Environmental self-adaptation method, system, medium and equipment for river travel device

Abstract

The present invention discloses an environmental self-adaptation method, system, medium and equipment for a river channel walking device. The method obtains adjustable area information of the river channel walking device, obtains the river channel dredging area and constructs a landform image, obtains a dredging path according to the landform image, and synchronously forms a first walking path, a second walking path and a third walking path with the dredging path as a reference, controls the river channel walking device to walk, further obtains silt depth information to obtain dredging height information, and obtains a first adjustment strategy, a second adjustment strategy and a third adjustment strategy based on the dredging height information, thereby achieving real-time adjustment of the first support leg, the second support leg and the third support leg to achieve more stable walking of the adjustable platform, that is, the river channel walking device adaptively adjusts according to the river channel environment, and more specifically drives the dredging component to perform dredging operations in the current area to be cleaned, thereby improving dredging efficiency.

Description

Technical Field

[0001] The present invention relates to the field of river channel dredging, and in particular to an environment self-adapting method, system, medium and equipment for a river channel traveling device. Background Art

[0002] When a river flows through a winding and narrow area, the flow rate of the river will decrease, and the sediment carried will be deposited due to gravity, gradually forming silt. In addition, human production and life will also produce pollution, and garbage in the river will also aggravate the formation of silt, leading to the blockage of waterways and the destruction of river ecology. Desilting is a key step in the management of reservoirs, lakes and rivers. Its purpose is to remove sediments to maintain the ecological balance of the water area and ensure the effective use of water resources. Urban rivers generally have a slower flow rate and more sediment accumulation. River desilting can greatly reduce river pollution and thus solve the secondary pollution of water bodies.

[0003] There are many existing dredging methods. One feasible solution is to extend the dredging pipeline to the underwater silt to stir and pump to dredge the river. This requires the use of equipment or devices that move on the riverbed, such as the "Environmental dredging device for river regulation engineering" with publication number CN114875992A, which moves to areas with deeper silt to facilitate the suction operation. However, in actual applications, the surface of the river is uneven, with stones, garbage, aquatic organisms and silt. The dredging device is prone to overturning, and the walking path cannot be adjusted according to actual conditions, resulting in low dredging efficiency. Summary of the invention

[0004] In view of this, the purpose of the present invention is to propose an environmental self-adaptation method, system, medium and equipment for a river walking device.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0006] In a first aspect, the present invention provides an environmental self-adaptation method for a river traveling device, which is applicable to the river traveling device, wherein the river traveling device comprises a first support leg, a second support leg, a third support leg and an adjustable platform, wherein the first support leg, the second support leg and the third support leg are distributed along the circumference of the adjustable platform, and the method comprises:

[0007] Obtaining adjustable area information of the river walking device, the adjustable area information including a first adjustable range of the first leg, a second adjustable range of the second leg, a third adjustable range of the third leg, and a dredging adjustable range of the adjustable platform;

[0008] Obtain a river channel desilting area, and divide the river channel desilting area into multiple areas to be cleaned, and construct a geomorphic image of the current area to be cleaned;

[0009] Extracting texture features from the topographic image to obtain a first transformed image, and inputting the first transformed image into a first neural network model to obtain initial block distribution information and initial silt distribution information;

[0010] Inputting the initial block distribution information, the initial silt distribution information and the adjustable dredging range into the first path planning model to obtain the dredging path of the adjustable platform;

[0011] Taking the dredging path as the center point of the dredging adjustable range, the dredging walking area corresponding to the dredging adjustable range is obtained;

[0012] According to the desilting walking area, a first adjustable area of ​​the first adjustable range, a second adjustable area of ​​the second adjustable range, and a third adjustable area of ​​the third adjustable range are obtained;

[0013] Sequentially matching the initial block distribution information in the first adjustable region, the second adjustable region, and the third adjustable region to obtain the first block distribution information, the second block distribution information, and the third block distribution information, and sequentially matching the initial sludge distribution information in the first adjustable region, the second adjustable region, and the third adjustable region to obtain the first sludge distribution information, the second sludge distribution information, and the third sludge distribution information;

[0014] Inputting the first block distribution information, the first sludge distribution information and the first adjustable range into the second path planning model to obtain a first walking path of the first leg, inputting the second block distribution information, the second sludge distribution information and the second adjustable range into the second path planning model to obtain a second walking path of the second leg, and inputting the third block distribution information, the third sludge distribution information and the third adjustable range into the second path planning model to obtain a third walking path of the third leg;

[0015] Obtain the silt depth information of the current area to be cleaned, and match the silt depth information with the dredging path to generate the dredging height information of the current area to be cleaned;

[0016] Inputting the dredging height information, the first walking path, the second walking path, the third walking path and the dredging path into the second neural network model, obtaining a height adjustment strategy of the river walking device, wherein the height adjustment strategy includes a first adjustment strategy of the first leg, a second adjustment strategy of the second leg and a third adjustment strategy of the third leg;

[0017] Controlling a first connection point between the first leg and the adjustable platform to reach a first spatial position according to a first adjustment strategy, controlling a second connection point between the second leg and the adjustable platform to reach a second spatial position according to a second adjustment strategy, and controlling a third connection point between the third leg and the adjustable platform to reach a third spatial position according to a third adjustment strategy;

[0018] The river channel traveling device is controlled to perform dredging operations in the current area to be cleared along the dredging path.

[0019] In some embodiments, the first adjustable area, the second adjustable area, and the third adjustable area of ​​the first adjustable range are obtained according to the dredging walking area, including:

[0020] The center point of the adjustable range of dredging is recorded as the reference center point, the center point of the first adjustable range is recorded as the first center point, the center point of the second adjustable range is recorded as the second center point, and the center point of the third adjustable range is recorded as the third center point;

[0021] In the standby state of the river traveling device, a first associated distance between the first center point and the reference center point is obtained, a second associated distance between the second center point and the reference center point is obtained, and a third associated distance between the third center point and the reference center point is obtained;

[0022] In the desilting walking area, a first reference path of the first center point is drawn according to the first associated distance and the reference center point, a second reference path of the second center point is drawn according to the second associated distance and the reference center point, and a third reference path of the third center point is drawn according to the third associated distance and the reference center point;

[0023] The first adjustable region is obtained according to the first reference path, the second adjustable region is obtained according to the second reference path, and the third adjustable region is obtained according to the third reference path.

[0024] In some embodiments, matching initial block distribution information in the first adjustable region, the second adjustable region, and the third adjustable region in sequence to obtain first block distribution information, second block distribution information, and third block distribution information includes:

[0025] Construct a base layer, on which a landform image is provided;

[0026] Constructing a first layer, wherein the first layer is provided with a first adjustable area, a second adjustable area and a third adjustable area;

[0027] Constructing a second layer, on which block distribution information is provided;

[0028] Set the first layer and the second layer to overlap according to the base layer;

[0029] Splitting the block area in the block distribution information according to the first adjustable area, the second adjustable area and the third adjustable area to obtain a first block area, a second block area and a third block area;

[0030] The first block area, the first adjustable area and the base layer are merged to form the first block distribution information, the second block area, the second adjustable area and the base layer are merged to form the second block distribution information, and the third block area, the third adjustable area and the base layer are merged to form the third block distribution information;

[0031] And the initial sludge distribution information is matched in the first adjustable area, the second adjustable area and the third adjustable area in sequence to obtain the first sludge distribution information, the second sludge distribution information and the third sludge distribution information, further comprising:

[0032] constructing a third layer, on which silt distribution information is provided;

[0033] Set the first layer and the third layer to overlap according to the basic layer;

[0034] Splitting the silt area in the silt distribution information into the first adjustable area, the second adjustable area and the third adjustable area to obtain a first silt area, a second silt area and a third silt area;

[0035] The first silt area, the first adjustable area and the base layer are merged to form the first silt distribution information, the second silt area, the second adjustable area and the base layer are merged to form the second silt distribution information, and the third silt area, the third adjustable area and the base layer are merged to form the third silt distribution information.

[0036] In some embodiments, obtaining the silt depth information of the current area to be cleaned, matching the silt depth information with the dredging path, and generating the dredging height information of the current area to be cleaned includes:

[0037] Preprocessing the silt depth information, the preprocessing including at least one of noise processing and Gaussian filtering, to obtain depth information to be matched;

[0038] Matching the depth information to be matched with the dredging path according to a path matching algorithm, the path matching algorithm includes any one of a nearest neighbor algorithm and a least squares method, to obtain a path matching result, the path matching result includes depth information of multiple silt sampling points on the dredging path;

[0039] The area to be cleaned is divided into multiple target points to be corrected in a grid form, and the following operations are performed on each target point to be corrected:

[0040] In the path matching result, the Euclidean distance between each silt sampling point and the current target point to be corrected is calculated, and the two silt sampling points with the smallest distance to the current target point to be corrected are selected as reference sampling points, and the depth information corresponding to each reference sampling point is obtained;

[0041] Perform spline interpolation on the depth information of the two reference sampling points to obtain the depth information of the current target point to be corrected, which is recorded as the first corrected depth information;

[0042] Match the depth information of the current target point to be corrected in the depth information to be matched, and record it as the first surveying depth information;

[0043] Obtaining an error ratio according to the first corrected depth information and the first surveying depth information, and correcting the depth information of the target point to be corrected based on the error ratio to obtain final depth information of the current target point to be corrected;

[0044] Repeat the above steps until the final depth information of all target points to be corrected is updated, and the first silt height information of the area to be cleaned is obtained;

[0045] Obtaining second silt height information of the area to be cleaned according to the path matching result;

[0046] The first silt height information is combined with the second silt height information to form the dredging height information.

[0047] In some embodiments, controlling the river traveling device to perform dredging operations in the current area to be cleaned along the dredging path includes:

[0048] The dredging path is divided into a plurality of dredging points according to the minimum adjustment unit, each dredging point has a target location information, and the target location information is the geographical coordinate information of the dredging point;

[0049] Perform the following operations for each desilting point:

[0050] Acquire the actual position information of the current river channel running device in real time, the actual position information includes the geographic coordinate information of the current river channel running device;

[0051] According to the actual position information and the target position information, the desilting point where the current river channel traveling device is located is matched and recorded as the actual desilting point;

[0052] Acquiring a first dredging parameter of an actual dredging point in a first adjustment strategy, acquiring a second dredging parameter of an actual dredging point in a second adjustment strategy, and acquiring a third dredging parameter of an actual dredging point in a third adjustment strategy;

[0053] According to the first dredging parameter, the first leg is adjusted to reach a first adjustment position, so that the first connection point between the first leg and the adjustable platform reaches a first spatial position; according to the second dredging parameter, the second leg is adjusted to reach a second adjustment position, so that the second connection point between the second leg and the adjustable platform reaches a second spatial position; according to the third dredging parameter, the third leg is adjusted to reach a third adjustment position, so that the third connection point between the third leg and the adjustable platform reaches a third spatial position;

[0054] After the first dredging parameter, the second dredging parameter and the third dredging parameter are adjusted, the river channel traveling device is controlled to perform dredging operations at the actual dredging point.

[0055] In some embodiments, after the first dredging parameter, the second dredging parameter, and the third dredging parameter are adjusted, controlling the river traveling device to perform the dredging operation at the actual dredging point further includes:

[0056] Matching the block distribution information of the actual dredging point in the initial block distribution information, recorded as the first dredging information, matching the sludge distribution information of the actual dredging point in the initial sludge distribution information, recorded as the second dredging information, and matching the sludge height information of the current dredging point in the dredging height information, recorded as the third dredging information;

[0057] The first dredging information, the second dredging information and the third dredging information are sequentially input into the third neural network model to obtain an actual dredging strategy for an actual dredging point;

[0058] Dredging operations are carried out at actual desilting points according to actual dredging strategies.

[0059] In a second aspect, the present invention provides an environmental adaptive system for a river channel walking device, which is applicable to the environmental adaptive method described in the first aspect. The system includes a river channel walking device, a driving component, a dredging component and an electrical component. The river channel walking device includes a first leg, a second leg, a third leg and an adjustable platform. The first leg, the second leg and the third leg are distributed along the circumference of the adjustable platform. The first leg is provided with a first driving wheel, the second leg is provided with a second driving wheel, and the third leg is provided with a third driving wheel; the driving component includes a first driving rod, a second driving rod, a third driving rod and a first driving unit , a second driving unit, and a third driving unit, the first driving rod is arranged between the first supporting leg and the adjustable platform, the first driving unit is arranged at the hinge of the first supporting leg and the first driving rod, the telescopic end of the first driving rod is hinged to the adjustable platform, the second driving rod is arranged between the second supporting leg and the adjustable platform, the second driving unit is arranged at the hinge of the second supporting leg and the second driving rod, the telescopic end of the second driving rod is hinged to the adjustable platform, the third driving rod is arranged between the third supporting leg and the adjustable platform, the third driving unit is arranged at the hinge of the third supporting leg and the third driving rod, and the telescopic end of the third driving rod is hinged to the adjustable platform;

[0060] The dredging component is arranged on an adjustable platform, and the dredging component includes a first dredging pump, a first dredging pipeline, a second dredging pump, a second dredging pipeline and a crusher. The first dredging pipeline has a first suction port, and the second dredging pipeline has a second suction port. The first suction port and the second suction port are arranged adjacent to each other, and the first suction port and the second suction port are arranged below the adjustable platform. The first dredging pump is arranged on the first dredging pipeline, the second dredging pump is arranged on the second dredging pipeline, and the crusher is arranged at the second suction port; the electrical component is arranged on the adjustable platform, and the electrical component includes a sensor module, a control unit, a communication module and a positioning module. The sensor module is used to obtain environmental parameter information of the current river channel, and the environmental parameter information includes a topographic image and silt depth information. The control unit is used to execute the method as described in the first aspect. The communication module is used to maintain the dredging data of the current river channel, and the positioning module is used to obtain the actual address information of the current river channel walking device.

[0061] In some embodiments, the first adjustment strategy includes a first rotation angle value of the first driving unit, a first telescopic length value of the first driving rod, and a first displacement value of the first driving wheel;

[0062] The second adjustment strategy includes a second rotation angle value of the second driving unit, a second telescopic length value of the second driving rod, and a second displacement value of the second driving wheel;

[0063] The third adjustment strategy includes a third rotation angle value of the third driving unit, a third telescopic length value of the third driving rod, and a third displacement value of the third driving wheel;

[0064] Controlling the river travel device to perform dredging operations in the current area to be cleared along the dredging path includes:

[0065] Control the river travel device to perform dredging operations in the current area to be cleared along the dredging path according to the dredging strategy;

[0066] The dredging strategy includes a first start and close mode of the first dredging pump, a second start and close mode of the second dredging pump, and a third start and close mode of the crusher. The first start and close mode includes the first start and close time point information of the first dredging pump arranged in chronological order, the second start and close mode includes the second start and close time point information of the second dredging pump arranged in chronological order, and the third start and close mode includes the third start and close time point information of the crusher arranged in chronological order.

[0067] In a third aspect, the present invention provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the method as described in the first aspect.

[0068] In a fourth aspect, the present invention provides an electronic device comprising a memory and a processor, wherein in some embodiments, the memory is used to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method as described in the first aspect.

[0069] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0070] Different from the prior art, in the above technical scheme, by obtaining the adjustable area information of the river walking device, the river dredging area is obtained and a topographic image is constructed, the dredging path is obtained according to the topographic image, and with the dredging path as a reference, a first walking path, a second walking path and a third walking path are synchronously formed to control the river walking device to walk, and further obtain the silt depth information to obtain the dredging height information, and obtain the first adjustment strategy, the second adjustment strategy and the third adjustment strategy based on the dredging height information, thereby realizing real-time adjustment of the first leg, the second leg and the third leg to realize a smoother walking of the adjustable platform, that is, the river walking device is adaptively adjusted according to the river environment, and more targetedly drives the dredging component to perform dredging operations in the current area to be cleaned, thereby improving dredging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0072] Figure 1 is a schematic diagram of steps S101 to S112 of the environment adaptation method described in the specific implementation manner;

[0073] Figure 2 is a schematic diagram of steps S201 to S204 of the environment adaptation method described in the specific implementation manner;

[0074] Figure 3 is a schematic diagram of steps S3101 to S3106 of the environment adaptation method described in the specific implementation manner;

[0075] Figure 4 is a schematic diagram of steps S3201 to S3204 of the environment adaptation method described in the specific implementation manner;

[0076] Figure 5 is a schematic diagram of steps S401 to S410 of the environment adaptation method described in the specific implementation manner;

[0077] Figure 6 It is a schematic diagram of the river walking device described in the specific implementation method.

[0078] Reference numerals:

[0079] 1. Adjustable platform;

[0080] 2. The first leg;

[0081] 21. First driving wheel;

[0082] 22. A first driving rod;

[0083] 23. A first driving unit;

[0084] 3. The second leg;

[0085] 4. The third leg;

[0086] 41. Third driving wheel;

[0087] 42. a third driving rod;

[0088] 43. The third driving unit;

[0089] 5. Dredging components. DETAILED DESCRIPTION

[0090] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present invention, but are not intended to limit the scope of the present invention. Similarly, the following examples are only partial embodiments of the present invention rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0091] See also Figure 6The present embodiment provides an environmental adaptive system for a river channel walking device, the system comprising a river channel walking device, a driving component, a dredging component 5 and an electrical component, the river channel walking device comprising a first leg 2, a second leg 3, a third leg 4 and an adjustable platform 1, the first leg 2, the second leg 3, the third leg 4 are distributed along the circumference of the adjustable platform 1, the first leg 2 is provided with a first driving wheel 21, the second leg 3 is provided with a second driving wheel, and the third leg 4 is provided with a third driving wheel 41; the driving component comprises a first driving rod 22, a second driving rod, a third driving rod 42 and a first driving unit 23, a second driving unit, a third driving unit 4 3, the first driving rod 22 is arranged between the first supporting leg 2 and the adjustable platform 1, the first driving unit 23 is arranged at the hinge of the first supporting leg 2 and the first driving rod 22, the telescopic end of the first driving rod 22 is hinged to the adjustable platform 1, the second driving rod is arranged between the second supporting leg 3 and the adjustable platform 1, the second driving unit is arranged at the hinge of the second supporting leg 3 and the second driving rod, the telescopic end of the second driving rod is hinged to the adjustable platform 1, the third driving rod 42 is arranged between the third supporting leg 4 and the adjustable platform 1, the third driving unit 43 is arranged at the hinge of the third supporting leg 4 and the third driving rod 42, and the telescopic end of the third driving rod 42 is hinged to the adjustable platform 1;

[0092] The dredging component 5 is arranged on the adjustable platform 1, and the dredging component 5 includes a first dredging pump, a first dredging pipeline, a second dredging pump, a second dredging pipeline and a crusher. The first dredging pipeline has a first suction port, and the second dredging pipeline has a second suction port. The first suction port and the second suction port are arranged adjacent to each other, and the first suction port and the second suction port are arranged below the adjustable platform 1. The first dredging pump is arranged on the first dredging pipeline, the second dredging pump is arranged on the second dredging pipeline, and the crusher is arranged at the second suction port; the electrical component is arranged on the adjustable platform 1, and the electrical component includes a sensor module, a control unit, a communication module and a positioning module. The sensor module is used to obtain environmental parameter information of the current river channel, and the environmental parameter information includes a topographic image and silt depth information. The control unit is used to execute the method described below, the communication module is used to maintain the dredging data of the current river channel, and the positioning module is used to obtain the actual address information of the current river channel walking device.

[0093] In this embodiment, the river channel walking device is the main structure for traveling in the river channel. The river channel walking device is divided into a first leg 2, a second leg 3, a third leg 4 and an adjustable platform 1 according to the structure, wherein the first leg 2, the second leg 3 and the third leg 4 are distributed along the circumference of the adjustable platform 1. The shape of the adjustable platform 1 can be a polygon, and the first leg 2 is provided with a first driving wheel 21, which can be understood as a walking wheel with a driving function. The model of the walking wheel can be selected according to actual needs. The first driving wheel 21 is preferably a structure with a certain degree of rotational freedom. For example, the first leg 2 includes a first fixed block, and the first fixed block is connected to the first driving wheel 21 through a ball joint, so that the first driving wheel 21 can be rotated within a certain range relative to the first fixed block, thereby improving the mobility of the first driving wheel 21. Similarly, the second driving wheel and the third driving wheel 41 can be understood with reference to the first driving wheel 21.

[0094] The driving assembly can be understood as a component used to adjust the posture of the first leg 2, the second leg 3 and the third leg 4 on the river walking device. Similarly, taking the first leg 2 and the first driving wheel 21 as an example, the first leg 2 is provided with a first driving rod 22 and a first driving unit 23, wherein the first driving rod 22 can be understood as a rod body with a servo motor or a screw rod to realize the length telescopic function, and the first driving unit 23 can be understood as a steering gear or a servo motor. The first driving unit 23 is used to adjust the rotation angle of the first driving rod 22. The servo motor or screw rod on the first driving rod 22 can adjust the length of the first driving rod 22, and the posture adjustment of the first driving rod 22 is realized in the form of length adjustment and angle adjustment. Further, the adjustment of the first driving rod 22 can further adjust the relative position between the first driving wheel 21 and the adjustable platform 1, so as to meet the various posture requirements of walking in water. The positional relationship between the second driving rod, the second driving unit and the second leg 3 and the second driving wheel; the positional relationship between the third driving rod 42, the third driving unit 43 and the third leg 4 and the third driving wheel 41 can be understood with reference to the above text. That is, with the adjustable platform 1 as the center, the adjustable platform 1 can realize spatial position adjustment within the adjustment areas of the first support leg 2 , the second support leg 3 and the third support leg 4 .

[0095] On this basis, the adjustable area information described below includes the posture adjustment range shown under the projection of the adjustable platform 1 in the vertical direction, the posture adjustment range shown under the projection of the first leg 2 in the vertical direction, the posture adjustment range shown under the projection of the second leg 3 in the vertical direction, and the posture adjustment range shown under the projection of the third leg 4 in the vertical direction. For the sake of distinction, they are recorded as the first adjustable range of the first leg 2, the second adjustable range of the second leg 3, the third adjustable range of the third leg 4, and the dredging adjustable range of the adjustable platform 1.

[0096] In this embodiment, the dredging assembly 5 is arranged on the adjustable platform 1. Among them, the first dredging pump is arranged on the first dredging pipeline, the first dredging pipeline has a first suction port, and the first suction port can be equipped with a pumping fan blade according to actual needs, and the first suction port is used to suck sludge; the second dredging pump is arranged on the second dredging pipeline, the second dredging pipeline has a second suction port, and a crusher is arranged at the second suction port, and the crusher has a blade, and the crusher can crush small garbage and small stones at the bottom of the river channel to facilitate the suction of the second suction port, that is, the second suction port can suck small garbage and small stones stuck in the sludge at the bottom of the river channel under the drive of the second dredging pump, and the first suction port can suck the sludge at the bottom of the river channel under the drive of the first dredging pump. In this embodiment, the first suction port and the second suction port are arranged adjacent to each other, and the alternating suction operation of the first suction port and the second suction port can be realized according to actual needs to complete the dredging operation at the bottom of the river channel.

[0097] In this embodiment, electrical components are also included. The electrical components are understood to be electrical components that need to be used in the dredging process, specifically including a sensor module, a control unit, a communication module, and a positioning module, wherein the sensor module can be a sonar detector, a millimeter wave radar detector, a silt depth detector, etc., for obtaining environmental parameter information, and the environmental parameter information includes a topographic image and silt depth information; the control unit can be a PLC single-chip microcomputer, a microcomputer chip, etc., and the control unit can execute the specific method steps described later according to the environmental parameter information to realize the control of the river running device, the driving component, and the dredging component 5, so that the river running device has an environmental adaptive function and completes the dredging and dredging operation at the same time. Further, the communication module can be a remote sensing communication module or a wired communication module, which uses a wire harness to maintain signal communication with the equipment on the river to transmit the specific status information of the current river dredging in real time; the positioning module can be a device using the sonar positioning principle, or a device using the laser ranging principle or the ultrasonic ranging principle, which can be set according to actual needs.

[0098] In some optional embodiments, the shape and manufacturing material of the adjustable platform 1 can be set according to actual needs, and the current water flow buoyancy of the adjustable platform 1 can be calculated by measuring the river depth. The water flow buoyancy is used as feedback information to correct the driving power of each device in the driving component to reduce the energy consumption of the entire system. In some embodiments, the electrical component also includes a power module, and the power module can select solar energy and water energy to supplement the power according to actual needs, thereby achieving full utilization of clean energy and meeting environmental protection requirements.

[0099] Based on the previous system, please refer to Figure 1 This embodiment provides an environment self-adaptation method for a river traveling device, which is applicable to the aforementioned river traveling device, and the method includes:

[0100] S101, obtaining adjustable area information of the river walking device, the adjustable area information including a first adjustable range of the first leg, a second adjustable range of the second leg, a third adjustable range of the third leg, and a dredging adjustable range of the adjustable platform;

[0101] S102, obtaining a river channel desilting area, and dividing the river channel desilting area into a plurality of to-be-cleaned areas, and constructing a topographic image of the current to-be-cleaned area;

[0102] S103, extracting texture features from the landform image to obtain a first transformed image, and inputting the first transformed image into a first neural network model to obtain initial block distribution information and initial silt distribution information;

[0103] S104, inputting the initial block distribution information, the initial sludge distribution information and the adjustable dredging range into the first path planning model to obtain the dredging path of the adjustable platform;

[0104] S105, taking the dredging path as the center point of the dredging adjustable range, and obtaining a dredging walking area corresponding to the dredging adjustable range;

[0105] S106, obtaining a first adjustable area of ​​a first adjustable range, a second adjustable area of ​​a second adjustable range, and a third adjustable area of ​​a third adjustable range according to the desilting walking area;

[0106] S107, matching initial block distribution information in the first adjustable area, the second adjustable area, and the third adjustable area in sequence to obtain first block distribution information, second block distribution information, and third block distribution information, and matching initial sludge distribution information in the first adjustable area, the second adjustable area, and the third adjustable area in sequence to obtain first sludge distribution information, second sludge distribution information, and third sludge distribution information;

[0107] S108, inputting the first block distribution information, the first sludge distribution information and the first adjustable range into the second path planning model to obtain a first walking path of the first leg, inputting the second block distribution information, the second sludge distribution information and the second adjustable range into the second path planning model to obtain a second walking path of the second leg, and inputting the third block distribution information, the third sludge distribution information and the third adjustable range into the second path planning model to obtain a third walking path of the third leg;

[0108] S109, obtaining silt depth information of the current area to be cleaned, and matching the silt depth information with the dredging path to generate dredging height information of the current area to be cleaned;

[0109] S110, inputting the dredging height information, the first walking path, the second walking path, the third walking path and the dredging path into the second neural network model to obtain a height adjustment strategy of the river walking device, the height adjustment strategy including a first adjustment strategy of the first leg, a second adjustment strategy of the second leg and a third adjustment strategy of the third leg;

[0110] S111, controlling a first connection point between the first leg and the adjustable platform to reach a first spatial position according to a first adjustment strategy, controlling a second connection point between the second leg and the adjustable platform to reach a second spatial position according to a second adjustment strategy, and controlling a third connection point between the third leg and the adjustable platform to reach a third spatial position according to a third adjustment strategy;

[0111] S112, controlling the river traveling device to perform dredging operations in the current area to be cleared along the dredging path.

[0112] In step S101, the adjustable area information of the river walking device is obtained. The adjustable area information can be generated through motion simulation according to the component size, power of the driving component and rotation angle selected when actually constructing the river walking device. Referring to the above text, the adjustable area information is the adjustment range of the adjustable platform when projected in the vertical direction, the adjustment range of the first leg, the adjustment range of the second leg and the adjustment range of the third leg.

[0113] In step S102, a river channel desilting area is obtained, the river channel desilting area includes the length of the river channel that currently needs to be desilted, and the river channel desilting area is equally divided into a plurality of areas to be cleaned. The specific steps may be: obtaining the total amount of silt dredged in the current river channel during a plurality of historical dredging engineering periods, constructing a discrete distribution map of the total amount of silt dredged, and constructing a silt total amount prediction curve based on the discrete distribution map of the total amount of dredging; and obtaining a predetermined dredging engineering period for the current river channel, and obtaining a predicted value of the total amount of silt that currently needs to be dredged in the silt total amount prediction curve according to the predetermined dredging engineering period; further, obtaining the execution The number of river running devices performing dredging operations and the average amount of dredged silt per unit time of a single river running device are divided by the predicted total amount of silt with the average amount of dredged silt per unit time, the number of river running devices, and the established dredging project period to obtain a dredging ratio, and the dredging ratio is used as a constant for equally dividing the river dredging area to divide the river dredging area into multiple areas to be cleaned. In some embodiments, there are multiple states where one river running device is responsible for multiple areas to be cleaned, such as when the established dredging project period is long and the number of river running devices is small. With the help of electrical components on the adjustable platform, in the area to be cleaned assigned to each river running device, the river running device will perform sonar mapping after reaching the bottom of the river to generate a real-time topographic image of the current area to be cleaned.

[0114] In step S103, texture features are extracted from the landform image. The specific texture feature extraction process can be: using the Gabor filtering principle, setting the center frequency, bandwidth and direction in the Gabor filter, constructing a Gabor filter group, inputting the landform image into the Gabor filter group, obtaining landform features of different frequencies and directions, that is, a first transformed image containing landform features, inputting the first transformed image into the first neural network model, and obtaining initial block distribution information and initial silt distribution information. It should be noted that the present embodiment preferably uses the yolo-v5 neural network model algorithm to identify and classify landform features, and obtains initial block distribution information and initial silt distribution information that are compatible with the current landform image. Specifically, the initial block distribution information includes the distribution shape of the block, the distribution area on the landform image, etc. The block includes objects with a certain structural shape such as stones, garbage, and wood. The initial silt distribution information includes the distribution shape of the silt, the distribution area on the landform image, etc.

[0115] In step S104, the first path planning model can be constructed by one of the algorithms selected from A path planning algorithm, D* path planning algorithm, ant colony algorithm, genetic algorithm, maximum flow algorithm or greedy algorithm. Optionally, taking the greedy algorithm as an example, the path planning process of step S104 can be: obtaining a preset silt distribution threshold and a preset block distribution threshold, screening the block distribution areas within the preset block distribution threshold in the initial block distribution information to obtain the first dredged block distribution information, the first dredged block distribution information is the block distribution area that needs to be desilted and dredged in the current area to be cleaned; and screening the silt distribution areas within the preset silt distribution threshold in the initial silt distribution information to obtain the first dredged silt distribution information, the first dredged silt distribution information is the silt distribution area that needs to be desilted and dredged in the current area to be cleaned; setting the path planning condition, the path planning condition is the silt distribution area closest to the current adjustable platform position. The current position of the adjustable platform is used as the initial position information, and the distance between the silt distribution area in the first dredged silt distribution information and the current initial position information is calculated according to the path planning conditions, and the distance between the block distribution area in the first dredged block distribution information and the current initial position information is calculated to obtain the block distribution area or silt distribution area closest to the initial position information, which is recorded as the first dredging position, and the first dredging point is updated to the position information of the current river channel traveling device. The above steps are repeated to obtain the second dredging position, the third dredging position, etc. in sequence, until the block distribution area in the first dredged block distribution information and the silt distribution area in the first dredged silt distribution information are planned, and the multiple dredging positions are connected in sequence to form the dredging path of the current adjustable platform.

[0116] In step S105 and step S106, the dredging path is taken as the center point of the dredging adjustable range to obtain the dredging walking area corresponding to the dredging adjustable range; it can be understood that the dredging path is divided into multiple continuous connection points, and each connection point is positioned as the center point of the dredging adjustable range. When multiple connection points are connected in series to form the dredging path, multiple dredging adjustable ranges are combined to form the dredging walking area. Based on the positional relationship between the first leg, the second leg, the third leg and the adjustable platform, the first adjustable area corresponding to the first adjustable range, the second adjustable area corresponding to the second adjustable range, and the third adjustable area corresponding to the third adjustable range are obtained according to the dredging walking area.

[0117] In step S107, the initial block distribution information and the initial silt distribution information are matched according to the first adjustable area, the second adjustable area and the third adjustable area to obtain the first block distribution information and the first silt distribution information corresponding to the first adjustable area, the second block distribution information and the second silt distribution information corresponding to the second adjustable area, and the third block distribution information and the third silt distribution information corresponding to the third adjustable area. Further, in step S108, the first block distribution information, the first silt distribution information and the first adjustable range are input into the second path planning model to obtain the first walking path of the first leg. Similarly, the second walking path and the third walking path can be obtained by modifying the input parameters in the above steps. The second path planning model can be constructed by one of the algorithms selected from the A path planning algorithm, the D* path planning algorithm, the ant colony algorithm, the genetic algorithm, the maximum flow algorithm or the greedy algorithm. Different from the first path planning model, the path planning conditions in the second path planning model can be understood as obstacle avoidance conditions. In this step, the second path planning model is preferably constructed by the D* path planning algorithm model. Specifically, step S108 can be specifically expanded into the following steps under the second path planning model constructed by the D* path planning algorithm: construct a first planning map according to the first block distribution information, the first silt distribution information, the first adjustable area, and the topographic image, and mark the blocks contained in the first block distribution information and the silt contained in the first silt distribution information as obstacles; set the current position of the first leg as the starting point, record the position of the unit walking length of the first leg from the current starting point as the target point, use the heuristic algorithm to calculate the cost values ​​of the starting point and the target point, select the position with the smallest cost value as the first target point, update the position of the unit walking length of the first leg from the current first target point as the target point, recalculate the cost value, and obtain the second target point, and so on, iterate successively until all target points in the first adjustable area are planned, and obtain the first walking path. Correspondingly, the generation of the second walking path and the third walking path can be understood by referring to the generation process of the aforementioned first walking path.

[0118] In step S109, the silt depth information of the current area to be cleaned is obtained, and the silt depth information can be obtained by a silt depth detector. In this step, the silt depth information is obtained by using the surveyed individual silt depth data, constructing a silt depth prediction model, and obtaining the silt depth information of all the areas to be cleaned based on the prediction model. The specific steps are described below. The silt depth information is matched with the dredging path to obtain the dredging height information of the current area to be cleaned.

[0119] In step S110, the second neural network model can be trained using a convolutional neural network model. The height adjustment strategy of the river walking device can be understood as a height adjustment strategy for adjusting the adjustable platform relative to the silt at the bottom of the river. The position adjustment of the adjustable platform in the vertical direction and the inclination of the adjustable platform relative to the horizontal direction can be achieved by relative adjustment of the first leg, the second leg and the third leg. On this basis, the height adjustment strategy includes a first adjustment strategy for the first leg, a second adjustment strategy for the second leg and a third adjustment strategy for the third leg. During the training of the second neural network model, different adjustment postures of the sample adjustable platform can be input, thereby outputting a sample first adjustment strategy, a sample second adjustment strategy and a sample third adjustment strategy. Repeat the training until the accuracy of the sample height adjustment strategy corresponding to the different adjustment postures of the sample adjustable platform reaches 90%, indicating that the training of the current second neural network model is completed.

[0120] In some embodiments, the first adjustment strategy includes a first rotation angle value of the first driving unit, a first telescopic length value of the first driving rod, and a first displacement value of the first driving wheel;

[0121] The second adjustment strategy includes a second rotation angle value of the second driving unit, a second telescopic length value of the second driving rod, and a second displacement value of the second driving wheel;

[0122] The third adjustment strategy includes a third rotation angle value of the third driving unit, a third telescopic length value of the third driving rod, and a third displacement value of the third driving wheel.

[0123] In step S109, the first drive unit, the first drive wheel and the first drive rod are adjusted through the first adjustment strategy to achieve posture adjustment of the first leg, so that the first connection point between the first leg and the adjustable platform reaches the first spatial position. It should be noted that the first connection point can be understood as the hinge point between the first drive rod and the adjustable platform, and the second drive unit, the second drive wheel and the second drive rod are adjusted through the second adjustment strategy to achieve posture adjustment of the second leg, so that the second connection point between the second leg and the adjustable platform reaches the second spatial position, and the second connection point is also the hinge point between the second drive rod and the adjustable platform, and the third drive unit, the third drive wheel and the third drive rod are adjusted through the third adjustment strategy to achieve posture adjustment of the third leg, so that the third connection point between the third leg and the adjustable platform reaches the third spatial position, and the third connection point is also the hinge point between the third drive rod and the adjustable platform.

[0124] In step S112, after the posture of the adjustable platform is adjusted, the dredging assembly on the river travel device is controlled to perform the dredging operation of the current area to be cleaned. Finally, the posture adjustment of the adjustable platform when performing the dredging operation at the current dredging position is achieved, so that the first suction port and the second suction port set on the adjustable platform can achieve the optimal suction effect at this height, thereby improving the dredging efficiency.

[0125] This embodiment obtains the adjustable area information of the river walking device, obtains the river dredging area and constructs a topographic image, obtains the dredging path according to the topographic image, and uses the dredging path as a reference to synchronously form a first walking path, a second walking path and a third walking path, controls the river walking device to walk, further obtains silt depth information to obtain dredging height information, and obtains a first adjustment strategy, a second adjustment strategy and a third adjustment strategy based on the dredging height information, thereby achieving real-time adjustment of the first leg, the second leg and the third leg to achieve smoother walking of the adjustable platform, that is, the river walking device adaptively adjusts according to the river environment, and more specifically drives the dredging component to perform dredging operations in the current area to be cleaned, thereby improving dredging efficiency.

[0126] See also Figure 2 In some embodiments, the first adjustable area, the second adjustable area and the third adjustable area of ​​the first adjustable range are obtained according to the dredging walking area, including:

[0127] S201, record the center point of the adjustable range of silt removal as the reference center point, the center point of the first adjustable range as the first center point, the center point of the second adjustable range as the second center point, and the center point of the third adjustable range as the third center point;

[0128] S202, in the standby state of the river traveling device, obtaining a first associated distance between the first center point and the reference center point, obtaining a second associated distance between the second center point and the reference center point, and obtaining a third associated distance between the third center point and the reference center point;

[0129] S203, in the dredging walking area, drawing a first reference path of the first center point according to the first associated distance and the reference center point, drawing a second reference path of the second center point according to the second associated distance and the reference center point, and drawing a third reference path of the third center point according to the third associated distance and the reference center point;

[0130] S204 , obtaining a first adjustable region according to the first reference path, obtaining a second adjustable region according to the second reference path, and obtaining a third adjustable region according to the third reference path.

[0131] In this embodiment, for the convenience of expression, in step S201, the center point of the adjustable dredging range is recorded as the reference center point, the center point of the first adjustable range is recorded as the first center point, the center point of the second adjustable range is recorded as the second center point, and the center point of the third adjustable range is recorded as the third center point. The positional relationship between the first center point, the second center point, the third center point and the reference center point is also the positional relationship between the first leg, the second leg, the third leg and the adjustable platform when the river walking device is in the default position. For the convenience of expression, the state of the river walking device in the default position is recorded as the standby state.

[0132] Further, in step S202, the first associated distance between the first center point and the reference center point is obtained, that is, the straight-line distance between the first center point and the reference center point after projection in the vertical direction; the second associated distance between the second center point and the reference center point is obtained, that is, the straight-line distance between the second center point and the reference center point after projection in the vertical direction; the third associated distance between the third center point and the reference center point is obtained, that is, the straight-line distance between the third center point and the reference center point after projection in the vertical direction.

[0133] In step S203, in the dredging walking area, the reference center point is a plurality of connection points in the dredging path. Taking a certain connection point as an example, the connection point is the reference center point of the current river walking device. The position of the first center point is drawn in the vertical direction according to the first associated distance. The aforementioned steps are repeated until the first center points corresponding to the plurality of connection points on the dredging path are drawn. The plurality of first center points are connected in series to obtain the first reference path. Similarly, the second reference path and the third reference path can be understood by referring to the generation method of the first reference path.

[0134] In step S204, the first adjustable area is obtained according to the first reference path, which can be understood as follows: one of the first center points in the first reference path is selected as the center of the first adjustable range, and the first adjustable range corresponding to the current first center point is drawn, and the aforementioned steps are repeated until all the first center points in the first reference path correspond to a first adjustable range respectively, and multiple first adjustable ranges are connected to form a first adjustable area. Similarly, the generation process of the second adjustable area and the third adjustable area can be understood by referring to the generation process of the first adjustable area.

[0135] This embodiment obtains the first associated distance, the second associated distance and the third associated distance through the relative position relationship between the adjustable platform, the first leg, the second leg and the third leg in the standby state, and further determines the first adjustable area, the second adjustable area and the third adjustable area based on the first associated distance, the second associated distance, the third associated distance and the dredging path, so as to facilitate the subsequent planning and generation of the first walking path of the first leg, the planning and generation of the second walking path of the second leg, and the planning and generation of the third walking path of the third leg, thereby improving the path planning efficiency.

[0136] See also Figure 3 and Figure 4 In some embodiments, the initial block distribution information is sequentially matched in the first adjustable region, the second adjustable region, and the third adjustable region to obtain the first block distribution information, the second block distribution information, and the third block distribution information, including:

[0137] S3101, constructing a base layer, on which a landform image is provided;

[0138] S3102, constructing a first layer, wherein the first layer is provided with a first adjustable area, a second adjustable area, and a third adjustable area;

[0139] S3103, constructing a second layer, on which block distribution information is provided;

[0140] S3104, stacking the first layer and the second layer according to the basic layer;

[0141] S3105, splitting the block area in the block distribution information into the first adjustable area, the second adjustable area and the third adjustable area to obtain a first block area, a second block area and a third block area;

[0142] S3106, fusing the first block area, the first adjustable area and the base layer to form first block distribution information, fusing the second block area, the second adjustable area and the base layer to form second block distribution information, and fusing the third block area, the third adjustable area and the base layer to form third block distribution information;

[0143] And the initial sludge distribution information is matched in the first adjustable area, the second adjustable area and the third adjustable area in sequence to obtain the first sludge distribution information, the second sludge distribution information and the third sludge distribution information, further comprising:

[0144] S3201, constructing a third layer, on which silt distribution information is provided;

[0145] S3202, stacking the first layer and the third layer according to the basic layer;

[0146] S3203, splitting the silt area in the silt distribution information into a first adjustable area, a second adjustable area, and a third adjustable area to obtain a first silt area, a second silt area, and a third silt area;

[0147] S3204, the first silt area, the first adjustable area and the base layer are merged to form the first silt distribution information, the second silt area, the second adjustable area and the base layer are merged to form the second silt distribution information, and the third silt area, the third adjustable area and the base layer are merged to form the third silt distribution information.

[0148] In step S3101, a base layer is constructed and the landform image is drawn in the base layer. Optionally, a certain technical feature in the landform image can be selected as a reference mark. For example, if the landform image contains a deep gully, the edge information of the deep gully is used as a reference mark to facilitate the subsequent fusion of the first layer, the second layer, and the third layer. Preferably, if the landform image is a rectangular image, the four corners of the rectangular image can be selected as reference marks.

[0149] In step S3102, a first layer is constructed, and a first adjustable area, a second adjustable area and a third adjustable area are provided on the first layer, that is, the first adjustable area, the second adjustable area and the third adjustable area are displayed on the first layer, and further, the first layer is aligned with the base layer.

[0150] In step S3103, a second layer is constructed, and the block distribution information corresponding to the current landform image is displayed in the second layer. The second layer is also aligned with the base layer.

[0151] In step S3104, the first layer, the second layer and the base layer are stacked, that is, the first layer, the second layer and the base layer are aligned according to the reference mark.

[0152] In step S3105, feature extraction is performed on the block regions in the second layer according to the first layer to obtain a first block region, a second block region and a third block region.

[0153] In step S3106, the first block area, the first adjustable area and the base layer are fused to form the first block distribution information. The specific fusion method can be: the first block area, the first adjustable area and the landform image in the base layer are subjected to Laplace pyramid smoothing processing, so that the fusion degree of the first block area, the second adjustable area and the landform image is more accurate, and the block positions in the first block area are marked to form the first block distribution information. Similarly, the second block distribution information and the third block distribution information can be understood with reference to the first block distribution information.

[0154] The generation process of the first sludge distribution information, the second sludge distribution information and the third sludge distribution information is similar to the generation process of the first block distribution information, the second block distribution information and the third block distribution information.

[0155] In step S3201, a third layer is constructed based on the base layer, and silt distribution information is displayed on the third layer.

[0156] In step S3202, the third layer is aligned with the base layer, and the first layer is aligned with the base layer, and the first layer and the third layer are stacked on the base layer.

[0157] In step S3203, the portion of the sludge distribution information that is within the first adjustable area is extracted to obtain the first sludge area. Similarly, the portion of the sludge distribution information that is within the second adjustable area is extracted to obtain the second sludge area. The portion of the sludge distribution information that is within the third adjustable area is extracted to obtain the third sludge area.

[0158] In step S3204, the first silt area, the first adjustable area and the base layer are fused to form the first silt distribution information. The specific fusion method can be: the first silt area, the first adjustable area and the landform image in the base layer are subjected to Laplace pyramid smoothing, so that the fusion degree of the first silt area, the second adjustable area and the landform image is more accurate, and the silt position in the first silt area is marked to form the first silt distribution information. Similarly, the second silt distribution information and the third silt distribution information can be understood with reference to the first silt distribution information.

[0159] In this embodiment, graphic processing is used to fuse and screen the features in the layers of the first block distribution information, the second block distribution information, the third block distribution information, the first sludge distribution information, the second sludge distribution information and the third sludge distribution information, so that the identification of the first block distribution information, the second block distribution information, the third block distribution information, the first sludge distribution information, the second sludge distribution information and the third sludge distribution information is more accurate.

[0160] See also Figure 5 In some embodiments, obtaining the silt depth information of the current area to be cleaned, and matching the silt depth information with the dredging path, generating the dredging height information of the current area to be cleaned includes:

[0161] S401, preprocessing the sludge depth information, where the preprocessing includes at least one of noise processing and Gaussian filtering, to obtain depth information to be matched;

[0162] S402, matching the depth information to be matched with the dredging path according to a path matching algorithm, the path matching algorithm including any one of a nearest neighbor algorithm and a least squares method, to obtain a path matching result, the path matching result including depth information of multiple silt sampling points on the dredging path;

[0163] S403, dividing the area to be cleaned into a plurality of target points to be corrected in a grid format;

[0164] Perform the following operations for each target point to be corrected:

[0165] S404, calculating the Euclidean distance between each silt sampling point and the current target point to be corrected in the path matching result, and selecting the two silt sampling points with the smallest distance to the current target point to be corrected as reference sampling points, and obtaining the depth information corresponding to each reference sampling point;

[0166] S405, performing spline interpolation on the depth information of the two reference sampling points to obtain the depth information of the current target point to be corrected, which is recorded as the first corrected depth information;

[0167] S406, matching the depth information of the current target point to be corrected in the depth information to be matched, and recording it as the first surveying and mapping depth information;

[0168] S407, obtaining an error ratio according to the first corrected depth information and the first surveying depth information, and correcting the depth information of the target point to be corrected based on the error ratio to obtain final depth information of the current target point to be corrected;

[0169] S408, repeat the above steps until the final depth information of all target points to be corrected is updated, and the first silt height information of the area to be cleaned is obtained;

[0170] S409, obtaining second sludge height information of the area to be cleaned according to the path matching result;

[0171] S410: Combine the first silt height information and the second silt height information to form dredging height information.

[0172] In step S401, the silt depth information can be obtained by surveying, or by combining surveying with prediction. The silt depth information is preprocessed, and the preprocessing includes at least one of noise processing and Gaussian filtering processing. The noise processing can remove abnormal values ​​in the silt depth information, and the Gaussian filtering processing can make the data transition in the silt depth information smoother, improve the accuracy of the data, and obtain the depth information to be matched.

[0173] In step S402, the depth information to be matched is matched with the dredging path according to the path matching algorithm, and the path matching algorithm includes one of the nearest neighbor algorithm and the least squares method. Specifically, the nearest neighbor algorithm is a simple and intuitive path matching algorithm, which can compare each position in the current area to be cleaned with all the connection points on the dredging path, and select the closest connection point as the matching result. The closest connection point can be determined by calculating the Euclidean distance or other distance metrics. The least squares method is a path matching algorithm based on mathematical optimization, which determines the best matching result by minimizing the error sum of squares between the silt depth data in the current area to be cleaned and the dredging path. The least squares method can be implemented by linear regression, nonlinear optimization and other methods, and can adapt to various path shapes and changes, and has a high matching accuracy. Further, taking the least squares method as an example, step S402 can be specifically expanded as follows: according to the depth information to be matched and the position information of the dredging path, the silt depth value in the depth information to be matched is used as the dependent variable, and each connection point on the dredging path is used as the independent variable to establish a hyperbolic model. Define the objective function, take the residual sum of squares between the silt depth value and the connection points on the dredging path as the objective function, use the gradient descent method or the Levenberg-Marquardt algorithm as the optimal solution algorithm for the objective function, and obtain the error value; modify the parameter value in the hyperbolic model according to the error value to obtain the final path matching result, which includes the depth information of multiple silt sampling points on the dredging path, wherein the silt sampling point can be understood as a randomly selected sampling data point in the silt depth information.

[0174] In step S403, the area to be cleaned is divided into a plurality of target points to be corrected in a grid form. It should be noted that the size standard of the division and the number of target points to be corrected can be set according to the size of the actual desilting range of the area to be cleaned, and this embodiment does not set a limit thereto. Spline interpolation is performed on each target point to be corrected to correct the silt depth information corresponding to the target point to be corrected, thereby improving the evaluation accuracy of the silt depth value in the area to be cleaned.

[0175] Specifically, in step S404, the Euclidean distance between each silt sampling point and the current target point to be corrected is calculated in the path matching result, the two silt sampling points with the smallest Euclidean distance values ​​are selected as reference sampling points, and the corresponding depth information in the reference sampling points is synchronously obtained.

[0176] In step S405, a spline difference is performed on the depth information of the two reference sampling points. Specifically, the spline difference uses a higher-order polynomial to approximate the relationship between the depth information of the two reference sampling points, so that a smoother estimation result can be obtained, that is, the depth information of the current target point to be corrected, which is recorded as the first corrected depth information.

[0177] In step S406, the depth information of the current target point to be corrected is matched in the depth information to be matched, and is recorded as the first surveying depth information. That is, the first surveying depth information is the depth information value of the target point to be corrected in the depth information to be matched.

[0178] In step S407, the error ratio is obtained by dividing the first corrected depth information by the first surveying and mapping information, and the depth information of the target point to be corrected is corrected based on the error ratio. For example, when the error ratio is greater than a preset error threshold, the first corrected depth information is used as the final depth information of the target point to be corrected, and when the error ratio is less than the preset error threshold, the current first surveying and mapping information is used as the final depth information of the target point to be corrected. The error ratio can be understood as an evaluation index of the final depth information of the target point to be corrected.

[0179] In step S408 to step S410, the aforementioned steps are repeated until the final depth information of all target points to be corrected is obtained, and the first silt height information of the area to be cleaned is obtained. At the same time, the second silt height information of the area to be cleaned in the path matching result is obtained. It should be noted that the first silt height information contains the final depth information of the target point to be corrected, and the second silt height information contains the depth information of all silt in the current area to be cleaned. The first silt height information and the second silt height information are merged, which can be specifically understood as replacing the silt depth information of the target point to be corrected in the second silt height information with the final depth information in the first silt height information, and obtaining the dredging height information after the replacement is completed.

[0180] In this embodiment, a path matching result is obtained through silt depth information and a dredging path, and the area to be cleaned is grid-divided to obtain a plurality of target points to be corrected. The silt depth values ​​of the target points to be corrected are subjected to spline interpolation processing to obtain an error ratio of the target points to be corrected, and the silt depth values ​​of the target points to be corrected are corrected using the error ratio, thereby obtaining first silt height information, and then obtaining second silt height information based on the path matching result, and finally merging to form dredging height information, so that the silt depth value in the dredging height information is adjusted accordingly based on the error ratio on the basis of depth prediction, thereby improving the estimation accuracy of the silt depth value, improving the data accuracy of the dredging height information, making the posture adjustment of the adjustable platform more targeted, and having a better environmental adaptation effect, thereby improving the dredging efficiency.

[0181] In some embodiments, controlling the river traveling device to perform dredging operations in the current area to be cleaned along the dredging path includes:

[0182] The dredging path is divided into a plurality of dredging points according to the minimum adjustment unit, each dredging point has a target location information, and the target location information is the geographical coordinate information of the dredging point;

[0183] Perform the following operations for each desilting point:

[0184] Acquire the actual position information of the current river channel running device in real time, the actual position information includes the geographic coordinate information of the current river channel running device;

[0185] According to the actual position information and the target position information, the desilting point where the current river channel traveling device is located is matched and recorded as the actual desilting point;

[0186] Acquiring a first dredging parameter of an actual dredging point in a first adjustment strategy, acquiring a second dredging parameter of an actual dredging point in a second adjustment strategy, and acquiring a third dredging parameter of an actual dredging point in a third adjustment strategy;

[0187] According to the first dredging parameter, the first leg is adjusted to reach a first adjustment position, so that the first connection point between the first leg and the adjustable platform reaches a first spatial position; according to the second dredging parameter, the second leg is adjusted to reach a second adjustment position, so that the second connection point between the second leg and the adjustable platform reaches a second spatial position; according to the third dredging parameter, the third leg is adjusted to reach a third adjustment position, so that the third connection point between the third leg and the adjustable platform reaches a third spatial position;

[0188] After the first dredging parameter, the second dredging parameter and the third dredging parameter are adjusted, the river channel traveling device is controlled to perform dredging operations at the actual dredging point.

[0189] It should be noted that the minimum adjustment unit refers to the minimum adjustable unit in length. Optionally, the minimum adjustment unit can be understood as the step length of the river travel device in a unit time. The dredging path is divided according to the step length in a unit time to obtain multiple dredging points. In other embodiments, the minimum adjustment unit can be understood as the minimum dredging range of the first suction port on the adjustable platform, that is, the diameter of the first suction port. In this embodiment, the dredging path is divided into multiple dredging points according to the minimum adjustment unit, and each dredging point has a target location information. The target location information is the geographic coordinate information of the dredging point, and the geographic location information is information containing longitude and latitude coordinates.

[0190] Furthermore, the actual position information of the current river channel traveling device is obtained in real time, and the actual position information includes the geographic coordinate information of the current river channel traveling device, that is, the longitude and latitude coordinate information of the river channel traveling device.

[0191] Matching the desilting point where the current river traveling device is located according to the actual position information and the target position information can also be understood as follows: matching the desilting point closest to the current actual position information among multiple target position information is recorded as the actual desilting point.

[0192] The first dredging parameter of the actual dredging point is obtained in the first adjustment strategy. Specifically, it can be understood as follows: the first adjustment strategy can be understood as the adjustment data that records the continuous action parameters of the first leg. If the first adjustment strategy is displayed in a list form, the horizontal coordinate of the first list corresponding to the first adjustment strategy can be the first rotation angle value, the first telescopic length value and the first displacement value. The vertical coordinate of the first list is a plurality of dredging points. The first rotation angle value has different values ​​at different dredging points. Similarly, the first telescopic length value has different values ​​at different dredging points, and the first displacement value has different values ​​at different dredging points. In the first adjustment strategy, the first dredging parameter corresponding to the actual dredging point is selected according to the target position information of the actual dredging point; similarly, the second dredging parameter and the third dredging parameter can be understood by referring to the acquisition steps of the first dredging parameter. On this basis, the first leg is adjusted to reach the first adjustment position according to the first dredging parameter, so that the first connection point between the first leg and the adjustable platform reaches the first spatial position; the second leg is adjusted to reach the second adjustment position according to the second dredging parameter, so that the second connection point between the second leg and the adjustable platform reaches the second spatial position, and the third leg is adjusted to reach the third adjustment position according to the third dredging parameter, so that the third connection point between the third leg and the adjustable platform reaches the third spatial position; after the first dredging parameter, the second dredging parameter and the third dredging parameter are adjusted, the river walking device is controlled to perform dredging operations at the actual dredging point.

[0193] Furthermore, in some embodiments, after the first dredging parameter, the second dredging parameter, and the third dredging parameter are adjusted, controlling the river traveling device to perform the dredging operation at the actual dredging point further includes:

[0194] Matching the block distribution information of the actual dredging point in the initial block distribution information, recorded as the first dredging information, matching the sludge distribution information of the actual dredging point in the initial sludge distribution information, recorded as the second dredging information, and matching the sludge height information of the current dredging point in the dredging height information, recorded as the third dredging information;

[0195] The first dredging information, the second dredging information and the third dredging information are sequentially input into the third neural network model to obtain an actual dredging strategy for an actual dredging point;

[0196] Dredging operations are carried out at actual desilting points according to actual dredging strategies.

[0197] In this embodiment, the first selection area is generated with the target position information of the actual silt removal point as the center and the length information of the minimum adjustment unit as the radius, and the block distribution information within the first selection area is selected and framed using the target position information of the actual silt removal point in the initial block distribution information, that is, the first silt removal information. Similarly, the second silt removal information and the third silt removal information can be understood with reference to the first silt removal information.

[0198] In this embodiment, the first dredging information, the second dredging information and the third dredging information are input into the third neural network model to obtain the actual dredging strategy of the actual dredging point. Similar to the second neural network model, the third neural network model can be trained using a convolutional neural network model.

[0199] Specifically, the actual dredging strategy may include a first start and close mode of the first dredging pump, a second start and close mode of the second dredging pump, and a third start and close mode of the crusher. The first start and close mode includes the first start and close time point information of the first dredging pump arranged in chronological order, the second start and close mode includes the second start and close time point information of the second dredging pump arranged in chronological order, and the third start and close mode includes the third start and close time point information of the crusher arranged in chronological order.

[0200] Dredging operations are carried out at actual desilting points according to actual dredging strategies.

[0201] Furthermore, in some embodiments, controlling the river channel traveling device to perform the dredging operation of the current area to be cleaned along the dredging path includes:

[0202] Control the river travel device to perform dredging operations in the current area to be cleared along the dredging path according to the dredging strategy;

[0203] The dredging strategy includes a first start and close mode of the first dredging pump, a second start and close mode of the second dredging pump, and a third start and close mode of the crusher. The first start and close mode includes the first start and close time point information of the first dredging pump arranged in chronological order, the second start and close mode includes the second start and close time point information of the second dredging pump arranged in chronological order, and the third start and close mode includes the third start and close time point information of the crusher arranged in chronological order.

[0204] That is, after the dredging operation of the current actual desilting point is completed according to the actual dredging strategy, the dredging strategies corresponding to the remaining multiple desilting points are generated in sequence. The river running device is controlled to perform the dredging operation in the current area to be cleaned along the desilting path according to the dredging strategies corresponding to each desilting point.

[0205] This embodiment introduces the concept of dredging strategy. When encountering an area where silt and blocks are mixed together, adaptive adjustment of the first suction port, the second suction port and the crusher can be achieved, so that the entire system has a certain adaptability to different dredging scenarios, improves dredging efficiency, and reduces the probability of manual adjustment.

[0206] In a third aspect, the present invention provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the method as described in the first aspect.

[0207] In a fourth aspect, the present invention provides an electronic device comprising a memory and a processor, wherein in some embodiments, the memory is used to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method as described in the first aspect.

[0208] The above technical scheme obtains the adjustable area information of the river walking device, obtains the river dredging area and constructs a topographic image, obtains the dredging path according to the topographic image, and uses the dredging path as a reference to synchronously form a first walking path, a second walking path and a third walking path, controls the river walking device to walk, further obtains silt depth information to obtain dredging height information, and obtains a first adjustment strategy, a second adjustment strategy and a third adjustment strategy based on the dredging height information, thereby realizing real-time adjustment of the first leg, the second leg and the third leg to realize a smoother walking of the adjustable platform, that is, the river walking device adaptively adjusts according to the river environment, and more specifically drives the dredging component to perform dredging operations in the current area to be cleaned, thereby improving dredging efficiency.

[0209] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0210] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0211] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An environmental self-adaptation method for a river running device, characterized in that: Applicable to a river walking device, the river walking device comprises a first leg, a second leg, a third leg and an adjustable platform, the first leg, the second leg and the third leg are distributed along the circumference of the adjustable platform, and the method comprises: Acquire adjustable area information of the river walking device, wherein the adjustable area information includes a first adjustable range of the first leg, a second adjustable range of the second leg, a third adjustable range of the third leg, and a dredging adjustable range of the adjustable platform; Acquire a river channel desilting area, and divide the river channel desilting area into a plurality of to-be-cleaned areas, and construct a topographic image of the current to-be-cleaned area; Extracting texture features from the topographic image to obtain a first transformed image, and inputting the first transformed image into a first neural network model to obtain initial block distribution information and initial silt distribution information; Inputting the initial block distribution information, the initial sludge distribution information and the adjustable dredging range into a first path planning model to obtain a dredging path for the adjustable platform; Taking the dredging path as the center point of the adjustable dredging range, obtaining the dredging walking area corresponding to the adjustable dredging range; According to the desilting walking area, a first adjustable area of ​​the first adjustable range, a second adjustable area of ​​the second adjustable range, and a third adjustable area of ​​the third adjustable range are obtained; The initial block distribution information is matched in the first adjustable area, the second adjustable area, and the third adjustable area in sequence to obtain first block distribution information, second block distribution information, and third block distribution information; and the initial sludge distribution information is matched in the first adjustable area, the second adjustable area, and the third adjustable area in sequence to obtain first sludge distribution information, second sludge distribution information, and third sludge distribution information; Inputting the first block distribution information, the first sludge distribution information and the first adjustable range into the second path planning model to obtain a first walking path of the first leg, inputting the second block distribution information, the second sludge distribution information and the second adjustable range into the second path planning model to obtain a second walking path of the second leg, and inputting the third block distribution information, the third sludge distribution information and the third adjustable range into the second path planning model to obtain a third walking path of the third leg; Acquire the silt depth information of the current area to be cleaned, and match the silt depth information with the dredging path to generate the dredging height information of the current area to be cleaned; Input the dredging height information, the first walking path, the second walking path, the third walking path and the dredging path into the second neural network model to obtain a height adjustment strategy for the river walking device, wherein the height adjustment strategy includes a first adjustment strategy for the first leg, a second adjustment strategy for the second leg and a third adjustment strategy for the third leg; Controlling a first connection point between the first leg and the adjustable platform to reach a first spatial position according to the first adjustment strategy, controlling a second connection point between the second leg and the adjustable platform to reach a second spatial position according to the second adjustment strategy, and controlling a third connection point between the third leg and the adjustable platform to reach a third spatial position according to the third adjustment strategy; The river channel traveling device is controlled to perform dredging operations in the current area to be cleared along the dredging path.

2. The environmental self-adaptation method of the river running device according to claim 1, characterized in that: The first adjustable area, the second adjustable area and the third adjustable area of ​​the first adjustable range obtained according to the desilting walking area include: The center point of the adjustable range of dredging is recorded as the reference center point, the center point of the first adjustable range is recorded as the first center point, the center point of the second adjustable range is recorded as the second center point, and the center point of the third adjustable range is recorded as the third center point; In a standby state of the river traveling device, obtaining a first associated distance between the first center point and a reference center point, obtaining a second associated distance between the second center point and the reference center point, and obtaining a third associated distance between the third center point and the reference center point; In the desilting walking area, a first reference path of the first center point is drawn according to the first associated distance and the reference center point, a second reference path of the second center point is drawn according to the second associated distance and the reference center point, and a third reference path of the third center point is drawn according to the third associated distance and the reference center point; The first adjustable region is obtained according to the first reference path, the second adjustable region is obtained according to the second reference path, and the third adjustable region is obtained according to the third reference path.

3. The environmental self-adaptation method of a river running device according to claim 1, characterized in that: Sequentially matching the initial block distribution information in the first adjustable region, the second adjustable region, and the third adjustable region to obtain the first block distribution information, the second block distribution information, and the third block distribution information includes: Constructing a base layer, wherein a landform image is provided on the base layer; Constructing a first layer, wherein the first layer is provided with a first adjustable area, a second adjustable area and a third adjustable area; constructing a second layer, wherein the second layer is provided with block distribution information; The first layer and the second layer are stacked according to the base layer; Splitting the block area in the block distribution information according to the first adjustable area, the second adjustable area and the third adjustable area to obtain a first block area, a second block area and a third block area; The first block area, the first adjustable area and the base layer are merged to form the first block distribution information, the second block area, the second adjustable area and the base layer are merged to form the second block distribution information, and the third block area, the third adjustable area and the base layer are merged to form the third block distribution information; And sequentially matching the initial sludge distribution information in the first adjustable area, the second adjustable area, and the third adjustable area to obtain the first sludge distribution information, the second sludge distribution information, and the third sludge distribution information also includes: constructing a third layer, wherein the third layer is provided with silt distribution information; The first layer and the third layer are stacked according to the base layer; Splitting the silt area in the silt distribution information according to the first adjustable area, the second adjustable area and the third adjustable area to obtain a first silt area, a second silt area and a third silt area; The first sludge area, the first adjustable area and the basic layer are merged to form the first sludge distribution information, and the second sludge area, the second adjustable area and the basic layer are merged to form the second sludge distribution information, and the third sludge area, the third adjustable area and the basic layer are merged to form the third sludge distribution information.

4. The environmental self-adaptation method of a river running device according to claim 1, characterized in that: Acquiring the silt depth information of the current area to be cleaned, and matching the silt depth information with the dredging path, to generate the dredging height information of the current area to be cleaned includes: Preprocessing the sludge depth information, wherein the preprocessing includes at least one of noise processing and Gaussian filtering, to obtain depth information to be matched; Matching the depth information to be matched with the dredging path according to a path matching algorithm, wherein the path matching algorithm includes any one of a nearest neighbor algorithm and a least squares method, to obtain a path matching result, wherein the path matching result includes depth information of multiple sludge sampling points on the dredging path; The area to be cleaned is divided into a plurality of target points to be corrected in a grid form, and the following operations are performed on each of the target points to be corrected: Calculate the Euclidean distance between each silt sampling point and the current target point to be corrected in the path matching result, select the two silt sampling points with the smallest distance to the current target point to be corrected as reference sampling points, and obtain the depth information corresponding to each reference sampling point; Perform spline interpolation on the depth information of the two reference sampling points to obtain the depth information of the current target point to be corrected, which is recorded as first corrected depth information; Matching the depth information of the current target point to be corrected in the depth information to be matched, and recording it as the first surveying depth information; Obtaining an error ratio according to the first corrected depth information and the first surveying depth information, and correcting the depth information of the target point to be corrected based on the error ratio to obtain final depth information of the target point to be corrected; Repeat the above steps until the final depth information of all target points to be corrected is updated, and the first silt height information of the area to be cleaned is obtained; Obtaining second silt height information of the area to be cleaned according to the path matching result; The first silt height information and the second silt height information are combined to form the dredging height information.

5. The environmental self-adaptation method of a river running device according to claim 1, characterized in that: Controlling the river channel traveling device to perform dredging operation in the current area to be cleaned along the dredging path includes: The dredging path is divided into a plurality of dredging points according to the minimum adjustment unit, each of the dredging points has a target location information, and the target location information is the geographical coordinate information of the dredging point; The following operations are performed for each of the desilting points: Acquire the actual position information of the current river channel running device in real time, wherein the actual position information includes the geographic coordinate information of the current river channel running device; According to the actual position information and the target position information, the desilting point where the current river channel traveling device is located is matched and recorded as the actual desilting point; Acquiring a first dredging parameter of the actual dredging point in the first adjustment strategy, acquiring a second dredging parameter of the actual dredging point in the second adjustment strategy, and acquiring a third dredging parameter of the actual dredging point in the third adjustment strategy; According to the first dredging parameter, the first leg is adjusted to reach a first adjustment position, so that the first connection point between the first leg and the adjustable platform reaches the first spatial position; according to the second dredging parameter, the second leg is adjusted to reach a second adjustment position, so that the second connection point between the second leg and the adjustable platform reaches the second spatial position; according to the third dredging parameter, the third leg is adjusted to reach a third adjustment position, so that the third connection point between the third leg and the adjustable platform reaches the third spatial position; After the first dredging parameter, the second dredging parameter and the third dredging parameter are adjusted, the river traveling device is controlled to perform the dredging operation at the actual dredging point.

6. The environmental self-adaptation method of a river running device according to claim 5, characterized in that: After the first dredging parameter, the second dredging parameter and the third dredging parameter are adjusted, controlling the river channel traveling device to perform the dredging operation at the actual dredging point further includes: Matching the block distribution information of the actual dredging point in the initial block distribution information, recorded as the first dredging information, matching the sludge distribution information of the actual dredging point in the initial sludge distribution information, recorded as the second dredging information, and matching the sludge height information of the current dredging point in the dredging height information, recorded as the third dredging information; Inputting the first dredging information, the second dredging information and the third dredging information into a third neural network model in sequence to obtain an actual dredging strategy for the actual dredging point; Dredging operations are performed on the actual desilting point according to the actual dredging strategy.

7. An environmental adaptive system for a river traveling device, characterized in that: The method for environmental adaptation according to any one of claims 1 to 6, wherein the system comprises: A river travel device, the river travel device comprising a first leg, a second leg, a third leg and an adjustable platform, the first leg, the second leg and the third leg are distributed along the circumference of the adjustable platform, the first leg is provided with a first driving wheel, the second leg is provided with a second driving wheel, and the third leg is provided with a third driving wheel; A driving assembly, comprising a first driving rod, a second driving rod, a third driving rod and a first driving unit, a second driving unit and a third driving unit, wherein the first driving rod is arranged between the first supporting leg and the adjustable platform, the first driving unit is arranged at the hinge of the first supporting leg and the first driving rod, the telescopic end of the first driving rod is hinged to the adjustable platform, the second driving rod is arranged between the second supporting leg and the adjustable platform, the second driving unit is arranged at the hinge of the second supporting leg and the second driving rod, the telescopic end of the second driving rod is hinged to the adjustable platform, the third driving rod is arranged between the third supporting leg and the adjustable platform, the third driving unit is arranged at the hinge of the third supporting leg and the third driving rod, and the telescopic end of the third driving rod is hinged to the adjustable platform; A dredging assembly is arranged on the adjustable platform, the dredging assembly comprises a first dredging pump, a first dredging pipeline, a second dredging pump, a second dredging pipeline and a pulverizer, the first dredging pipeline has a first suction port, the second dredging pipeline has a second suction port, the first suction port is arranged adjacent to the second suction port, and the first suction port and the second suction port are arranged below the adjustable platform, the first dredging pump is arranged on the first dredging pipeline, the second dredging pump is arranged on the second dredging pipeline, and the pulverizer is arranged at the second suction port; An electrical component is arranged on the adjustable platform, and the electrical component includes a sensor module, a control unit, a communication module and a positioning module. The sensor module is used to obtain environmental parameter information of the current river channel, and the environmental parameter information includes a topographic image and silt depth information. The control unit is used to execute the method described in any one of claims 1 to 6. The communication module is used to maintain the dredging data of the current river channel, and the positioning module is used to obtain the actual address information of the current river channel walking device.

8. The environmental adaptive system of the river running device according to claim 7, characterized in that: The first adjustment strategy includes a first rotation angle value of the first driving unit, a first telescopic length value of the first driving rod, and a first displacement value of the first driving wheel; The second adjustment strategy includes a second rotation angle value of the second driving unit, a second telescopic length value of the second driving rod, and a second displacement value of the second driving wheel; The third adjustment strategy includes a third rotation angle value of the third driving unit, a third telescopic length value of the third driving rod, and a third displacement value of the third driving wheel; Controlling the river channel traveling device to perform dredging operation in the current area to be cleaned along the dredging path includes: Control the river channel traveling device to perform dredging operations in the current area to be cleared along the dredging path according to the dredging strategy; The dredging strategy includes a first start and close mode of the first dredging pump, a second start and close mode of the second dredging pump, and a third start and close mode of the crusher. The first start and close mode includes first start and close time point information of the first dredging pump arranged in chronological order, the second start and close mode includes second start and close time point information of the second dredging pump arranged in chronological order, and the third start and close mode includes third start and close time point information of the crusher arranged in chronological order.

9. A computer-readable storage medium storing computer program instructions, characterized in that: The computer program instructions implement the method according to any one of claims 1 to 6 when executed by a processor.

10. An electronic device comprising a memory and a processor, characterized in that: The memory is used to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method according to any one of claims 1 to 6.

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