Method, apparatus, medium, and product for configuring a pressure variable float on a dredging pipeline

Abstract

The embodiment of the present application provides a configuration method, device, medium and product of pressure variable float on a dredging pipeline, relates to the technical field of lake and reservoir dredging, and the method comprises the steps of determining the minimum configuration quantity of the pressure variable float, and generating a configuration scheme according to the minimum configuration quantity; simulating the robot operation process based on the configuration scheme, and collecting the corresponding mechanical parameters at the current operation moment; determining whether the configuration scheme is qualified according to the mechanical parameters; if the configuration scheme is not qualified, updating the configuration scheme, and returning to execute the step of simulating the robot operation process based on the configuration scheme, and collecting the corresponding mechanical parameters at the current operation moment until the robot operation process simulation ends; and determining the configuration scheme at the end of the robot operation process simulation as a target configuration scheme. The present application can improve the rationality and applicability of the configuration scheme of the pressure variable float, thereby improving the stability of the robot operation and the reliability of the dredging operation.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of lake and reservoir dredging technology, and in particular to the configuration method, equipment, medium and product of pressure-transformer floats on dredging pipelines. Background Technology

[0002] In lake and reservoir dredging projects, underwater dredging robots are typically used to remove silt from the bottom of the lake or reservoir. The robots then tow dredging pipes to transport the cleaned sludge to designated locations. Because the dredging pipes are long and heavy, floats are usually installed on them to adjust the stress on the pipes in the water and reduce the impact of the pipes on the dredging robots.

[0003] In existing technologies, floats typically employ a fixed buoyancy structure. Once the number and placement of floats are determined, their buoyancy characteristics and configuration remain unchanged. However, during dredging, the dredging pipeline and robot usually undergo different operational phases, including lowering, moving, and dredging operations. The operational states of the dredging pipeline and robot differ at each phase, and their corresponding actual needs also vary. Therefore, a fixed buoyancy float configuration scheme is difficult to adapt to the actual needs of different operational phases, resulting in insufficient rationality and applicability of the float configuration scheme. Summary of the Invention

[0004] This invention provides a method, equipment, medium, and product for configuring pressure-transformer floats on dredging pipelines, which can improve the rationality and applicability of pressure-transformer float configuration schemes, thereby improving the stability of robot operation and the reliability of dredging operations.

[0005] In a first aspect, the pressure-sensitive float provided in this embodiment of the invention includes an elastic airbag, which elastically deforms with changes in external water pressure. The method for configuring the pressure-sensitive float on a dredging pipeline provided in this embodiment of the invention includes: determining the minimum number of pressure-sensitive floats to be configured, and generating a configuration scheme based on the minimum number of floats. The configuration scheme includes the number of pressure-sensitive floats to be configured and their placement positions on the dredging pipeline, wherein the number of floats to be configured is greater than or equal to the minimum number of floats to be configured. Based on the configuration scheme, the robot's operation process is simulated, and mechanical parameters corresponding to the current operating moment are collected. Based on the mechanical parameters, it is determined whether the configuration scheme is qualified. If the configuration scheme is unqualified, the configuration scheme is updated, and the process of "simulating the robot's operation process based on the configuration scheme and collecting mechanical parameters corresponding to the current operating moment" is returned to execution until the robot's operation process simulation ends. The configuration scheme at the end of the robot's operation process simulation is determined as the target configuration scheme.

[0006] Secondly, the pressure-sensitive float provided in this embodiment of the invention includes an elastic airbag, which elastically deforms with changes in external water pressure. The configuration device for the pressure-sensitive float on a dredging pipeline provided in this embodiment of the invention includes: a configuration scheme generation module, used to determine the minimum configuration quantity of the pressure-sensitive float and generate a configuration scheme based on the minimum configuration quantity, the configuration scheme including the configuration quantity of the pressure-sensitive float and the arrangement position of the pressure-sensitive float on the dredging pipeline, wherein the configuration quantity is greater than or equal to the minimum configuration quantity; a data acquisition module, used to simulate the robot's operation process based on the configuration scheme and acquire the mechanical parameters corresponding to the current operating moment; a first determination module, used to determine whether the configuration scheme is qualified based on the mechanical parameters; an update module, used to update the configuration scheme if the configuration scheme is unqualified, and return to the step of "simulating the robot's operation process based on the configuration scheme and acquiring the mechanical parameters corresponding to the current operating moment" until the robot's operation process simulation ends; and a second determination module, used to determine the configuration scheme at the end of the robot's operation process simulation as the target configuration scheme.

[0007] Thirdly, the electronic device provided in the embodiments of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the configuration method of the pressure-changing float on the dredging pipeline as in any embodiment of the present invention.

[0008] Fourthly, the computer-readable storage medium provided in the embodiments of the present invention stores a computer program thereon, which, when executed by a processor, implements the configuration method of the pressure-transformer float on the dredging pipeline as in any embodiment of the present invention.

[0009] Fifthly, the computer program product provided in the embodiments of the present invention includes a computer program that, when executed by a processor, implements the method for configuring a pressure-changing float on a dredging pipeline as described in any embodiment of the present invention.

[0010] In this embodiment of the invention, by determining the minimum number of pressure-transformer floats and generating an initial configuration scheme, and then combining the dynamic buoyancy characteristic of the pressure-transformer floats automatically decreasing with increasing water depth, the entire robot operation process is simulated. The configuration scheme is iteratively optimized based on the mechanical parameters at each operating moment until the target configuration scheme is obtained. By fully considering the dynamic change of the buoyancy of the pressure-transformer floats with water depth, the configuration number and arrangement position of the pressure-transformer floats can be matched with the force state of the robot at different operating stages. Therefore, this embodiment of the invention can improve the rationality and applicability of the pressure-transformer float configuration scheme, thereby improving the stability of robot operation and the reliability of dredging operations. Attached Figure Description

[0011] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic flowchart of a method for configuring a pressure-sensitive float on a dredging pipeline according to an embodiment of the present invention; Figure 2 This is another schematic diagram of the configuration method of the pressure-transformer float on the dredging pipeline provided in the embodiment of the present invention; Figure 3a This is a front view example of a pressure-sensitive float provided in an embodiment of the present invention; Figure 3b This is a side view example of a pressure-sensitive float provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a configuration device for a pressure-sensitive float on a dredging pipeline provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0013] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0014] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0015] Figure 1This is a flowchart illustrating a method for configuring a pressure-sensitive float on a dredging pipeline according to an embodiment of the present invention. This method is applicable to dredging projects in lakes and reservoirs, configuring pressure-sensitive floats towed by dredging robots on dredging pipelines to adapt to different water depth conditions. This configuration method can be executed by a device for configuring pressure-sensitive floats on dredging pipelines, as provided in this embodiment. This device can be implemented using software and / or hardware. In one specific embodiment, this device can be integrated into an electronic device, such as a computer or server. The following embodiment illustrates this by integrating the configuration device for pressure-sensitive floats on dredging pipelines into an electronic device.

[0016] The pressure-changing float in this embodiment includes an elastic air bladder, which elastically deforms in response to changes in external water pressure. (See also...) Figure 1 The configuration method of the pressure-sensitive float on the dredging pipeline in this embodiment may include the following steps: Step 101: Determine the minimum configuration quantity of pressure-transformer floats, and generate a configuration scheme based on the minimum configuration quantity. The configuration scheme includes the configuration quantity of pressure-transformer floats and the arrangement position of the pressure-transformer floats on the dredging pipeline. The configuration quantity is greater than or equal to the minimum configuration quantity.

[0017] A pressure-sensitive float (PSF) is a float that includes an elastic air bladder and can change its buoyancy in response to changes in external water pressure. When the PSF moves from shallow water to deep water, the elastic air bladder deforms under the external water pressure, reducing its volume and consequently decreasing the float's displacement volume. This gradually reduces the buoyancy provided by the PSF. When the PSF returns from deep water to shallow water, the elastic air bladder returns to its original shape, restoring the float's buoyancy, thus achieving adaptive buoyancy adjustment. The minimum configuration quantity refers to the minimum number of PSFs required to ensure the dredging pipeline and robot can float on the water surface or meet preset initial buoyancy requirements. The configuration scheme refers to the installation plan for the PSFs, including the number of PSFs and their placement on the dredging pipeline. The number of PSFs can be equal to the minimum configuration quantity or increased appropriately. The placement of the PSFs on the dredging pipeline can be set according to the robot's operational needs, such as uniform distribution.

[0018] Specifically, to meet the basic buoyancy requirements during robot operation, the minimum number of pressure-sensitive floats is first determined. The configuration scheme is then set so that the number of pressure-sensitive floats is greater than or equal to this minimum. After determining the number of pressure-sensitive floats, the placement of each float on the dredging pipeline is further determined to generate the configuration scheme. The placement of the pressure-sensitive floats on the dredging pipeline can be achieved by uniformly arranging them along the pipeline; this embodiment does not impose a limitation on this. This approach avoids insufficient buoyancy during robot operation due to an insufficient number of pressure-sensitive floats. Furthermore, it avoids blindly increasing the number of pressure-sensitive floats, providing a reasonable initial configuration basis for subsequent iterative optimization of the configuration scheme. This improves configuration efficiency while balancing robot performance and the configuration cost of the pressure-sensitive floats.

[0019] For example, the dredging pipe in this example is a flexible pipe. The minimum configuration number corresponds to the minimum configuration number of pressure-sensitive floats on the flexible pipe. Since the reinforced pipe is always at the water surface during operation and is less affected by changes in water depth, the number of floats on the reinforced pipe can be predetermined based on the weight and buoyancy of the reinforced pipe, and they are evenly arranged at preset intervals. In the subsequent simulation and optimization of the robot's lowering, movement, and operation processes, only the configuration of the pressure-sensitive floats on the flexible pipe section is optimized, while the configuration of the floats on the reinforced pipe remains unchanged.

[0020] Step 102: Based on the configuration scheme, simulate the robot's operation process and collect the mechanical parameters corresponding to the current running moment.

[0021] The robot operation process refers to the entire operation of the robot from its entry into the water to the completion of the dredging operation, including the robot's lowering, traveling, and working processes. Operating time refers to any moment during the robot's operation; during lowering, an operating time can be assigned according to each preset length of the dredging pipe lowered; during traveling and working, any operating time can be selected as the current operating time. Mechanical parameters refer to the mechanical parameters characterizing the robot's operating state. These parameters may differ at different stages of operation. For example, during lowering, mechanical parameters may include the robot's weight, buoyancy, the weight and buoyancy of the dredging pipe, and the total buoyancy of all pressure-sensitive floats; during traveling, mechanical parameters may include the robot's water-facing area and traveling speed; during working, mechanical parameters may include the weight of the medium being transported within the dredging pipe and cutting parameters.

[0022] Specifically, based on the configuration scheme, a mechanical simulation is performed on the robot's operation process, and the mechanical parameters corresponding to the current operating moment are collected. By continuously collecting the mechanical parameters corresponding to each operating moment throughout the robot's operation, the stress changes of the robot and pipeline system under the configuration scheme can be comprehensively reflected. This provides a basis for subsequent judgment on whether the configuration scheme meets the mechanical requirements of each operating stage, thereby improving the accuracy of the configuration scheme evaluation.

[0023] Step 103: Determine whether the configuration scheme is qualified based on the mechanical parameters.

[0024] A qualified configuration scheme means that when simulating the robot's operation process based on the configuration scheme, the mechanical parameters corresponding to each operation stage meet the preset judgment conditions. The preset judgment conditions can be set separately according to different operation stages.

[0025] Specifically, when simulating the robot's operation, the mechanical parameters corresponding to the current operating moment are continuously collected, and the mechanical parameters are analyzed according to the current operating stage of the robot. Based on the preset judgment conditions of the corresponding operating stage, the current configuration scheme is continuously judged to determine whether it is qualified.

[0026] When the configuration scheme meets the preset judgment conditions of the corresponding operating stage, the current configuration scheme is maintained, and the simulation of the robot's subsequent operation continues. Corresponding mechanical parameters are collected at each subsequent operating moment to further determine whether the configuration scheme is qualified. If the configuration scheme fails to meet the preset judgment conditions of the corresponding operating stage at any operating moment, the configuration scheme is determined to be unqualified, and the configuration scheme is updated. The robot operation simulation is then repeated based on the updated configuration scheme until the simulation ends. Through this method, the qualification of the configuration scheme is continuously determined during the robot operation simulation. If an unqualified configuration scheme is found, it is immediately adjusted and re-simulated, thus avoiding the use of unreasonable pressure-sensitive float configuration schemes in subsequent simulations. When the configuration scheme is qualified, the simulation of the subsequent operating process continues, ensuring that the final target configuration scheme meets the mechanical requirements of the robot's lowering, movement, and operation throughout the entire process, thereby improving the reliability and accuracy of configuration scheme optimization.

[0027] Step 104: If the configuration scheme is not qualified, update the configuration scheme and return to execute the step of "simulating the robot's operation process based on the configuration scheme and collecting the mechanical parameters corresponding to the current running moment" until the robot's operation process simulation ends.

[0028] Specifically, when a configuration scheme is satisfactory at all operating moments throughout the simulation, it is determined as the target configuration scheme. If the configuration scheme is unsatisfactory at any operating moment during the simulation, the configuration scheme is updated based on the mechanical parameters corresponding to that unsatisfactory operating moment, and the robot operation process is simulated again based on the updated configuration scheme. If the updated configuration scheme still has unsatisfactory operating moments during the simulation, the configuration scheme is updated again and the simulation is repeated until the target configuration scheme is obtained that is satisfactory at all operating moments throughout the entire robot operation process simulation. The updated configuration scheme always satisfies that the number of pressure-sensitive floats is greater than or equal to the minimum number of floats.

[0029] Step 105: Determine the configuration scheme at the end of the robot operation simulation as the target configuration scheme.

[0030] The target configuration scheme refers to the final configuration scheme determined after simulating the entire operation process of the robot.

[0031] Specifically, during the robot's operation simulation, the current configuration scheme is continuously evaluated for compliance. If the configuration scheme is deemed unqualified at any point in the simulation, it is updated, and the robot operation simulation is restarted. Therefore, when the entire robot operation simulation concludes, it indicates that the current configuration scheme remained qualified throughout the simulation, and thus, the current configuration scheme is determined as the target configuration scheme. In practical applications, the pressure-sensitive float can be installed according to the target configuration scheme, and the float can be inflated according to the parameters corresponding to the target configuration scheme to meet the buoyancy requirements during robot lowering, movement, and operation.

[0032] In this embodiment, by determining the minimum number of pressure-transformer floats and generating an initial configuration scheme, and then combining the dynamic buoyancy characteristic of the pressure-transformer floats automatically decreasing with increasing water depth, the entire robot operation process is simulated. The configuration scheme is iteratively optimized based on the mechanical parameters at each operating moment until the target configuration scheme is obtained. By fully considering the dynamic change of the buoyancy of the pressure-transformer floats with water depth, the configuration number and arrangement position of the pressure-transformer floats can be matched with the force state of the robot at different operating stages. Therefore, this embodiment of the invention can improve the rationality and applicability of the pressure-transformer float configuration scheme, thereby improving the stability of robot operation and the reliability of dredging operations.

[0033] The pressure-changing float in this embodiment includes an elastic air bladder, which undergoes elastic deformation as the external water pressure changes. Figure 2 This is another schematic diagram of the configuration method of the pressure-transformer float on the dredging pipeline provided in the embodiment of the present invention, as shown below. Figure 2 As shown, the configuration method of the pressure-sensitive float on the dredging pipeline in this embodiment may include: Step 201: Determine the negative buoyancy of the dredging pipe based on the weight and buoyancy of the dredging pipe filled with the conveying medium.

[0034] The conveying medium refers to the material transported through the dredging pipeline. Examples include mud, slurry, tailings slurry, or other slurry media. This embodiment uses mud as an example, but it is not limited to this. The dredging pipeline refers to a flexible pipeline connected to the robot and lowered, moved, and operated together with the robot. The gravity of the dredging pipeline filled with the conveying medium refers to the gravity generated by the dredging pipeline under the action of gravity after being filled with the conveying medium, including the gravity of the dredging pipeline itself and the gravity of the conveying medium inside the dredging pipeline. The buoyancy of the dredging pipeline filled with the conveying medium refers to the buoyancy generated by the dredging pipeline when it is submerged in water, based on the volume of water displaced. Negative buoyancy refers to the net downward force corresponding to the situation where the gravity of the dredging pipeline filled with the conveying medium is greater than the buoyancy of the dredging pipeline filled with the conveying medium; it is used to characterize the sinking tendency of the dredging pipeline in water.

[0035] Specifically, the negative buoyancy of the dredging pipeline = the weight of the dredging pipeline filled with the conveying medium - the buoyancy of the dredging pipeline filled with the conveying medium.

[0036] Step 202: Determine the minimum number of pressure-transformer floats based on the negative buoyancy and the buoyancy of the pressure-transformer floats in the semi-submerged state.

[0037] The semi-submerged state refers to the state in which the pressure-sensitive float is partially submerged in water and partially exposed above the water surface, that is, the state in which about half of the volume of the pressure-sensitive float is submerged in water.

[0038] Specifically, to ensure the flexible tube floats on the water surface in its initial configuration, the initial calculations assume that each pressure-changing float is in a semi-submerged state. Since a single pressure-changing float provides a definite buoyancy in a semi-submerged state, the minimum number of pressure-changing floats required for the flexible tube to float can be calculated based on the negative buoyancy of the flexible tube and the buoyancy provided by a single pressure-changing float in a semi-submerged state. Furthermore, during the initial configuration, the initial gas pressure of the pressure-changing floats can be set to one standard atmosphere (101 kPa), which serves as the initial condition for calculating the buoyancy of the pressure-changing floats.

[0039] For example, suppose n represents the minimum number of pressure-variable floats in a configuration, and... To represent negative buoyancy, use The buoyancy of a single pressure-transformer float can be expressed by: Let represent the buoyancy of a single pressure-transformer float in a semi-submerged state. The minimum number of pressure-transformer floats required can then be calculated using the following formula: .

[0040] Step 203: Generate a configuration scheme based on the minimum configuration quantity. The configuration scheme includes the configuration quantity of pressure-transformer floats and the arrangement position of the pressure-transformer floats on the dredging pipeline. The configuration quantity is greater than or equal to the minimum configuration quantity.

[0041] Step 204: Based on the configuration scheme, simulate the robot's operation process and collect the mechanical parameters corresponding to the current running moment.

[0042] Optionally, the robot's operation process includes the lowering process, the moving process, and the operation process.

[0043] The lowering process refers to the gradual descent of the robot from the water surface to the target work location. During this process, the robot and the dredging pipe are gradually submerged in water, and the forces acting on them change continuously with the descent depth. The movement process refers to the robot's movement along a pre-set path to the target work area after reaching the target water depth. During this process, the robot is mainly subjected to frictional resistance and fluid resistance. The operation process refers to the robot performing its tasks in the target work area. During this process, in addition to the mechanical forces generated during movement, the robot is also subjected to cutting resistance generated during the operation.

[0044] Specifically, because the robot experiences different forces at different stages of operation, the robot's operation is divided into three phases: lowering, traveling, and working. During lowering, the focus is on analyzing the gravity, buoyancy, and crane pulling force on the robot and the dredging pipeline. During traveling, the focus is on analyzing the frictional and fluid resistance experienced by the robot. During working, the force situation is further analyzed in conjunction with cutting resistance to determine whether the current configuration meets the operational requirements of each stage. By dividing the robot's operation into lowering, traveling, and working phases, and conducting separate mechanical analyses for each phase, the force changes experienced by the robot during actual operation can be more accurately reflected, improving the accuracy of configuration evaluation and ensuring that the final target configuration meets the operational requirements of the robot throughout its entire operation.

[0045] Step 205: Determine whether the configuration scheme is qualified based on the mechanical parameters.

[0046] Optionally, when the robot is in the lowering process, the mechanical parameters include: the robot's weight, the robot's buoyancy, the weight of the dredging pipe, the buoyancy of the dredging pipe, and the total buoyancy of the pressure-transformer float. Based on the mechanical parameters, determine whether the configuration scheme is qualified, including: determining the crane pulling force corresponding to the current operating moment based on the robot's weight, the robot's buoyancy, the weight of the dredging pipe, the buoyancy of the dredging pipe, and the total buoyancy of the pressure-transformer float; determining the change in crane pulling force based on the crane pulling force corresponding to the current operating moment and the crane pulling force corresponding to the previous operating moment; if the change in crane pulling force is less than a preset threshold, the configuration scheme is deemed qualified; if the change in crane pulling force is greater than or equal to the preset threshold, the configuration scheme is deemed unqualified.

[0047] The robot's gravity refers to the force exerted on the robot by gravity. The robot's buoyancy refers to the buoyancy experienced by the robot when submerged in water. The gravity of the dredging pipe refers to the constant gravity experienced by the flexible pipe after it is filled with the transport medium. The buoyancy of the dredging pipe refers to the gravity exerted on the flexible pipe itself during the robot's lowering process. The total buoyancy of the pressure-sensitive floats refers to the total buoyancy generated by all the pressure-sensitive floats mounted on the flexible pipe. Since the elastic air bladders of each pressure-sensitive float can elastically deform with changes in external water pressure, the buoyancy of each float changes with the robot's lowering depth. The crane pull force refers to the pull force applied to the robot by the crane during its lowering process to maintain stability. The current operating moment refers to any moment in the robot's simulated operation. During the robot's lowering process, operating moments can be divided according to each preset length of the dredging pipe lowered (e.g., 0.2 meters), meaning each 0.2-meter lowering of the dredging pipe corresponds to one operating moment. The change in crane pulling force refers to the difference between the crane pulling force at the current operating moment and the crane pulling force at the previous operating moment, used to characterize the degree of change in crane pulling force during the robot's lowering process. The preset threshold refers to the pre-defined allowable range of change in crane pulling force.

[0048] Specifically, during the robot's lowering process, to ensure a stable descent at the preset speed, the crane continuously adjusts its pulling force to maintain the robot's force balance and ensure stable descent. When the robot is lowered stably at the preset speed, the robot's weight, buoyancy, and the weight of the dredging pipe remain essentially constant, while the buoyancy of the dredging pipe and the total buoyancy of the pressure-sensitive float change with the increasing descent depth. Therefore, during the stable descent of the robot, the change in the crane's pulling force is caused by the change in the buoyancy of the dredging pipe and the total buoyancy of the pressure-sensitive float. At each operating moment, the crane's pulling force corresponding to the current operating moment is determined based on the robot's weight, buoyancy, the weight of the dredging pipe, the buoyancy of the dredging pipe, and the total buoyancy of the pressure-sensitive float. Furthermore, the change in crane's pulling force is determined by comparing the current crane's pulling force with the crane's pulling force at the previous operating moment. If the change in crane tension is less than the preset threshold, it indicates that as the robot continues to descend, the crane does not need to make significant adjustments to its tension to maintain stable descent. This further indicates that the current configuration of the pressure-sensitive floats, their placement, and the initial gas pressure can meet the force changes required during the robot's descent, thus the current configuration is deemed acceptable. If the change in crane tension is greater than or equal to the preset threshold, it indicates that as the robot continues to descend, the crane needs to make significant adjustments to its tension to maintain stable descent. This further indicates that the current configuration of the pressure-sensitive floats, their placement, or the initial gas pressure cannot effectively match the force changes required during the robot's descent, thus the current configuration is deemed unacceptable.

[0049] For example, suppose the robot's weight, the robot's buoyancy, the weight of the dredging pipe, the buoyancy of the dredging pipe, and the total buoyancy of the pressure-transformer float are expressed as follows: , , , , Then the crane pulling force at the current operating moment It can be calculated using the following formula: The formula for calculating the buoyancy of the dredging pipeline at the current operating moment is: ,in, The density of water, It is the acceleration due to gravity. The cross-sectional area of ​​the dredging pipe. The length of the dredging pipe that is completely submerged in water at the current operating moment; The effective drainage cross-sectional area corresponding to the portion of the dredging pipe that is currently floating on the water surface and submerged in water at the moment of operation; This represents the length of the dredging pipe currently floating on the water surface. The total buoyancy of the pressure-sensitive float at the current operating moment. The calculation formula is: ,in, This represents the number of pressure-transformer floats that are currently in a semi-submerged state during operation. This represents the number of pressure-transformer floats that are currently fully submerged during operation. n is the total number of pressure-sensitive floats configured on the dredging pipeline; This refers to the buoyancy generated by the pressure-transformer float in a semi-submerged state. The initial gas pressure of the pressure-variable float. The initial gas volume is the pressure-changing float. Since the gas bladder wall thickness of the pressure-changing float proposed in this embodiment is relatively small, the gas bladder volume can be used as the internal initial gas volume. The total weight of all pressure-sensitive floats. This represents the gas pressure inside the i-th pressure-variable float at the current operating moment.

[0050] Among them, the gas pressure inside the i-th pressure-variable float at the current operating moment It can be obtained through the following formula: ,in, is the external water pressure corresponding to the location of the i-th pressure-variable float; E is the elastic modulus of the elastic airbag material; The initial wall thickness of the elastic airbag; The initial radius of the elastic airbag; ρ is the initial gas pressure of the pressure-changing float; h is the immersion depth of the i-th pressure-changing float relative to the water surface. The following explains... The derivation process: (1) The pressure-transformed float proposed in this embodiment is approximately a thin-walled cylindrical structure. When the cylinder is compressed by external pressure, it mainly generates circumferential compressive stress. , Let be the radius of the elastic airbag under external water pressure at a immersion depth h. Let be the wall thickness of the elastic airbag under external water pressure at an immersion depth h; the circumferential stress is generated by the elastic deformation of the rubber material, satisfying Hooke's Law: ,in, For circumferential compressive strain; therefore, we obtain (2) The pressure-changing float proposed in this embodiment is made of rubber. Since rubber is approximately incompressible, the volume of the pressure-changing float remains unchanged. L is the length of the pressure-sensitive float (thin-walled cylinder), from which we obtain (3) The underwater environment temperature fluctuations proposed in this embodiment are extremely small and can be regarded as isothermal, using the ideal gas law: P is the absolute pressure of the gas inside the airbag, V is the volume of the gas inside the airbag, n is the amount of gas, which is constant when the airbag is sealed, R is the ideal gas constant, 8.314 J / (mol·K), and T is the thermodynamic temperature of the gas, which is a constant in underwater engineering. Therefore, we obtain... Further obtained Thus we obtain (4) and Substitute into the formula ,get The external water pressure corresponding to the location of the i-th pressure-variable float ,therefore .

[0051] In addition, due to The internal gas pressure appears on both sides of the equation and is located in the numerator and radical terms, therefore it cannot be solved directly. In this embodiment, an iterative method is used to solve for the internal gas pressure. The iteration stops when the error between two adjacent iterations is less than a preset error threshold (e.g., 0.1%), and the current result is taken as the internal gas pressure of the pressure-variable float at the current operating moment.

[0052] In one specific implementation, the crane pulling force corresponding to the current operating moment is calculated. Water flow resistance can also be considered. ,Right now .

[0053] In one specific implementation, to ensure the mechanical balance of the entire lowering process, the following two general constraints must also be met to ensure the smooth and safe lowering process: ① With the assistance of a crane for stabilization, the underwater robot can normally tow the dredging pipe and float into the water, i.e. ② The maximum pulling force that the crane needs to provide cannot exceed the crane's ultimate lifting capacity, i.e. .

[0054] In one specific implementation, the preset threshold can generally be set to the buoyancy that can be provided by 2 to 3 pressure-variable floats with the initial gas volume.

[0055] Optionally, when the robot is moving, the mechanical parameters also include: the robot's water-facing area and the robot's moving speed; based on the mechanical parameters, determine whether the configuration scheme is qualified, including: determining the frictional resistance at the current operating moment based on the robot's weight, the robot's buoyancy, the weight of the dredging pipe, the buoyancy of the dredging pipe, and the total buoyancy of the pressure-transformer float; determining the fluid resistance at the current operating moment based on the robot's water-facing area and the robot's moving speed; determining the total resistance at the current operating moment based on the frictional resistance and fluid resistance; determining the required power at the current operating moment based on the total resistance and the moving speed; if the required power is less than the robot's rated output power, the configuration scheme is qualified; if the required power is greater than or equal to the rated output power, the configuration scheme is unqualified.

[0056] The robot's water-facing area refers to the area of ​​the robot that comes into contact with the water flow in its direction of travel. The robot's travel speed refers to the speed at which the robot travels along the dredging pipe. Frictional resistance refers to the frictional resistance generated when the robot and the towed dredging pipe contact the bottom of the water under vertical pressure. Fluid resistance refers to the resistance generated by the water flow acting on the robot as it travels in water. Total resistance is the sum of the frictional resistance and fluid resistance experienced by the robot during its movement. Required power refers to the drive power required for the robot to overcome the total resistance at the current operating moment and maintain its current travel speed. The robot's rated output power refers to the rated mechanical power that the robot's power system can continuously and stably output, assuming... This indicates the robot's rated output power. ,in, For motor input power, The transmission efficiency of the robot's power system.

[0057] Specifically, when the robot is moving, it needs to tow the dredging pipe to move stably on the underwater surface. At this time, the robot needs to overcome both the frictional resistance between itself and the underwater surface, as well as the fluid resistance generated during its movement in the water. Therefore, at the current operating moment, the vertical pressure exerted by the robot and dredging pipe on the underwater surface is first determined based on the robot's weight, buoyancy, the weight and buoyancy of the dredging pipe, and the total buoyancy of the pressure-transformer float. The frictional resistance corresponding to the current operating moment is then determined based on this vertical pressure. Simultaneously, the fluid resistance corresponding to the current operating moment is determined based on the robot's surface area facing the water and its speed. Subsequently, the total resistance corresponding to the current operating moment is determined based on the frictional resistance and fluid resistance, and the required power corresponding to the current operating moment is determined based on the total resistance and the robot's speed. If the required power is less than the robot's rated output power, it indicates that the robot's power system can provide sufficient driving force to overcome the current total resistance and maintain stable movement, thus determining that the current configuration is qualified. If the required power is greater than or equal to the robot's rated output power, it means that the robot's power system cannot provide sufficient driving force to overcome the current total resistance. The robot cannot move stably at the preset speed, therefore the current configuration scheme is deemed unqualified.

[0058] For example, if the dredging pipe and robot are successfully lowered into the water and the crane cable is disconnected from the underwater robot, then the frictional resistance at the current operating moment is... It can be calculated using the following formula: ,in, Let be the coefficient of friction between the robot and the dredging pipe and the bottom of the water; assuming the robot's frontal area and its travel speed are represented by A and v respectively, then the fluid resistance at the current operating moment is... It can be calculated using the following formula: ,in, Given the drag coefficient, the total resistance at the current operating moment is... It can be calculated using the following formula: Furthermore, the power demand at the current operating moment. It can be calculated using the following formula: ;like If so, the configuration scheme is deemed acceptable. If so, the configuration scheme is deemed unqualified. In one specific implementation, the total resistance... Other resistances include water pressure resistance and cable resistance. Water pressure resistance can generally be considered as an increase of about 5 to 10% in the total resistance. Cable resistance increases with water depth and length, with a typical value of about 50 to 200 N per 100 meters of cable.

[0059] Optionally, when the robot is in operation, the mechanical parameters also include: the gravity of the conveying medium in the dredging pipeline and the cutting parameters; based on the mechanical parameters, determine whether the configuration scheme is qualified, including: determining the driving friction force corresponding to the current operating moment based on the robot's gravity, the robot's buoyancy, the gravity of the dredging pipeline, the buoyancy of the dredging pipeline, the total buoyancy of the pressure-transformer float, and the gravity of the conveying medium in the dredging pipeline; determining the cutting resistance corresponding to the current operating moment based on the cutting parameters; if the driving friction force is greater than the sum of the total resistance and the cutting resistance, the configuration scheme is qualified; if the driving friction force is less than or equal to the sum of the total resistance and the cutting resistance, the configuration scheme is unqualified.

[0060] The gravity of the medium transported in the dredging pipeline refers to the weight of the medium (such as mud) transported in the dredging pipeline during robot operation. Cutting parameters are parameters characterizing the robot's cutting operation state. Driving friction is the driving force generated between the robot's tracks and the seabed, used to drive the robot to overcome travel resistance and cutting resistance. Cutting resistance is the reaction force of the bottom mud acting on the cutting device when the robot's cutting device cuts the bottom mud.

[0061] Specifically, when the robot is in operation, the dredging pipe is filled with the transport medium. The gravity of the transport medium acts on the dredging pipe, causing changes in the vertical pressure exerted by the robot and the dredging pipe on the seabed. Simultaneously, the robot's cutting device continuously performs cutting operations. In addition to overcoming the total resistance generated during movement, the robot also needs to overcome the cutting resistance generated during cutting. Therefore, at the current operating moment, based on the robot's weight, buoyancy, the weight of the dredging pipe, the buoyancy of the dredging pipe, the total buoyancy of the pressure-sensitive float, and the weight of the transport medium in the dredging pipe, the driving friction force that the robot's tracks can provide between the robot's tracks and the seabed is determined. At the same time, based on the cutting parameters corresponding to the current operating moment, the corresponding cutting resistance is determined. If the driving friction force is greater than the sum of the total resistance and the cutting resistance, it indicates that the driving force provided by the robot can overcome the total resistance generated during robot movement and the cutting resistance generated during cutting, enabling the robot to perform cutting operations stably. Therefore, the current configuration scheme is deemed qualified. If the driving friction is less than or equal to the sum of the total resistance and the cutting resistance, it means that the driving force provided by the robot is insufficient to overcome the total resistance generated during the robot's movement and the cutting resistance generated during the cutting process. The robot cannot perform cutting operations stably, so the current configuration scheme is determined to be unqualified.

[0062] For example, suppose the gravity of the medium being transported in the dredging pipeline is expressed as... Then the driving friction force corresponding to the current running moment It can be calculated using the following formula: Where c is the cohesion of the underwater soil. The contact area between the robot's tracks and the underwater soil. The internal friction angle of the underwater soil. The tangent of the internal friction angle of the soil beneath the water; the cutting resistance at the current operating moment. It can be calculated using the following formula: ,in λ s This is the strengthening coefficient during the cutting process; h i The cutting thickness refers to the thickness of the chips formed during the cutting process of the cutting teeth cutting through the mud. w The effective cutting width where the cutting teeth contact the bottom mud; α The angle between the cutting teeth and the horizontal direction; β It is the shear angle; r The ratio of adhesion force to cohesion force; where the strengthening factor is... λ s It can be calculated using the following formula: ,in, Reference shear stress; The yield shear stress of the bottom mud; This represents the cutting speed of the cutter teeth at the current running moment; Let be the shear strain rate. If If so, the configuration scheme is deemed acceptable; if If so, the configuration scheme is deemed unqualified.

[0063] Step 206: If the configuration scheme is not qualified, update the configuration scheme and return to execute the step of "simulating the robot's operation process based on the configuration scheme and collecting the mechanical parameters corresponding to the current running moment" until the robot's operation process simulation ends.

[0064] Optionally, the configuration scheme can be updated by adjusting at least one of the following based on the configuration scheme: the initial gas pressure of the pressure-changing float, the number of pressure-changing floats, and the arrangement position of the pressure-changing floats on the dredging pipeline, to generate an updated configuration scheme.

[0065] The initial gas pressure of the pressure-changing float refers to the initial pressure when gas is introduced into the pressure-changing float before the robot is lowered. It is used to determine the initial volume of the pressure-changing float and its buoyancy characteristics as the water depth changes.

[0066] Specifically, when the current configuration is determined to be unqualified, it indicates that the initial gas pressure, number, or placement of the pressure-changing floats cannot effectively meet the force requirements of the robot during the corresponding operational phase. Therefore, based on the current configuration, at least one of the following should be adjusted: the initial gas pressure of the pressure-changing floats, the number of pressure-changing floats, and their placement on the dredging pipeline. This generates an updated configuration, which can then be re-evaluated for force verification during the robot's lowering, travel, and operational phases, until a target configuration that meets the force requirements of each operational phase is obtained.

[0067] Specifically, during the initial configuration scheme generation process, the configuration quantity of pressure-changing floats and their arrangement positions on the dredging pipeline are set according to the minimum configuration quantity, and the initial gas pressure of the pressure-changing floats is uniformly set to standard atmospheric pressure, i.e., 101 kPa. When it is determined that the current configuration scheme is unqualified, the current configuration scheme can be updated. Updating the configuration scheme includes at least one of the following methods: (1) reducing the initial gas pressure of the pressure-changing floats; (2) reducing the configuration quantity of the pressure-changing floats; (3) increasing the arrangement density of the pressure-changing floats on the pipe sections close to the robot and decreasing the arrangement density of the pressure-changing floats on the pipe sections far from the robot.

[0068] Step 207: Determine the configuration scheme at the end of the robot operation simulation as the target configuration scheme.

[0069] For example, Figure 3a This is a front view example of a pressure-sensitive float provided in an embodiment of the present invention; Figure 3b This is a side view example of a pressure-sensitive float provided in an embodiment of the present invention; as shown... Figure 3a and Figure 3bAs shown, the pressure-sensitive float is installed on the outer wall of the dredging pipe 7 and mainly includes a float airbag 1, a pre-inflation assembly 2, a puncture-resistant protective layer 3, a sealing layer 4, a pipe clamp 5, and bolt holes 6. The float airbag 1 is made of a high-elasticity, water-pressure-resistant composite rubber material and has a near-cylindrical, split structure. It consists of two semi-hollow columns joined together to form a sealed air chamber. The buoyancy is dynamically adjusted by compressing the internal gas under external water pressure, giving the pressure-sensitive float the characteristic of decreasing buoyancy with increasing water depth, and ensuring no permanent deformation after deformation within a water depth pressure range of 0–200 m. Furthermore, the high-elasticity, water-pressure-resistant composite rubber material is a multi-component blend system, including a base rubber, reinforcing agent, elastic modifier, anti-aging agent, and vulcanizing agent. The pre-inflation assembly 2 is located on one side of the float airbag 1 and is used to pre-inflate the float with gas and maintain the airbag's seal. The pre-inflation assembly 2 is a one-way valve structure composed of a stainless steel valve seat and a rubber valve core, and connects to the inflation equipment using a standard external plug interface. An internal filter element is provided to prevent impurities from entering the airbag. This is a relatively mature and general-purpose engineering equipment, so it will not be described in detail here. The puncture-resistant protective layer 3 covers the outer surface of the float airbag 1 and can be made of polyethylene woven material to improve the float's puncture resistance. The sealing layer 4 covers the inner surface of the float airbag 1 and can be made of polytetrafluoroethylene to ensure the airtightness of the gas inside the float. The pipe clamp 5 is made of plastic and has an anti-slip rubber layer on the inside. It is located on both sides of the float airbag 1 and is connected to the float airbag 1 by bonding and bolt reinforcement. It is used to fix the pressure-sensitive float to the outer wall of the dredging pipe 7. The pipe clamp 5 has four bolt holes 6 symmetrically arranged at both ends. The bolts are connected to form a complete clamping structure to achieve reliable fixation of the pressure-sensitive float to the dredging pipe 7.

[0070] In this embodiment, the minimum number of pressure-transformer floats is determined based on the gravity and buoyancy of the dredging pipe filled with the conveying medium. An initial configuration scheme is generated based on this minimum number. Then, considering the dynamic buoyancy characteristic of the pressure-transformer floats, which automatically decreases with increasing water depth, the entire robot operation process is simulated. The configuration scheme is iteratively optimized based on the mechanical parameters at each operating moment until the target configuration scheme is obtained. By fully considering the dynamic change of buoyancy of the pressure-transformer floats with water depth, the configuration number and placement of the pressure-transformer floats can be matched with the force state of the robot at different operating stages, improving the rationality and applicability of the pressure-transformer float configuration scheme, thereby improving the stability of robot operation and the reliability of dredging operations.

[0071] The pressure-changing float in this embodiment includes an elastic air bladder, which undergoes elastic deformation as the external water pressure changes. Figure 4 This is a schematic diagram of a configuration device for a pressure-sensitive float on a dredging pipeline provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the device includes: The configuration scheme generation module 401 is used to determine the minimum configuration quantity of pressure-transformer floats and generate a configuration scheme based on the minimum configuration quantity. The configuration scheme includes the configuration quantity of pressure-transformer floats and the arrangement position of the pressure-transformer floats on the dredging pipeline. The configuration quantity is greater than or equal to the minimum configuration quantity. The data acquisition module 402 is used to simulate the robot's operation process based on the configuration scheme and acquire the mechanical parameters corresponding to the current running moment. The first determining module 403 is used to determine whether the configuration scheme is qualified based on the mechanical parameters; The update module 404 is used to update the configuration scheme if the configuration scheme is not qualified, and return to execute the step of "simulating the robot operation process based on the configuration scheme and collecting the mechanical parameters corresponding to the current running moment" until the robot operation process simulation ends; The second determining module 405 is used to determine the configuration scheme at the end of the robot operation simulation as the target configuration scheme.

[0072] In one embodiment, the configuration scheme generation module 401 determines the minimum configuration number of pressure-variable floats, including: Determine the negative buoyancy of the dredging pipe based on its weight and buoyancy, which are filled with the conveying medium. The minimum number of pressure-transformer floats to be configured is determined based on the negative buoyancy and the buoyancy of the pressure-transformer float in the semi-submerged state.

[0073] In one embodiment, the robot's operation process includes a lowering process, a moving process, and a work process.

[0074] In one embodiment, when the robot is in the lowering process, the mechanical parameters include: the robot's gravity, the robot's buoyancy, the gravity of the dredging pipe, the buoyancy of the dredging pipe, and the total buoyancy of the pressure-sensitive float; the first determining module 403 is specifically used for: Based on the robot's gravity, the robot's buoyancy, the gravity of the dredging pipeline, the buoyancy of the dredging pipeline, and the total buoyancy of the pressure-transformer float, determine the crane's pulling force at the current operating moment; The change in crane tension is determined based on the crane tension at the current operating time and the crane tension at the previous operating time. If the change in crane tension is less than the preset threshold, the configuration scheme is deemed qualified. If the change in crane tension is greater than or equal to the preset threshold, the configuration scheme is deemed unqualified.

[0075] In one embodiment, when the robot is moving, the mechanical parameters further include: the robot's water-facing area and the robot's moving speed; the first determining module 403 is specifically used for: The frictional resistance at the current operating moment is determined based on the robot's gravity, the robot's buoyancy, the gravity of the dredging pipeline, the buoyancy of the dredging pipeline, and the total buoyancy of the pressure-transformer float. The fluid resistance at the current operating moment is determined based on the robot's water-facing area and its travel speed. Determine the total resistance at the current operating moment based on frictional resistance and fluid resistance; Determine the required power at the current operating moment based on the total resistance and the speed of travel; If the required power is less than the robot's rated output power, then the configuration scheme is deemed qualified. If the required power is greater than or equal to the rated output power, the configuration scheme is deemed unqualified.

[0076] In one embodiment, when the robot is in operation, the mechanical parameters further include: the gravity and cutting parameters of the conveying medium in the dredging pipe; the first determining module 403 is specifically used for: Based on the robot's gravity, the robot's buoyancy, the gravity of the dredging pipeline, the buoyancy of the dredging pipeline, the total buoyancy of the pressure-transformer float, and the gravity of the transport medium in the dredging pipeline, determine the driving friction force corresponding to the current operating moment. Determine the cutting resistance corresponding to the current operating moment based on the cutting parameters; If the driving friction force is greater than the sum of the total resistance and the cutting resistance, then the configuration scheme is deemed qualified. If the driving friction force is less than or equal to the sum of the total resistance and the cutting resistance, then the configuration scheme is deemed unqualified.

[0077] In one embodiment, the update module 404 updates the configuration scheme, including: Based on the configuration scheme, at least one of the following is adjusted: the initial gas pressure of the pressure-changing float, the number of pressure-changing floats configured, and the arrangement position of the pressure-changing floats on the dredging pipeline, to generate an updated configuration scheme.

[0078] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is merely an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0079] The device of this invention determines the minimum number of pressure-transformer floats and generates an initial configuration scheme. Then, considering the dynamic buoyancy characteristic of the pressure-transformer floats, which automatically decreases with increasing water depth, the entire robot operation process is simulated. The configuration scheme is iteratively optimized based on the mechanical parameters at each operating moment until the target configuration scheme is obtained. By fully considering the dynamic change in buoyancy of the pressure-transformer floats with water depth, the number and placement of the pressure-transformer floats can match the force state of the robot at different operating stages. Therefore, this invention can improve the rationality and applicability of the pressure-transformer float configuration scheme, thereby improving the stability of robot operation and the reliability of dredging operations.

[0080] The following is for reference. Figure 5 It shows a schematic diagram of the structure of a computer system 500 suitable for implementing an electronic device according to embodiments of the present invention. Figure 5 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of the present invention.

[0081] like Figure 5 As shown, the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 502 or programs loaded from storage section 508 into random access memory (RAM) 503. The RAM 503 also stores various programs and data required for the operation of the computer system 500. The CPU 501, ROM 502, and RAM 503 are interconnected via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0082] The following components are connected to I / O interface 505: input section 506 including keyboard, mouse, etc.; output section 507 including cathode ray tube, liquid crystal display, etc., and speakers, etc.; storage section 508 including hard disk, etc.; and communication section 509 including network interface card, such as modem, etc. Communication section 509 performs communication processing via a network such as the Internet. Drive 510 is also connected to I / O interface 505 as needed. Removable media 511, such as disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 510 as needed so that computer programs read from them can be installed into storage section 508 as needed.

[0083] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 509, and / or installed from removable medium 511. When the computer program is executed by central processing unit (CPU) 501, it performs the functions defined above in the system of this invention.

[0084] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. 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 a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, etc., or any suitable combination thereof.

[0085] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0086] The modules and / or units described in the embodiments of the present invention can be implemented in software or hardware. The described modules and / or units can also be housed in a processor; for example, a processor can be described as including a configuration scheme generation module, an acquisition module, a first determination module, an update module, and a second determination module. The names of these modules do not necessarily limit the module itself.

[0087] In another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The computer-readable medium carries one or more programs, which, when executed by the device, cause the device to include: Determine the minimum number of pressure-transformer floats and generate a configuration scheme based on this minimum number. The configuration scheme includes the number of pressure-transformer floats and their placement on the dredging pipeline. The number of floats must be greater than or equal to the minimum number. Based on the configuration scheme, simulate the robot's operation and collect the mechanical parameters corresponding to the current operating moment. Determine whether the configuration scheme is qualified based on the mechanical parameters. If the configuration scheme is unqualified, update it and return to the step of "simulating the robot's operation based on the configuration scheme and collecting the mechanical parameters corresponding to the current operating moment" until the robot operation simulation ends. The configuration scheme at the end of the robot operation simulation is determined as the target configuration scheme.

[0088] The technical solution of this invention determines the minimum number of pressure-sensitive floats and generates an initial configuration scheme. Then, considering the dynamic buoyancy characteristic of the pressure-sensitive floats, which automatically decreases with increasing water depth, the entire robot operation process is simulated. The configuration scheme is iteratively optimized based on the mechanical parameters at each operating moment until the target configuration scheme is obtained. By fully considering the dynamic change in buoyancy of the pressure-sensitive floats with water depth, the number and placement of the pressure-sensitive floats are matched to the force state of the robot at different operating stages. Therefore, this invention improves the rationality and applicability of the pressure-sensitive float configuration scheme, thereby enhancing the stability of robot operation and the reliability of dredging operations.

[0089] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the configuration method of the pressure-transformer float on a dredging pipeline as provided in any embodiment of this invention.

[0090] In the implementation of a computer program product, 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 ​​as well as conventional procedural 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 local area networks (LANs) or wide area networks (WANs), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0091] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0092] It should be noted that the collection, use, storage, sharing, and transfer of user personal information involved in the technical solution of this invention all comply with the provisions of relevant laws and regulations, and require notification to the user and obtaining the user's consent or authorization. Where applicable, user personal information has undergone de-identification and / or anonymization and / or encryption technical processing. In addition, a corresponding operation entry is provided for the user to choose to agree to or reject the automated decision result; if the user chooses to reject, the process proceeds to the expert decision-making process.

[0093] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for configuring a pressure-sensitive float on a dredging pipeline, characterized in that, The pressure-sensitive float includes an elastic air bladder that elastically deforms in response to changes in external water pressure; the method includes: Determine the minimum configuration quantity of the pressure-transformer floats, and generate a configuration scheme based on the minimum configuration quantity. The configuration scheme includes the configuration quantity of the pressure-transformer floats and the arrangement position of the pressure-transformer floats on the dredging pipeline. The configuration quantity is greater than or equal to the minimum configuration quantity. Based on the configuration scheme, the robot's operation process is simulated, and the mechanical parameters corresponding to the current operating moment are collected; Based on the aforementioned mechanical parameters, determine whether the configuration scheme is qualified; If the configuration scheme is not qualified, update the configuration scheme and return to the step of "simulating the robot operation process based on the configuration scheme and collecting the mechanical parameters corresponding to the current running moment" until the robot operation process simulation ends; The configuration scheme at the end of the robot operation simulation is determined as the target configuration scheme.

2. The method according to claim 1, characterized in that, Determining the minimum configuration number of the pressure-transformer floats includes: The negative buoyancy of the dredging pipe is determined based on the gravity and buoyancy of the dredging pipe filled with the conveying medium. The minimum number of pressure-transformer floats is determined based on the negative buoyancy and the buoyancy of the pressure-transformer float in the semi-submerged state.

3. The method according to claim 1, characterized in that, The robot's operation process includes the lowering process, the moving process, and the operation process.

4. The method according to claim 3, characterized in that, When the robot is in the lowering process, the mechanical parameters include: the robot's weight, the robot's buoyancy, the weight of the dredging pipe, the buoyancy of the dredging pipe, and the total buoyancy of the pressure-transformer float; The step of determining whether the configuration scheme is qualified based on the mechanical parameters includes: Based on the robot's gravity, the robot's buoyancy, the gravity of the dredging pipeline, the buoyancy of the dredging pipeline, and the total buoyancy of the pressure-transformer float, determine the crane's pulling force at the current operating moment; The change in crane tension is determined based on the crane tension at the current operating time and the crane tension at the previous operating time. If the change in the crane's pulling force is less than a preset threshold, then the configuration scheme is deemed qualified. If the change in the crane's pulling force is greater than or equal to the preset threshold, then the configuration scheme is determined to be unqualified.

5. The method according to claim 4, characterized in that, When the robot is in motion, the mechanical parameters also include: the robot's water-facing area and the robot's travel speed; The step of determining whether the configuration scheme is qualified based on the mechanical parameters includes: The frictional resistance at the current operating moment is determined based on the robot's gravity, the robot's buoyancy, the gravity of the dredging pipeline, the buoyancy of the dredging pipeline, and the total buoyancy of the pressure-transformer float. The fluid resistance at the current operating moment is determined based on the robot's water-facing area and its travel speed. Based on the frictional resistance and the fluid resistance, determine the total resistance corresponding to the current operating moment; Based on the total resistance and the travel speed, determine the required power at the current operating moment; If the required power is less than the robot's rated output power, then the configuration scheme is deemed qualified. If the required power is greater than or equal to the rated output power, then the configuration scheme is determined to be unqualified.

6. The method according to claim 5, characterized in that, When the robot is in operation, the mechanical parameters also include: the gravity and cutting parameters of the conveying medium in the dredging pipeline; The step of determining whether the configuration scheme is qualified based on the mechanical parameters includes: The driving friction force corresponding to the current operating moment is determined based on the robot's gravity, the robot's buoyancy, the gravity of the dredging pipeline, the buoyancy of the dredging pipeline, the total buoyancy of the pressure-transformer float, and the gravity of the transport medium in the dredging pipeline. Based on the cutting parameters, determine the cutting resistance corresponding to the current operating moment; If the driving friction force is greater than the sum of the total resistance and the cutting resistance, then the configuration scheme is deemed qualified. If the driving friction force is less than or equal to the sum of the total resistance and the cutting resistance, then the configuration scheme is determined to be unqualified.

7. The method according to claim 1, characterized in that, The update of the configuration scheme includes: Based on the configuration scheme, at least one of the initial gas pressure of the pressure-changing float, the number of pressure-changing floats configured, and the arrangement position of the pressure-changing floats on the dredging pipeline is adjusted to generate an updated configuration scheme.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method for configuring the pressure-transformer float on the dredging pipeline as described in any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the method for configuring the pressure-sensitive float on the dredging pipeline as described in any one of claims 1 to 7.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method for configuring the pressure-sensitive float on a dredging pipeline as described in any one of claims 1 to 7.

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