CN111975638A - Water grinding and cutting system - Google Patents
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 41
- 238000000227 grinding Methods 0.000 title description 13
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- 238000004078 waterproofing Methods 0.000 claims 1
- 238000010902 jet-milling Methods 0.000 abstract description 11
- 239000002699 waste material Substances 0.000 abstract description 10
- 230000007704 transition Effects 0.000 abstract description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
- B24C1/04—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for treating only selected parts of a surface, e.g. for carving stone or glass
- B24C1/045—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for treating only selected parts of a surface, e.g. for carving stone or glass for cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/32—Abrasive blasting machines or devices; Plants designed for abrasive blasting of particular work, e.g. the internal surfaces of cylinder blocks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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- General Physics & Mathematics (AREA)
- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
Abstract
The invention relates to a water-jet milling and cutting system, comprising: a cutting head; the waterproof monitoring device is used for detecting a noise signal generated in the cutting process of the cutting head; and the control system is used for receiving the noise signal detected by the waterproof monitoring device and judging the cutting position of the cutting head according to the received noise signal so as to control the cutting head to stop continuing to cut along the cutting direction of the cutting point when the cutting head cuts to the preset position. Above-mentioned water grinds cutting system, control system can be through when judging the cutting head and cut to preset position according to received noise signal, control cutting head stops to continue to cut along the cutting direction of this cutting point, improves cutting efficiency, avoids the waste of cutting the resource, avoids leading to the position damage that need not to cut of multilayer pipeline because of cutting the transition and can't continue to use even, improves the life of pipeline, avoids the waste of pipeline resource or causes marine pollution.
Description
Technical Field
The invention relates to the field of underwater cutting, in particular to a water grinding and cutting system.
Background
The total ocean area on the earth is about 3.6 hundred million square kilometers, which accounts for about 71 percent of the earth surface area, and the average water depth is about 3795 meters. The sea contains water of thirteen hundred million and more than ten thousand cubic kilometers, which accounts for about 97 percent of the total water on the earth, and can be used as drinking water for human beings, which only accounts for 2 percent, and with the continuous exploitation of human beings, land resources can not meet the requirements of people gradually, and how to effectively and sustainably develop ocean resources is a major problem on the survival and development of human beings.
The water grinding and cutting system is often used for cutting some materials with high hardness, such as underwater oil extraction pipes, drilling platform pillars, pipeline disassembly in the marine resource exploration and production process and the like. Generally, the water abrasive cutting system comprises a cutting head connected with a high-pressure pump and an abrasive medium mixing unit through a pipe, the pipe to be cut being cut open under the action of a high-pressure water jet mixed with abrasive medium. Because the cutting head generally all is the operation under water, the operation personnel are difficult to the observation cutting head of straight tube, so the operation personnel are difficult to accurate judgement cutting head whether cuts to preset position. Therefore, the operation time of the cutting head needs to be controlled to be longer than the time required by the actual cutting of the structure to be cut, so that the cutting efficiency is reduced, and more water, electric energy, grinding media and the like are consumed and wasted, so that the waste of resources is caused; when the structure to be cut is a multilayer pipeline, only one layer of the multilayer pipeline needs to be cut and peeled off, or the multilayer pipeline needs to be cut and peeled off layer by layer, however, because whether the cutting head cuts to a preset position is difficult to accurately judge, a detection feedback mechanism that the cut layer is completely cut off is lacked, the cutting head is difficult to accurately control to cut only one layer of pipeline each time, and therefore when the cutting time of the cutting head is short, the cutting task cannot be completed within one working condition, so that the cutting head needs to cut again, the device is wound and unwound for multiple times, cutting break points are searched and aligned, the cutting efficiency is reduced, and cutting resources are wasted; when the cutting time of the cutting head is long, the cutting head is easy to continue to cut to an adjacent layer of pipeline, namely, the operation of cutting and peeling layer by layer cannot be realized, the multilayer pipeline can not be damaged or even cannot be used continuously due to excessive cutting, the service life of the pipeline is influenced, the pipeline resource waste is caused, and even the pollution to the ocean can be caused when the pipeline is improperly cut.
Disclosure of Invention
Therefore, there is a need for a water-jet milling system that can accurately determine whether the cutting head has cut to a predetermined position.
A watermill cutting system to enable underwater cutting operations, the watermill cutting system comprising:
a cutting head;
the waterproof monitoring device is used for detecting a noise signal generated in the cutting process of the cutting head; and
and the control system is used for receiving the noise signal detected by the waterproof monitoring device and judging the cutting position of the cutting head according to the received noise signal so as to control the cutting head to stop continuing to cut along the cutting direction of the cutting point when the cutting head cuts to a preset position.
Above-mentioned water grinds cutting system, through setting up waterproof monitoring devices, control system can be through judging the cutting head according to received noise signal and cut to when predetermineeing the position, control cutting head stops to continue to cut along the cutting direction of this cutting point to effectively avoid the operating time of cutting head to be greater than and wait to cut the structure and actually be cut the required time, thereby improve cutting efficiency, avoid the waste of cutting resources such as high-pressure fluid. When the structure to be cut is a multilayer pipeline, the cutting head can be accurately controlled to cut one layer of pipeline at a time, so that the cutting efficiency is improved, and the waste of cutting resources is avoided; and the cutting to the adjacent layer of pipeline can not be carried out, the situation that the position of the multilayer pipeline which does not need to be cut is damaged or even the multilayer pipeline can not be used continuously due to the cutting transition is avoided, the service life of the pipeline is prolonged, and the waste of pipeline resources or ocean pollution is avoided.
Optionally, the water-repellency monitoring device comprises a hydrophone.
Optionally, the water-tight monitoring device further comprises an amplifying filter in communication with the hydrophone.
Optionally, the waterproof monitoring device further includes a wireless transmission module electrically connected to the amplification filter, and the wireless transmission module is set to be positively buoyant.
Optionally, the hydrophone is fixedly arranged outside the cutting head.
Optionally, the control system processes the received noise signal detected by the waterproof monitoring device based on a short-time fourier transform algorithm, and generates a time-frequency curve; when the time-frequency curve has a breakpoint, the cutting head cuts to a preset position.
Optionally, the expression for performing short-time fourier transform on the noise signal to generate the time-frequency curve is as follows:
wherein,
representing the unit of an imaginary number, e being the base of the natural logarithm, t representing the time, τ representing the time delay, f representing the frequency of the signal, x (τ) being the signal to be analyzed, h*(τ -t) is the conjugate of the sliding window function, and STFT (t, f) is the resulting time-frequency distribution of the signal.
Optionally, the cutting device further comprises a cutting head positioning device, and the cutting head is mounted on the cutting head positioning device.
Optionally, a track is arranged on the cutting head positioning device, and the cutting head can move along the track.
Optionally, the system further comprises an interaction module in communication connection with the control system.
Optionally, the control system is in wireless communication connection with the interaction module.
Drawings
Fig. 1 is a schematic structural diagram of a water-grinding cutting system for cutting a multi-layer pipe according to an embodiment of the present invention.
Fig. 2 is a cross-sectional view of the water jet cutting system of fig. 1 cutting a multilayer pipe.
Fig. 3 is a block diagram of the water-jet milling system shown in fig. 1.
Fig. 4 is a flow chart of an algorithm for processing a received noise signal by the control system of the water-jet milling cutting system shown in fig. 1 according to the present invention.
Fig. 5 is a sensitivity fitting graph of fig. 3 when sensitivity correction is performed on the noise signal.
FIG. 6 is a diagram of a video analysis display displayed by the interaction module.
Fig. 7 is a flow chart of the water jet milling cutting system of fig. 1 cutting a layer of a multilayer pipe.
1. A multilayer pipe; 2. a cutting head; 3. a nozzle; 5. a hydrophone; 4. an amplification filter; 6. a cutting head positioning device; 7. a track; 8. a power supply module; 9. a wireless transmitting module; 10. a wireless transmitting antenna; 11. a cable; 12. a hauling rope; 13. high-speed road rolling; 15. a supply unit; 14. a transmission mechanism; 16. a control unit; 17. and an interaction module.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
As shown in fig. 1 to 3, a water-grinding cutting system according to an embodiment of the present invention is used for performing an underwater cutting operation. Specifically, the water-jet milling cutting system includes a cutting head 2, a waterproof monitoring device, and a control system. Wherein, waterproof monitoring devices is used for detecting the noise signal that cutting head 2 cutting process produced. And the control system is used for receiving the noise signal detected by the waterproof monitoring device and judging the cutting position of the cutting head 2 according to the received noise signal so as to control the cutting head 2 to stop continuing to cut along the cutting direction of the cutting point when the cutting head 2 cuts to a preset position.
It should be noted that the cutting head 2 is provided with a nozzle 3. During cutting of the cutting head 2, high pressure fluid ejected from the nozzle 3 of the cutting head 2 acts on the structure to be cut, and can generate noise. The inventors have found that the noise changes when the structure to be cut is completely cut off, or the cutting head 2 cuts to an interrupted position of the structure to be cut, or the cutting head 2 cuts to a position where the material of the structure to be cut is changed.
Above-mentioned water grinds cutting system, through setting up waterproof monitoring devices, control system can be through judging cutting head 2 according to received noise signal and cutting to when predetermineeing the position, control cutting head 2 stops to continue to cut along the cutting direction of this cutting point to effectively avoid cutting head 2's activity duration to be greater than and wait to cut the actual required time of being cut of structure, thereby improve cutting efficiency, avoid cutting resources' such as high-pressure fluid waste. When the structure to be cut is a multilayer pipeline 1, the cutting head 2 can be accurately controlled to cut one layer of pipeline at a time, and detection feedback that each layer is completely cut is provided, so that the cutting efficiency is improved, and waste of cutting resources is avoided; and the cutting cannot be carried out to the adjacent layer of pipeline, so that the situation that the position of the multilayer pipeline 1 which does not need to be cut is damaged or even the pipeline cannot be used continuously due to the cutting transition is avoided, and the service life of the pipeline is prolonged.
Further, above-mentioned water grinds cutting system, whether the noise signal that detects through waterproof monitoring devices judges cutting head 2 and cuts to predetermineeing the position, also can avoid leading to cutting head 2's the operating time too much to be greater than or be less than the time that the structure of waiting to cut actually is cut required because of the artifical mistake of judging of operation personnel etc. so can reduce the demand to operation personnel's experience.
In addition, the water-jet milling system is used to perform underwater cutting operations, so that the high-pressure fluid ejected from the cutting head 2 is mixed in water after being ejected. Effectively avoid cutting head 2's activity duration to be greater than and wait to cut the structure and actually be cut the required time, when improving cutting efficiency, can also reduce from cutting head 2 spun high-pressure fluid, avoid high-pressure fluid, waste, and reduce high-pressure fluid sneak into the aquatic and to the influence of the purity etc. of water resource. For example, when the structure to be cut is positioned in the sea or lake, the pollution of the fluid to the sea or lake can be reduced by reducing the high-pressure fluid sprayed by the cutting head 2, the influence on the effective sustainable development of seawater resources or lake water resources and the like is reduced, and the cutting process of the underwater structure to be cut is more energy-saving and environment-friendly. In addition, the cutting efficiency is improved, the development efficiency of water resources can be improved,
moreover, the operation time of the cutting head 2 is effectively prevented from being longer than the time required for actually cutting the structure to be cut, so that the cut structure is prevented from automatically falling off due to the fact that the cut part is not timely recycled after the structure to be cut is completely cut or one layer of the structure to be cut is completely cut, and further the cut structure is prevented from being timely recycled due to marine garbage or lake garbage.
Moreover, control system can be through judging cutting head 2 according to received noise signal and cutting to preset position after, if need continue the cutting, then control system steerable cutting head 2 stops to continue to cut along the cutting direction of this cutting point to control cutting head 2 more quick accurate removal or rotate to next cutting point, also can further improve cutting efficiency.
In this embodiment, the waterproof monitoring device includes a hydrophone 121. Specifically, the hydrophone 121 is a sound pressure hydrophone to directly detect a sound pressure change of noise generated at the time of cutting and generate a voltage output proportional to the sound pressure. More specifically, the hydrophones 121 are optionally piezoelectric ceramic acoustic hydrophones, PVDF acoustic pressure hydrophones, piezoelectric composite acoustic pressure hydrophones, and fiber optic acoustic pressure hydrophones.
In this embodiment, the waterproof monitoring apparatus further includes an amplifying filter 4 in communication connection with the hydrophone 5. Therefore, the voltage which is output by the hydrophone 5 and is proportional to the sound pressure is amplified, so that the phenomenon that the noise signal received by the control system is too weak to judge due to noise signal attenuation generated in the process of transmitting the noise signal to the control system is avoided, and the accuracy of the detection structure can be judged more accurately.
Optionally, the control system processes the received noise signal detected by the waterproof monitoring device based on a short-time fourier transform algorithm, and generates a time-frequency curve. When the time-frequency curve has a breakpoint, the cutting head 2 cuts to a preset position, so that the control system can control the cutting head 2 to stop continuing to cut along the cutting direction of the cutting point, and further control the cutting head 2 to move to the next cutting point to be cut or control the cutting head 2 to stop working according to needs.
The short-time fourier transform is established in the mapping relationship between the time domain and the frequency domain of the signal, and although the signal can be analyzed from the perspective of the time domain or the frequency domain, the two cannot be directly and organically combined. The short-time Fourier transform enables joint processing of the time domain and the frequency domain. For noise signals generated when the water grinding and cutting system performs underwater cutting operation, it is important to know the sound frequency characteristics at each moment in the process. Therefore, the time-frequency joint is adopted to represent the time-varying signals, the one-dimensional time-frequency signals are mapped to the two-dimensional time-frequency plane, and a time-frequency curve is generated, so that the time-frequency joint characteristics of the signals can be conveniently and comprehensively observed.
Specifically, in this embodiment, the expression for performing short-time fourier transform on the noise signal to generate the time-frequency curve is as follows:
wherein,
representing the unit of an imaginary number, e being the base of the natural logarithm, t representing the time, τ representing the time delay, f representing the frequency of the signal, x (τ) being the signal to be analyzed, h*(τ -t) is the conjugate of the sliding window function, and STFT (t, f) is the resulting time-frequency distribution of the signal.
In addition, in this embodiment, referring to fig. 4, before the operation of the water mill cutting system, the hydrophone may be calibrated first, that is, the sensitivity fitting analysis is performed on the detected noise signal, so as to obtain the sensitivity fitting function s (f) of the detection signal of the hydrophone. Referring to fig. 5, s (f) is obtained by fitting the measured sensitivity value after cubic spline interpolation, and the cubic spline interpolation method is a conventional spline interpolation method in the prior art and is not described herein again.
In addition, in fig. 4, the method for analyzing the noise signal by the control system to obtain the sensitivity is the prior art, and is not described herein again.
The control system processes the received noise signals based on the algorithm of short-time Fourier transform to obtain signal time-frequency distribution, and corrects the signal time-frequency distribution according to the sensitivity fitting function of the hydrophone, wherein the signal time-frequency distribution correction function is as follows:
STFT_FIX(t,f)＝10*lg(STFT(t,f)-S(f))
the corrected signal time frequency distribution result is more accurate, so that the cutting position of the cutting head can be more accurately judged.
In this embodiment, the water-jet milling cutting system further comprises a cutting head positioning device 6, and the cutting head 2 is installed on the cutting head positioning device 6 so as to ensure the stability of the relative position of the cutting head 2 and the structure to be cut, thereby realizing the stable operation of underwater cutting.
In this embodiment, the cutting head positioning device 6 is provided with a track 7, and the cutting head 2 can move along the track 7. In this embodiment, the cutting head positioning device 6 is annular, and the track 7 is annular, and is suitable for cutting underwater pipelines or other columnar structures. It will be appreciated that in other possible embodiments the cutting head positioning means 6 are not limited to being annular, and correspondingly the track 7 is not limited to being annular, provided in accordance with the cutting trajectory.
In this embodiment, the water grinds cutting system still includes the interactive module 17 of being connected with the control system communication to make things convenient for the operation personnel can be convenient for look over waterproof monitoring devices's testing result, and when the incident proruption situation, be convenient for manual intervention water grinds cutting system's operation.
As shown in fig. 6, when the multilayer pipeline 1 is cut by using the above-mentioned water-jet milling and cutting system, a schematic view of the operation information displayed on the interactive module 17 is shown. As can be seen from fig. 6, the interaction module 17 displays a time-frequency analysis image with time t as the horizontal axis and frequency f as the vertical axis. The change situation of the underwater noise signal is displayed through a real-time image,
the frequency of the noise signal generated when the left pipeline is cut is unchanged; the left side pipeline is cut, when the right side pipeline is cut, the noise signal is broken, and the frequency of the noise signal generated when the right side pipeline is cut is reduced. Therefore, the frequencies of noise signals generated when cutting pipes of different layers are different. And after the layer of pipeline is cut through, the frequency of the noise signal can generate a fault, so that when a breakpoint of the noise signal occurs, the control system controls the cutting head 2 to stop continuing to cut along the cutting direction of the cutting point, and moves the cutting head 2 to the next cutting point, and the process is repeated until the layer of pipeline is completely cut off, as shown in fig. 7. After the completely cut pipeline layer is peeled off, the next layer of pipeline can be cut according to the requirement.
In this embodiment, the waterproof monitoring device further includes a wireless transmitting module 9, which transmits the detection signal of the waterproof monitoring device to the control system. The wireless transmitting module 9 is provided with a wireless transmitting antenna 10 so as to send a detection signal of the waterproof monitoring device to the control system. More specifically, the wireless transmission module 9 is set to be positively buoyant. During operation, the wireless transmitting module 9 floats on the water surface, the wireless transmitting module 9 is electrically connected with the amplifying filter 4 through the cable 11, namely, the noise signal amplified by the amplifying filter 4 is sent to the control system through the wireless transmitting module 9 through the cable 11. Namely, the waterproof monitoring device is in wireless communication connection with the control system. Compared with wired communication connection, the wireless communication connection reduces consumption and use of cables, pipelines and the like, can reduce the risk of working faults caused by winding or breaking of lines under an underwater severe working environment, reduces complexity of field arrangement, installation and use, and is more favorable for stability of a water grinding and cutting system. Of course, in another possible embodiment, the waterproof monitoring device and the control system may be connected in wired communication.
In addition, a pulling rope 12 is further arranged between the wireless transmitting module 9 and the amplifying filter 4 to prevent the cable 11 from being influenced by large stress to transmit the detection signal.
In this embodiment, the water-jet milling and cutting system further includes a power supply module 8 to provide power for the operation of the water-jet milling and cutting system. Alternatively, the power supply module 8 may be a generator or a battery pack, etc. Of course, in another possible embodiment, a power plug can be arranged on the water grinding and cutting system to provide power for the operation of the water grinding and cutting system through alternating current; of course, the power plug and the power supply module can be arranged on the water grinding and cutting system at the same time, so that double guarantee is provided for the operation of the water grinding and cutting system.
It will be appreciated that in this embodiment the water mill cutting system also includes a feed means connected to the cutting head 2 by a high pressure pipe. The feed means delivers high pressure fluid to the cutting head 2 through a high pressure pipe. The high pressure pipes and supply devices may be provided by conventional means in the art and will not be described further herein.
In this embodiment, the control system is connected to the cutting head 2 via a transmission mechanism 14 to control the operating state of the cutting head 2. It will be appreciated that in other possible embodiments the control system may also be connected in wireless communication with the cutting head, the control system controlling the operating state of the cutting head by means of wireless communication.
Optionally, in a further possible embodiment, the hydrophone is fixedly arranged outside the cutting head. In other words, in operation of the hydro-abrasive cutting system, the hydrophones are located on the side of the cutting head away from the structure to be cut. In the cutting process, high-pressure fluid is continuously jetted out of a nozzle of the cutting head, so that the whole cutting head is in a state of being surrounded by liquid, and the hydrophone is located on the outer side of the cutting head and is convenient to contact with water, so that the sound change in the water in the cutting process is sensed, and the change of noise in the water is detected at the moment of a preset position of cutting.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A watermill cutting system for performing underwater cutting operations, the watermill cutting system comprising:
a cutting head;
the waterproof monitoring device is used for detecting a noise signal generated in the cutting process of the cutting head; and
and the control system is used for receiving the noise signal detected by the waterproof monitoring device and judging the cutting position of the cutting head according to the received noise signal so as to control the cutting head to stop continuing to cut along the cutting direction of the cutting point when the cutting head cuts to a preset position.
2. The watermill cutting system of claim 1, wherein the water-tight monitoring device comprises a hydrophone.
3. The watermill cutting system of claim 2, wherein the water-tight monitoring device further comprises an amplifying filter in communication with the hydrophone.
4. The water grind cutting system of claim 2, wherein the water-tight monitoring device further comprises a wireless transmission module electrically connected to the amplification filter, the wireless transmission module configured for positive buoyancy.
5. The water mill cutting system of claim 2, wherein the hydrophone is fixedly disposed outside the cutting head.
6. The water mill cutting system according to any one of claims 1-5, wherein the control system processes the received noise signals detected by the water-proofing monitoring device based on an algorithm of short-time Fourier transform and generates a time-frequency curve; when the time-frequency curve has a breakpoint, the cutting head cuts to a preset position.
7. The watermill cutting system of claim 6, wherein noise signals are filteredThe expression for performing short-time fourier transform to generate a time-frequency curve is:
wherein,
representing the unit of an imaginary number, e being the base of the natural logarithm, t representing the time, τ representing the time delay, f representing the frequency of the signal, x (τ) being the signal to be analyzed, h*(τ -t) is the conjugate of the sliding window function, and STFT (t, f) is the resulting time-frequency distribution of the signal.
8. The water mill cutting system of any one of claims 1 to 5, further comprising a cutting head positioning device on which the cutting head is mounted.
9. The water mill cutting system of claim 8 wherein the cutting head positioning device has a track thereon along which the cutting head is movable.
10. The water mill cutting system of any one of claims 1 to 5, further comprising an interaction module communicatively connected to the control system.
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| CN113834877A (en) * | 2021-07-15 | 2021-12-24 | 中国海洋石油集团有限公司 | Automatic distinguishing and measuring system and method for cutting state of underwater cutting machine |
| CN116480306A (en) * | 2023-06-15 | 2023-07-25 | 泰坦(天津)能源技术有限公司 | Underground axial cutting method and system for cable transmission |
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