Drain board driving path planning method, device and equipment and storage medium

Abstract

The invention discloses a drainage plate driving path planning method, device and equipment and a storage medium, and relates to the technical field of soft soil foundation treatment.The drainage plate driving path planning method comprises the steps that aerial survey topographic image data of a to-be-constructed area is obtained; based on the aerial survey topographic image data, drawing a map of the to-be-constructed area; performing repair pretreatment on a special terrain in the map of the to-be-constructed area to obtain a drain board moving map; based on the obtained drain board moving map, an artificial fish swarm algorithm is adopted to analyze a driving path of the drain board so as to obtain an optimal driving path; and a GNSS displacement sensor and a dynamic tilt angle sensor are installed on a fixing frame of the plate beating machine so as to position the initial position of the drainage plate, and the drainage plate is sequentially beaten according to the optimal beating path till the end. The method solves the problem that the driving position of the drain board is difficult to accurately control, and improves the construction efficiency based on the automatic operation process of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of soft soil foundation treatment, and in particular to a drainage board installation path planning method, device, equipment and storage medium. Background Art

[0002] Soft foundation reinforcement is a key technology in civil engineering, which is mainly used to improve the bearing capacity and stability of soft foundations.

[0003] Plastic drainage boards are widely used in soft foundation reinforcement processes based on drainage consolidation methods such as vacuum preloading and load preloading due to their simple construction and low cost.

[0004] A Chinese invention patent with publication number CN114991116A discloses a three-dimensional drainage board installation system and a construction method thereof. The three-dimensional drainage board installation system includes a frame base, and a punching wheel is fixedly connected to the outer diameter of a fixed ring, which can effectively improve the installation efficiency of the drainage board and the pile tip drill bit. At the same time, during the vibration pipe pulling process, the contraction of the telescopic pin not only ensures the smooth extraction of the screw sleeve, but also facilitates the fixation of the pile tip drill bit in the deep soil. However, it is difficult to effectively ensure the verticality of the drainage board during the installation process.

[0005] Publication number CN102373707B discloses a method for quickly installing plastic drain boards with power on. This method uses a battery pack to provide a low-voltage DC power supply, which is connected to the upper end of the pipe for installing the plastic drain board piles. During the installation process, the DC power supply is turned on to reduce the frictional resistance of the clay soil, improve the installation efficiency of the plastic drain board, and reduce power consumption. However, it is also difficult to control the installation depth and verticality of the drain board.

[0006] In summary, the existing methods of installing plastic drainage boards have the problem of difficult control of construction quality. During the installation process, the installation depth and verticality of the drainage board are difficult to ensure, which can easily affect the subsequent reinforcement effect. In addition, the construction sequence lacks systematic overall arrangement, which can easily lead to low construction efficiency. Summary of the invention

[0007] In view of this, the purpose of the present invention is to provide a drainage board installation path planning method, device, equipment and storage medium to address the problems and shortcomings of the prior art, so as to solve the technical problems that the installation position of the existing drainage boards is difficult to accurately control and the installation efficiency is low.

[0008] To solve the above problems, the present invention adopts the following technical solutions:

[0009] The first object of the present invention is to provide a method for planning the installation path of a soft foundation reinforcement drainage board, the method comprising:

[0010] Step S 100: Obtain aerial survey terrain image data of the area to be constructed;

[0011] Step S 200 : Based on the aerial survey terrain image data, draw a map of the area to be constructed;

[0012] Step S 300 : In the map of the area to be constructed, the special terrain is repaired and pre-processed to obtain a drainage board movement map;

[0013] Step S 400 : Based on the obtained drainage board movement map, the artificial fish swarm algorithm is used to analyze the drainage board installation path to obtain the optimal installation path;

[0014] Step S 500 : A GNSS displacement sensor and a dynamic tilt sensor are installed on the fixed frame of the board-laying machine to locate the initial position of the drain board. The drain boards are laid in sequence according to the optimal laying path until the end.

[0015] Preferably, in step S 100 The method for obtaining aerial survey terrain image data of the area to be constructed includes:

[0016] Step S 110 : Establishing ground basic control points and obtaining the coordinates of the ground basic control points through a level and a total station;

[0017] Step S 120 : Use drones carrying laser radar, GPS locators and optical cameras to conduct flight measurements of the area to be constructed;

[0018] Step S 130 : Measure and record the terrain and environmental image information of the area to be constructed.

[0019] Preferably, in step S 200 Among them, the specific method of drawing the map of the area to be constructed includes:

[0020] Step S 210 : Read the aerial survey topographic image data and merge and project it with the locations of the planned drainage board installation points;

[0021] Step S 220 : Extract the coordinates, elevation and site environment information of the installation points of the drainage board, and mark the special terrain range.

[0022] Preferably, in step S 300 Among them, the special terrain includes sinkholes.

[0023] Preferably, in step S 400Among them, the method of using artificial fish swarm algorithm to analyze the installation path of the drainage board to obtain the optimal installation path includes:

[0024] According to the coordinate information of the drainage board to be installed in the area to be constructed and the coordinate information of the entrance and exit of the area to be constructed, the objective function is established:

[0025] Define an undirected complete graph G = (V, E, r) with n points, traverse all points in G and form a closed loop so that the sum of the weights of all edges on the closed loop is minimized;

[0026] The set of setup points V = {1, 2, ... n} represents the nodes that have completed the setup, E is the edge set of different setup points in V, and r is the edge weight set;

[0027] Then the objective function

[0028]

[0029] Where: minZ represents the minimum path length, d i,j Indicates the weight between two set points, x i,j Represents the horizontal coordinate distance between two setting points, and n represents the number of setting points.

[0030] Preferably, the establishment conditions of the objective function include:

[0031] Condition 1: Each setting point is passed by the punching machine only once, then:

[0032]

[0033] Condition 2: The punching machine cannot form a loop in any one punching point concentration, then it satisfies:

[0034]

[0035] Where: x ij ∈{0,1}, i=1,2,...n, j=1,2,...n, S represents the set of points, Q∈{1,2,...n}, when x ij =1, it means the setting point has been traversed, otherwise it means it has not been traversed.

[0036] The second object of the present invention is to provide a soft foundation reinforcement drainage board installation path planning device, the installation path planning device comprising:

[0037] A terrain acquisition unit, used to obtain aerial survey terrain image data of the area to be constructed;

[0038] A map drawing unit, which draws a map of the area to be constructed based on the aerial survey terrain image data;

[0039] A terrain patching unit, used for pre-processing special terrain in the map of the area to be constructed to obtain a drainage board movement map;

[0040] A path planning unit, based on the obtained drainage board movement map, uses an artificial fish school algorithm to analyze the drainage board installation path to obtain the optimal installation path;

[0041] The drainage board installation unit is used to install a GNSS displacement sensor and a dynamic inclination sensor on the fixed frame of the board installation machine to locate the initial position of the drainage board, and install it sequentially according to the optimal installation path.

[0042] The third object of the present invention is to provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned method for planning the path for installing soft foundation reinforcement drainage boards when executing the computer program.

[0043] The fourth object of the present invention is to provide a computer-readable storage medium, which stores a computer program. When the computer program is read and executed by a processor, the method for planning the path for installing soft foundation reinforcement drainage boards as described above is implemented.

[0044] Compared with the prior art, the present invention has significant advantages and beneficial effects, which are specifically embodied in the following aspects:

[0045] The method for installing the drain board in the present invention includes the following steps: obtaining aerial survey terrain image data of the area to be constructed; drawing a map of the area to be constructed based on the aerial survey terrain image data; performing repair preprocessing on the special terrain in the map of the area to be constructed to obtain a drainage board movement map; based on the obtained drainage board movement map, using an artificial fish swarm algorithm to analyze the installation path of the drain board to obtain the optimal installation path; installing a GNSS displacement sensor and a dynamic tilt sensor on the fixed frame of the plate machine to locate the initial position of the drain board, and the drain board is installed in sequence according to the optimal installation path until the end. This method not only solves the problem that the installation position of the drain board is difficult to accurately control and the verticality is difficult to effectively ensure in the prior art, but also obtains the drainage board movement map through drone camera measurement, replenishes and plans the optimal installation path, and improves construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of a flow chart of a drainage board installation path planning method according to an embodiment of the present invention;

[0047] Figure 2 Step S in the embodiment of the present invention 100 Detailed process diagram of

[0048] Figure 3 Step S in the embodiment of the present invention 200 Detailed process diagram of

[0049] Figure 4 It is a structural schematic diagram of a path planning device for a drainage board in an embodiment of the present invention;

[0050] Figure 5 Schematic diagram of the structure of a computer device in an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0052] See also Figure 1 As shown, an embodiment of the present invention provides a drainage board installation path planning method, and the drainage board installation path planning method includes:

[0053] Step S 100 : Obtain aerial survey terrain image data of the area to be constructed;

[0054] Step S 200 : Based on the aerial survey terrain image data, draw a map of the area to be constructed;

[0055] Step S 300 : In the map of the area to be constructed, the special terrain is repaired and pre-processed to obtain a drainage board movement map;

[0056] Step S 400 : Based on the obtained drainage board movement map, the artificial fish swarm algorithm is used to analyze the drainage board installation path to obtain the optimal installation path;

[0057] Step S 500 : A GNSS displacement sensor and a dynamic tilt sensor are installed on the fixed frame of the board-laying machine to locate the initial position of the drain board. The drain boards are laid in sequence according to the optimal laying path until the end.

[0058] In this step, a GNSS displacement sensor and a dynamic inclination sensor are set on the fixed frame of the board beating machine. The GNSS displacement sensor is used to obtain the position of the support frame of the drainage board in real time, so as to provide guarantee for the movement trajectory and construction sequence of the board beating machine in the area to be constructed. The dynamic inclination sensor can obtain and record the inclination angle of the fixed frame of the current board beating machine, which is used to adjust and confirm the installation angle of the drainage board before installation. After completing the installation of the drainage board at any point, the drainage board installation task at the next point is carried out according to the optimal installation path planning until it is completed.

[0059] Therefore, installing GNSS displacement sensors and dynamic inclination sensors on the fixed frame of the drainage board machine can ensure the accurate installation position and verticality of the drainage board.

[0060] See also Figure 2 As shown, in a specific embodiment of the present invention, step S 100 The method for obtaining aerial survey terrain image data of the area to be constructed includes:

[0061] Step S 110 : Establishing ground basic control points and obtaining the coordinates of the ground basic control points through a level and a total station;

[0062] Step S 120 : Use a drone carrying a laser radar, a GPS locator and an optical camera to conduct flight measurement of the area to be constructed;

[0063] Step S 130 : Measure and record the terrain and environmental image information of the area to be constructed.

[0064] Therefore, during the data collection process, drones are used to perform flight measurements of the terrain in the construction area. In the process of terrain collection by drones, it is necessary to establish ground basic control points before collection, and obtain the coordinates of the ground basic control points through levels and total stations, etc., to facilitate the subsequent correction of aerial survey data. The drones used in the collection process must carry laser radar, GPS positioning and optical cameras to improve measurement accuracy.

[0065] See also Figure 3 As shown, in a specific embodiment of the present invention, step S 200 Among them, the specific method of drawing the map of the area to be constructed includes:

[0066] Step S 210 : Read the aerial survey topographic image data and merge and project it with the locations of the planned drainage board installation points;

[0067] Step S 220 : Extract the coordinates, elevation and site environment information of the installation points of the drainage board, and mark the special terrain range.

[0068] In a specific embodiment of the present invention, step S 300 The special terrain includes a sinkhole. Therefore, the special terrain such as the sinkhole in the aerial survey image is pre-processed to facilitate the movement of the board insertion machine.

[0069] In a specific embodiment of the present invention, step S 400Among them, the method of using artificial fish swarm algorithm to analyze the installation path of the drainage board to obtain the optimal installation path includes:

[0070] According to the coordinate information of the drainage board to be installed in the area to be constructed and the coordinate information of the entrance and exit of the area to be constructed, the objective function is established:

[0071] Define an undirected complete graph G = (V, E, r) with n points, traverse all points in G and form a closed loop so that the sum of the weights of all edges on the closed loop is minimized;

[0072] The set of setup points V = {1, 2, ... n} represents the nodes that have completed the setup, E is the edge set of different setup points in V, and r is the edge weight set;

[0073] Then the objective function is:

[0074]

[0075] Where: minZ represents the minimum path length, d i,j Indicates the weight between two set points, x i,j Represents the horizontal coordinate distance between two setting points, and n represents the number of setting points.

[0076] Therefore, a mathematical model was established based on the coordinate information of the drainage board to be installed in the site, the environmental information and the entry and exit positions of the drainage machine, and the optimized artificial fish swarm algorithm was used to analyze the optimal installation path.

[0077] In an embodiment of the present invention, the establishment conditions of the objective function include:

[0078] Condition 1: Each setting point is passed by the punching machine only once, then:

[0079]

[0080]

[0081] Condition 2: The punching machine cannot form a loop in any one punching point concentration, then it satisfies:

[0082]

[0083] Where: x ij ∈{0,1}, i=1,2,...n, j=1,2,...n, S represents the set of points, Q∈{1,2,...n}, when x ij =1, it means the setting point has been traversed, otherwise it means it has not been traversed.

[0084] Specifically in the embodiment of the present invention, assuming that the number of installation points n of the drainage board is 20,000, the specific calculation steps are as follows:

[0085] Step 1: Input the coordinates of 20,000 points as the input data of the artificial fish swarm algorithm, establish the coordinate matrix of all points, and set the relevant setting parameters;

[0086] Step 2: Execute a new search for the setting path, find the setting point and plan the optimal path for the setting point; wherein, the definition of the search for the setting path assumes that the current state of the current setting point is x i , randomly select the next setting point x j , when x j If the density of the placement point at the current location is greater than the density of the current placement point, move in that direction, otherwise randomly select a new placement point. That is:

[0087]

[0088] In the formula, sp represents the maximum moving step length, FC i and FC j Respectively represent x i and x j The corresponding point density; x i (k+1) and x i (k) represents the setting point status of the kth iteration and the k+1th iteration respectively.

[0089] It is necessary to further explain that the specific definitions of searching for a laying path, finding a laying point, and planning an optimal path in this embodiment are as follows:

[0090] 1. Find the path to set up:

[0091] Assume that the current global optimal setting path is X best , the current state of the set point is X i , randomly select a setting point X within its perception range j , if in the maximum value problem, Y i <Y j , then to X j and the optimal layout path X best The vector and direction of one step forward;

[0092] The position increment of the path setting = a random number between 0 and 1 × the manual setting step length × (X j State position vector + optimal path X best Position vector - X i state position vector) / distance;

[0093] Otherwise, randomly select state X againj , to determine whether the forward condition is met, so try repeatedly _number After that, if the advancement condition is still not met, move one step randomly.

[0094] 2. Find the setting point:

[0095] If there are more adjacent points near the center of a certain setting point and it is not too crowded, then these points will move forward one step towards the center position of their partners, otherwise a new setting path search behavior will be executed.

[0096] 3. Planning the optimal path:

[0097] Use x max It is represented as the most feasible route within the visible range. If FC is satisfied max >FC i , then x max The position is regarded as the center position, otherwise the path search and setting behavior is performed;

[0098] In addition, during the execution of the artificial fish swarm algorithm, the optimal path of the setting point in the artificial path planning and the setting point density where the setting point is located are recorded to facilitate the comparison of the new setting point with it.

[0099] Step 3: After each setting point has completed its own path planning, it must check its own path status and compare it with the path status of the optimal setting point. If it is better than the path status of the optimal setting point, it will be replaced, otherwise it will remain unchanged.

[0100] Step 4: After executing the fish swarm algorithm, if the number of iterations has reached the preset maximum number of iterations, output the result, otherwise go to step 2 for execution.

[0101] See also Figure 4 As shown, corresponding to the above-mentioned drainage board installation path planning method, an embodiment of the present invention further provides a drainage board installation path planning device, and the drainage board installation path planning device includes:

[0102] A terrain acquisition unit 10 is used to obtain aerial survey terrain image data of the area to be constructed;

[0103] A map drawing unit 20 draws a map of the area to be constructed based on the aerial survey terrain image data;

[0104] A terrain patching unit 30 is used to perform patching preprocessing on special terrain in the map of the area to be constructed to obtain a drainage board movement map;

[0105] The path planning unit 40 analyzes the installation path of the drainage board by using an artificial fish school algorithm based on the obtained drainage board movement map to obtain an optimal installation path;

[0106] The drainage board installation unit 50 is used to install a GNSS displacement sensor and a dynamic tilt sensor on a fixed frame of the board installation machine to locate the initial position of the drainage board, and to install the drainage board in sequence according to the optimal installation path.

[0107] The advantages of the drainage board installation path planning device described in the present invention and the drainage board installation path planning method described in the present invention are the same as those of the prior art, which will not be repeated here.

[0108] Another embodiment of the present invention provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0109] Acquire aerial survey topographic image data of the area to be constructed; draw a map of the area to be constructed based on the aerial survey topographic image data; perform patching preprocessing on special terrain in the map of the area to be constructed to obtain a drainage board movement map; based on the obtained drainage board movement map, use an artificial fish school algorithm to analyze the installation path of the drainage board to obtain an optimal installation path; install a GNSS displacement sensor and a dynamic inclination sensor on the fixed frame of the drainage board machine to locate the initial position of the drainage board, and the drainage boards are installed in sequence according to the optimal installation path until the end.

[0110] Figure 5 FIG. 2 shows an internal structure diagram of a computer device in one embodiment. Figure 5 As shown, the computer device includes a processor, a memory, a network interface, an input device and a display screen connected through a system bus. Among them, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement a path planning method for laying a soft foundation reinforcement drainage board. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can execute a path planning method for laying a soft foundation reinforcement drainage board.

[0111] The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0112] Those skilled in the art will understand that Figure 5The structure shown in the figure is only a block diagram of a part of the structure related to the present invention, and does not constitute a limitation on the computer device to which the present invention is applied. The specific computer device may include more or less components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0113] Another embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is read and executed by a processor, the drainage board installation path planning method is implemented.

[0114] The computer-readable storage medium described in the present invention and the drainage board installation path planning method have the same advantages over the prior art, which will not be repeated here.

[0115] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0116] It should be noted that, in the present invention, terms such as "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0117] Although the invention of the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A drainage board installation path planning method, characterized in that: include: Step S 100 : Obtain aerial survey terrain image data of the area to be constructed; Step S 200 : Based on the aerial survey terrain image data, draw a map of the area to be constructed; Step S 300 : In the map of the area to be constructed, the special terrain is repaired and pre-processed to obtain a drainage board movement map; Step S 400 : Based on the obtained drainage board movement map, the artificial fish swarm algorithm is used to analyze the drainage board installation path to obtain the optimal installation path; Step S 500 : A GNSS displacement sensor and a dynamic tilt sensor are installed on the fixed frame of the board-laying machine to locate the initial position of the drain board. The drain boards are laid in sequence according to the optimal laying path until the end.

2. The drainage board installation path planning method according to claim 1 is characterized in that: In step S 100 The method for obtaining aerial survey terrain image data of the area to be constructed includes: Step S 110 : Establishing ground basic control points and obtaining the coordinates of the ground basic control points through a level and a total station; Step S 120 : Use a drone carrying a laser radar, a GPS locator and an optical camera to conduct flight measurement of the area to be constructed; Step S 130 : Measure and record the terrain and environmental image information of the area to be constructed.

3. The method for planning the installation path of the soft foundation reinforcement drainage board according to claim 1 is characterized in that: In step S 200 Among them, the specific method of drawing the map of the area to be constructed includes: Step S 210 : Read the aerial survey topographic image data and merge and project it with the locations of the planned drainage board installation points; Step S 220 : Extract the coordinates, elevation and site environment information of the installation points of the drainage board, and mark the special terrain range.

4. The drainage board installation path planning method according to claim 1, characterized in that: In step S 300 Among them, the special terrain includes sinkholes.

5. The method for planning the installation path of the soft foundation reinforcement drainage board according to claim 1, characterized in that: In step S 400 Among them, the method of using artificial fish swarm algorithm to analyze the installation path of the drainage board to obtain the optimal installation path includes: According to the coordinate information of the drainage board to be installed in the area to be constructed and the coordinate information of the entrance and exit of the area to be constructed, the objective function is established: Define an undirected complete graph G = (V, E, r) with n points, traverse all points in G and form a closed loop so that the sum of the weights of all edges on the closed loop is minimized; The set of setting points V = (1, 2, ... n} represents the nodes that have completed the setting, E is the edge set of different setting points in V, and r is the edge weight set; Then the objective function is: Where: minZ represents the minimum path length, d i，j Indicates the weight between two set points, x i，j Represents the horizontal coordinate distance between two setting points, and n represents the number of setting points.

6. The drainage board installation path planning method according to claim 5, characterized in that: The establishment conditions of the objective function include: Condition 1: Each setting point is passed by the punching machine only once, then: Condition 2: The punching machine cannot form a loop in any one punching point set, then it satisfies: Where: x ij ∈{0,1}, i=1,2,...n, j=1,2,...n, S represents the set of points, Q∈{1,2,...n}, when x ij =1, it means the setting point has been traversed, otherwise it means it has not been traversed.

7. A drainage board installation path planning device, characterized in that: include: A terrain acquisition unit, used to obtain aerial survey terrain image data of the area to be constructed; A map drawing unit, which draws a map of the area to be constructed based on the aerial survey terrain image data; A terrain patching unit, used for pre-processing special terrain in the map of the area to be constructed to obtain a drainage board movement map; A path planning unit, based on the obtained drainage board movement map, uses an artificial fish school algorithm to analyze the drainage board installation path to obtain the optimal installation path; The drainage board installation unit is used to install a GNSS displacement sensor and a dynamic inclination sensor on the fixed frame of the board installation machine to locate the initial position of the drainage board, and install it sequentially according to the optimal installation path.

8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the drainage board installation path planning method of any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is read and executed by a processor, the drainage board installation path planning method according to any one of claims 1 to 6 is implemented.

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