculate the frequency difference between the deflection frequency and the hull's natural frequency; When the frequency difference is less than a preset frequency difference threshold, the striking frequency of the hydraulic breaker is reduced.

5. The underwater crusher construction control method based on multi-source positioning according to claim 1, characterized in that, The attenuation memory filter based on impact energy spectral density weighting includes: Set a time-varying decay factor that is positively correlated with the impact energy spectral density; At the moment of impact, the time-varying decay factor is used to exponentially decay the historical measurement data of inertial navigation, thereby reducing the contribution of historical measurement data to the current state estimation during the impact transient.

6. The underwater crusher construction control method based on multi-source positioning according to claim 2, characterized in that, The degree of rock fragmentation is determined based on the pressure decay rate of the hydraulic breaker cylinder after the impact termination time; the greater the decay rate, the higher the degree of rock fragmentation.

7. The underwater crusher construction control method based on multi-source positioning according to claim 2, characterized in that, The predicted breakage recoil force includes: The product of the cylinder pressure of the hydraulic breaker and the effective area of ​​the piston of the hydraulic breaker is taken as the instantaneous striking force. The instantaneous impact force is vector-decomposed along the current orientation of the breaker arm to obtain the recoil force vector acting in the ship's coordinate system. The recoil force vector is used as the predicted recoil force value at the next impact moment, and the duration of the action is the duration of the impact moment.

8. The underwater crusher construction control method based on multi-source positioning according to claim 1, characterized in that, The adjustment of the single impact energy of the hydraulic breaker according to the degree of rock fragmentation includes: When the degree of rock fragmentation is lower than the benchmark threshold, the single impact energy is increased. When the degree of rock fragmentation is higher than or equal to the benchmark threshold, the single impact energy is reduced.

9. The underwater crusher construction control method based on multi-source positioning according to claim 1, characterized in that, The inversion calculation of the hull seawater coupling damping coefficient and the change in hull structural stiffness includes: Perform a Fourier transform on the hull strain response data from the execution feedback to extract the frequency domain amplitude of the response; The ratio of the frequency domain amplitude of the response to the frequency domain amplitude of the predicted breakage reaction force is calculated, and the ratio is used as the hull seawater coupling damping coefficient at the current moment. The change in hull structural stiffness is calculated based on the frequency difference between the frequency domain dominant frequency of the strain response data and the hull's natural frequency; the larger the frequency difference, the greater the change in structural stiffness.

10. A construction control system for an underwater crusher based on multi-source positioning, characterized in that, It includes a data acquisition module, an impact response separation module, a frequency control module, a pose fusion module, a geological model reconstruction module, a feedforward compensation module, a driving module, and an identification feedback module, among which: The data acquisition module is used to collect navigation data, underwater acoustic positioning data, hydraulic breaker cylinder pressure data, hydraulic breaker piston displacement data, hull strain data, and hull structural parameters. The impact response separation module is used to extract the impact time and single impact energy based on the hydraulic breaker cylinder pressure data and the hydraulic breaker piston displacement data, calculate the impact energy spectral density based on the hull strain data, extract the hull natural frequency, and establish a hull torsional dynamics model based on the hull structural parameters, the hull natural frequency, and the impact transient strain components. The frequency control module is used to input the impact energy spectral density into the hull torsional dynamics model, solve the instantaneous deflection angle and deflection frequency of the underwater acoustic positioning array, so as to correct the underwater acoustic positioning data and generate the hydraulic breaker chisel frequency adjustment command. The pose fusion module is used to fuse the corrected underwater acoustic positioning data with the navigation data, and to obtain real-time hull pose data by using attenuation memory filtering based on the impact energy spectral density weighting. The geological model reconstruction module is used to determine the spatial coordinates of the crushing target point based on the pre-stored geological stratification data and the real-time hull pose data, and to invert the rock strata crushing degree based on the hydraulic breaker cylinder pressure data and the impact residual strain, so as to update the geological stratification data and generate the operation path. The feedforward compensation module is used to calculate the posture deviation and predict the crushing recoil force, and superimpose them to obtain the thrust compensation amount of the propeller and the posture adjustment amount of the crusher arm. It also adjusts the single impact energy of the breaker hammer and the chiseling frequency adjustment command according to the degree of rock fragmentation. The drive module is used to drive the thruster, the breaker arm and the breaker hammer to perform breakering actions according to the thrust compensation amount of the thruster, the position adjustment amount of the breaker arm, the single impact energy adjustment amount and the chiseling frequency adjustment command. The identification feedback module is used to invert and calculate the hull seawater coupling damping coefficient and the change in hull structural stiffness, so as to correct the hull torsional dynamics model and update the predicted value of the breakage reaction force at the next impact moment.

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