Method for enabling non-self-propelled cutter suction dredger to autonomously pass through narrow channel

Abstract

The invention relates to a method for a non-self-propelled cutter suction dredger to autonomously pass through a narrow channel. Comprising the following steps that S1, the stern of the cutter suction dredger is adjusted to face a channel, when the vertical distance from the center of a three-cable column of the stern to an inlet of the channel is d1, the cutter suction dredger stops moving the dredger and keeps the position of the dredger, two transverse moving anchors of the bow are thrown, two transverse moving cables are tightened to complete anchor braking, the three-cable anchors of the stern are thrown to the other side of the channel, and the three-cable anchors of the stern are thrown to the channel; the stern anchor cable is thrown along the center line of the channel, the two side anchor cables are symmetrical along the stern anchor cable, and the stern anchor cable and the two side anchor cables are tightened to complete anchor braking; s2, the auxiliary ship sails away from the cutter suction dredger and is standby in a nearby water area, the cutter suction dredger starts a three-cable winch to take up a stern anchor cable and two side anchor cables, meanwhile, a transverse moving cable winch is started to pay off a transverse moving cable, and the cutter suction dredger is kept on the middle line of the channel and slowly enters the channel; s3, when the side anchor cable is perpendicular to the central axis of the cutter suction dredger body, the side anchor winch is converted into a cable unwinding state from a cable winding state; and S4, when the body of the cutter suction dredger completely passes through the channel and the vertical distance between the reamer head and the outlet of the channel is d2, cable winding and unwinding are stopped. According to the method for the non-self-propelled cutter suction dredger to autonomously pass through the narrow channel, the feasibility and safety of operation when the three-cable non-self-propelled cutter suction dredger passes through the narrow channel are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of cutter suction dredger construction, and in particular relates to a method for a non-self-propelled cutter suction dredger to autonomously pass through a narrow channel. Background Art

[0002] In addition to its functions of irrigation and flood drainage, rivers and water transport are playing an increasingly important role in economic and social development and progress as economic development accelerates. Due to a number of natural and human factors, rivers often silt up, affecting their normal functions, or new river channels need to be artificially opened due to the needs of irrigation, flood drainage, and shipping. In all of the above situations, inland dredging is required to deepen the river. Inland dredging mostly uses modular dredgers that can be disassembled and transported by land, such as backhoes, grab boats, and suction dredgers. These can handle most soft soils, but for hard soils, existing inland modular dredging equipment cannot effectively cope with them due to insufficient digging capacity. Larger and more powerful dredgers are needed, such as non-self-propelled suction dredgers. A non-self-propelled cutter suction dredger refers to a cutter suction dredger that does not have the ability to navigate independently and relies on auxiliary ships such as tugboats for displacement. Generally, a three-cable device is set at the stern of the ship (one stern anchor cable and two side anchor cables), plus two transverse anchor cables configured at the bow, with a total of five anchor cables and winches for retracting and releasing the cables.

[0003] The aforementioned non-self-propelled dredger suction vessels cannot be transported by land and can only be towed and deployed by water. This often requires them to pass under bridges to access inland river construction areas. Due to the large size of dredger suction vessels and the generally narrow spans of bridges, the width of the passage under the bridge is insufficient to accommodate the deployment of auxiliary vessels such as tugboats alongside the dredger suction vessels. The lateral movement and displacement of the hull of the dredger suction vessel are difficult to control, and under the influence of water flow, there are significant safety risks such as the hull running aground or contacting bridge piers. This limits the application of large, heavy non-self-propelled dredger suction vessels in river dredging projects. Therefore, it is necessary to research and develop methods for non-self-propelled dredger suction vessels to autonomously pass through narrow passages to address the aforementioned technical issues. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for a non-self-propelled cutter suction vessel to autonomously pass through a narrow channel, thereby improving the feasibility and safety of the operation of a three-cable non-self-propelled cutter suction vessel when passing through a narrow channel.

[0005] The technical solution adopted by the present invention is: a method for a non-self-propelled cutter suction vessel to autonomously pass through a narrow channel comprises the following steps:

[0006] Step S1, adjust the stern of the cutter suction vessel toward the channel, move the vessel with the assistance of the auxiliary vessel and slowly approach the channel, keep the center axis of the cutter suction vessel on the center line of the channel, when the vertical distance from the center of the three-cable column at the stern to the channel entrance is d1, stop moving the cutter suction vessel and maintain the ship's position, drop the two traverse anchors at the bow and tighten the two traverse cables to complete the anchoring, drop the three-cable anchor at the stern to the other side of the channel, drop the stern anchor cable along the center line of the channel and the two side anchor cables are symmetrical along the stern anchor cable, tighten the stern anchor cable and the two side anchor cables to complete the anchoring;

[0007] Step S2: The auxiliary vessel leaves the cutter suction vessel and stands by in nearby waters. The cutter suction vessel activates the three-cable winch to reel in the stern anchor cable and two side anchor cables, and simultaneously activates the traverse cable winch to release the traverse cable, keeping the five cables taut at all times. The reeling and releasing speeds of the five winches are adjusted to keep the cutter suction vessel on the centerline of the channel and slowly enter the channel.

[0008] Step S3, when the side anchor cable is perpendicular to the center axis of the cutter suction vessel, the side anchor winch changes from the cable-reeling state to the cable-releasing state;

[0009] Step S4: When the hull of the cutter suction dredge has completely passed through the channel and the vertical distance between the cutter head and the channel exit is d2, the cable is stopped and the auxiliary ship maintains the position of the cutter suction dredge, and the stern anchor, side anchor and transverse anchor are raised and retracted to complete the passage through the narrow channel.

[0010] Preferably, the deployment area of ​​the traverse anchor in step S1 is determined by the following method:

[0011] Establish a coordinate system, and let the vertical distance from the center of the three-cable bitt at the stern to the ship's centerline be a, the hull width be b, the vertical distance from the traverse cable pulley to the ship's centerline be c, the axial distance from the center of the three-cable bitt to the traverse pulley be h, the axial distance from the center of the three-cable bitt to the cutter head be L, the length of the navigation channel be e, the width of the navigation channel be f, and the radius of the circular pier be r. All dimensions are fixed values.

[0012] The coordinate points D and E of the transverse anchor position, the coordinate points P and Q of the transverse pulley, the coordinate point O of the center point of the three-cable column, the coordinate point A of the three-cable stern anchor position, the coordinate points B and C of the three-cable side anchor position, the coordinate points G, F, M, and N of the four corners of the rectangular navigation channel, the vertical distance d1 from the center of the three-cable column to the entrance of the navigation channel during the initial positioning of the cutter suction vessel, the vertical distance d2 from the cutter head of the cutter suction vessel to the exit of the navigation channel, the safe distance s from the near corner of the navigation channel to the three-cable side anchor cable, and the safe distance Z from the near corner of the navigation channel to the transverse cable; the critical boundary of the side anchor position area before passage is the OB line, and the critical boundary of the transverse anchor position area after passage is the PD line;

[0013] According to the conditions before the passage, the angle between the traverse cable and the hull centerline is greater than 30° and the angle between the traverse cable and the direction perpendicular to the hull centerline is greater than 15°, forming the traverse anchor deployment area S1;

[0014] According to the conditions after passing, the coordinates of point P are The coordinates of point G are Assuming that the slope of the PD line is -k1 (k1>0), the equation of the PD line is as follows:

[0015]

[0016] Right now

[0017] The safe distance Z of the transverse anchor cable from the near corner of the navigation channel is expressed as:

[0018]

[0019] k1 can be calculated based on Z and d2, and the critical boundary PD line of the transverse anchor position area is obtained. Since the angle between the transverse cable and the hull centerline is greater than 30°, the transverse anchor deployment area S2 is formed;

[0020] The overlapping area A1 between the aforementioned deployment area S1 and the deployment area S2 is the deployment area of ​​the transverse anchor.

[0021] Preferably, the placement area of ​​the side anchor in step S1 is determined by the following method:

[0022] According to the conditions before the passage, the coordinates of point O are The coordinates of point F are Assuming that the slope of the OB line is k2 (k2>0), the equation of the OB line is as follows:

[0023]

[0024] Right now

[0025] The net distance s between the near corner of the rectangular navigation channel and the three-cable side anchor cables is expressed as:

[0026]

[0027] k2 can be calculated based on s and d1, and the critical boundary OB line of the side anchor anchoring area can be obtained. Since the angle between the side anchor cable and the hull centerline is greater than 30°, the side anchor layout area S3 is formed.

[0028] According to the conditions after the passage, the angle between the side anchor cable and the center axis of the hull is set to be greater than 30°, forming the side anchor layout area S4;

[0029] The overlapping area A2 between the aforementioned deployment area S3 and the deployment area S4 is the deployment area of ​​the side anchor.

[0030] The advantages and positive effects of the present invention are:

[0031] The present invention provides a method for a non-self-propelled dredger suction boat to autonomously pass through a narrow channel. With the assistance of an auxiliary ship, the method realizes autonomous passage in a narrow channel by relying on two transverse cables and transverse anchors (symmetrically arranged on the left and right) configured at the bow and three-cable anchors (one stern anchor and two side anchors symmetrically arranged on the left and right) configured at the stern. By controlling the deployment of the transverse anchor, stern anchor and side anchors and controlling the retraction and deployment of the transverse cables, stern anchor cables and side anchor cables, the hull of the dredger suction boat is stably maintained on the center line of the narrow channel, thereby realizing stable passage and improving the feasibility and safety of the three-cable non-self-propelled dredger suction boat to operate through a narrow channel. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a state diagram of step S1 of the present invention;

[0033] Figure 2 This is a state diagram of step S2 of the present invention;

[0034] Figure 3 This is a state diagram of step S4 of the present invention;

[0035] Figure 4 This is a schematic diagram of the cutter suction draught vessel and the dimensions of the navigation channel;

[0036] Figure 5 This is a schematic diagram of the positioning coordinate system of the cutter suction vessel before it passes the bridge;

[0037] Figure 6 This is a schematic diagram of the positioning coordinate system after the cutter suction vessel passes the bridge;

[0038] Figure 7 It is the anchor position calculation diagram of the lateral anchor, stern anchor and side anchor in the present invention;

[0039] Figure 8 This is an anchor calculation graph of a specific embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to further understand the content, features and effects of the present invention, the following embodiments are given to illustrate in detail.

[0041] The present invention provides a method for a non-self-propelled dredger suction boat to autonomously pass through a narrow channel. It is worth noting that the "autonomous passage" referred to in this patent means mainly relying on its own conditions, that is, the transverse cable and transverse anchor (symmetrically arranged on the left and right) arranged at the bow of the dredger suction boat and the three-cable anchor (one stern anchor and two side anchors symmetrically arranged on the left and right) arranged at the stern to self-shift to pass through the narrow channel. The non-self-propelled dredger suction boat does not have the power to navigate itself. When passing through a narrow channel, it relies on the placement of the aforementioned anchors and the retraction and release of the aforementioned anchor cables to shift, thereby abandoning the current method of using a tugboat towed through a narrow channel to avoid the risks of the hull running aground, the hull touching the bridge pier, etc. in the tugboat towing method.

[0042] The "autonomous passage" referred to in this patent means that the dredger suction dredge relies on its own facilities to provide the power for passage and displacement. The placement and recovery of the anchor, as well as the displacement and maintenance of the position of the dredger suction dredge before and after passing through the narrow channel still require the assistance of the anchor boat and tugboat configured on site. It is completely free from dependence on auxiliary ships when passing through the narrow channel.

[0043] See Figures 1 to 3 The method for a non-self-propelled cutter suction boat to autonomously pass through a narrow channel includes the following steps:

[0044] Step S1, adjust the stern of the cutter suction vessel toward the channel, move the vessel with the assistance of the auxiliary vessel and slowly approach the channel, keep the center axis of the cutter suction vessel on the center line of the channel, when the vertical distance from the center of the three-cable column at the stern to the channel entrance is d1, stop moving the cutter suction vessel and maintain the ship's position, drop the two traverse anchors at the bow and tighten the two traverse cables to complete the anchoring, drop the three-cable anchor at the stern to the other side of the channel, drop the stern anchor cable along the center line of the channel and the two side anchor cables are symmetrical along the stern anchor cable, tighten the stern anchor cable and the two side anchor cables to complete the anchoring;

[0045] Step S2: The auxiliary vessel leaves the cutter suction vessel and stands by in nearby waters. The cutter suction vessel activates the three-cable winch to reel in the stern anchor cable and two side anchor cables, and simultaneously activates the traverse cable winch to release the traverse cable, keeping the five cables taut at all times. The reeling and releasing speeds of the five winches are adjusted to keep the cutter suction vessel on the centerline of the channel and slowly enter the channel.

[0046] Step S3, when the side anchor cable is perpendicular to the center axis of the cutter suction vessel, the side anchor winch changes from the cable-reeling state to the cable-releasing state;

[0047] Step S4: When the hull of the cutter suction dredge has completely passed through the channel and the vertical distance between the cutter head and the channel exit is d2, the cable is stopped and the auxiliary ship maintains the position of the cutter suction dredge, and the stern anchor, side anchor and transverse anchor are raised and retracted to complete the passage through the narrow channel.

[0048] The common principle adopted in the present invention is:

[0049] Before passing through the narrow channel, the ship is positioned, and the transverse anchor (symmetrically arranged on the left and right) configured at the bow of the cutter suction vessel and the three-cable anchor (one stern anchor and two side anchors symmetrically arranged on the left and right) configured at the stern are dropped according to the ship and site parameters. Then, the passage and displacement in the narrow channel are achieved by controlling the retraction and release of the transverse cable, stern anchor cable and side anchor cable. During the passage, the transverse cable and side anchor cable are tensioned to keep the cutter suction vessel on the center line of the channel for safe and centered passage, and the traction and displacement are achieved by releasing the transverse cable and synchronously retracting the stern anchor cable.

[0050] Figures 1 to 3 The article provides a schematic diagram of the steps for passing through a narrow channel, and briefly describes the relative position relationship and status of the cutter suction dredge, bridge pier, transverse anchor and transverse cable, stern anchor and stern anchor cable, side anchor and side anchor cable in different steps.

[0051] As mentioned above, before the cutter suction vessel passes through the narrow channel, the key control method is to drop each anchor. After the anchor is dropped, the anchor will not be raised until the cutter suction vessel completes the passage of the narrow channel. During the passage, the position of each anchor remains unchanged, and only the anchor cable is retracted and released. Figures 1 to 3 It can be seen that during the passage, the transverse cable is in a state of gradually releasing, the stern anchor cable is in a state of gradually reeling in, and the side anchor cable is first gradually reeled in and then gradually released.

[0052] The following is a detailed description of the deployment of two transverse anchors, one stern anchor and two side anchors before passage.

[0053] Figure 4 A schematic diagram of the cutter suction draught vessel and the dimensions of the navigation channel is given in Figure 5 and Figure 6 The schematic diagram of the positioning coordinate system of the cutter suction vessel before and after crossing the bridge is given in Figure 7 The method for determining the anchor position is given in.

[0054] The size parameters are explained as follows:

[0055] Dimensional parameters of the cutter suction draught ship and the channel: let the vertical distance from the center of the three cable bollards at the stern to the ship's central axis be a, the hull width be b, the vertical distance from the transverse cable pulley to the ship's central axis be c, the axial distance from the center of the three cable bollards to the transverse pulley be h, the axial distance from the center of the three cable bollards to the cutter head be L, the length of the navigation channel be e, the width of the navigation channel be f, and the radius of the circular pier be r. All dimensional parameters are fixed values ​​and are obtained by obtaining the ship parameters of the cutter suction draught ship and measuring the dimensions of the channel in advance.

[0056] The established positioning coordinate system is described as follows:

[0057] The coordinate points of the transverse anchor position are D and E, the coordinate points of the transverse pulley are P and Q, the coordinate point O of the center point of the three-cable column, the coordinate point A of the three-cable stern anchor position, the coordinate points B and C of the three-cable side anchor position, the coordinate points G, F, M, and N of the four corners of the rectangular navigation channel, the vertical distance from the center of the three-cable column to the entrance of the navigation channel during the initial positioning of the cutter suction dredger is d1, the vertical distance from the cutter head of the cutter suction dredger to the exit of the navigation channel is d2, the safety distance s from the near corner of the navigation channel to the three-cable side anchor cable, and the safety distance Z from the near corner of the navigation channel to the transverse cable; the critical boundary of the side anchor position area before passage is line OB, and the critical boundary of the transverse anchor position area after passage is line PD.

[0058] The deployment area of ​​the lateral anchor in step S1 is determined by the following method:

[0059] According to the conditions before the passage, the angle between the traverse cable and the hull centerline is greater than 30° and the angle between the traverse cable and the vertical hull centerline is greater than 15°, forming the traverse anchor deployment area S1. The deployment area S1 is Figure 5 Indicated by hatching.

[0060] According to the conditions after passing, the coordinates of point P are The coordinates of point G are Assuming that the slope of the PD line is -k1 (k1>0), the equation of the PD line is as follows:

[0061]

[0062] Right now

[0063] The safe distance Z of the transverse anchor cable from the near corner of the navigation channel is expressed as:

[0064]

[0065] According to Z and d2, k1 can be obtained, and the critical boundary PD line of the transverse anchor position area can be obtained. Since the angle between the transverse cable and the centerline of the hull is greater than 30°, the transverse anchor layout area S2 is formed. The layout area S2 is Figure 6 Indicated by hatching.

[0066] The overlapping area A1 of the above-mentioned deployment area S1 and deployment area S2 is the deployment area of ​​the transverse anchor. Figure 7 The overlapping hatching is used to mark the other side, and the transverse anchor is set to a symmetrical position (centered on the centerline of the hull).

[0067] The placement area of ​​the side anchor in step S1 is determined by the following method:

[0068] According to the conditions before the passage, the coordinates of point O are The coordinates of point F are Assuming that the slope of the OB line is k2 (k2>0), the equation of the OB line is as follows:

[0069]

[0070] Right now

[0071] The net distance s between the near corner of the rectangular navigation channel and the three-cable side anchor cables is expressed as:

[0072]

[0073] k2 can be calculated based on s and d1, and the critical boundary OB line of the side anchor anchoring area can be obtained. In addition, the angle between the side anchor cable and the hull centerline is greater than 30°, forming the side anchor layout area S3.

[0074] According to the conditions after passage, the angle between the side anchor cable and the hull centerline is set to be greater than 30°, forming a side anchor deployment area S4, and the side anchors on the other side are dropped to symmetrical positions (centered on the stern anchor cable).

[0075] The overlapping area A2 of the aforementioned deployment area S3 and deployment area S4 is the deployment area of ​​the side anchor. Figure 7 Overlapping hatching is used to indicate the

[0076] The following is a specific example to further illustrate the method of the non-self-propelled cutter suction boat to autonomously pass through a narrow channel. Figure 8 .

[0077] A river was planned to be developed into a Class-A inland waterway, requiring dredging at its estuary. The original water depth at the estuary was 4.5 meters, and it needed to be deepened to 6.5 meters. The soil consisted of dense fine silt, with a standard penetration number of 20 to 40 blows. Dredged soil was blown into a fill area 3 km from the construction site. A highway bridge was being constructed at the estuary. Initial dredging operations involved a small, detachable, land-transportable cutter suction dredger with a 300 kW cutter power. However, insufficient cutter and main engine power resulted in low dredging efficiency and failed to meet the project schedule. After research, a large non-self-propelled dredger with a cutter power of 1400kw was put into use. However, the dredger had to be dispatched by sea and pass under the bridge to enter the construction area. The net spacing between the piers of the highway bridge located in the center of the river is 49.2m. The piers are cylindrical with a diameter of 0.8m. The width of the dredger is 19.6m. When the dredger passes under the bridge, the net distance between the two sides of the hull and the piers is 14.8m. The hull width of the tugboat stern-bound to the dredger is 11.8m. If a tugboat is used to stern-bound to the dredger to control the lateral displacement of the hull to pass through the bridge, the lateral surplus safety distance will only be 3m. The safety risk is extremely high and the implementation is extremely difficult.

[0078] Using this method, the relevant calculation parameters are as follows:

[0079] The vertical distance a from the center of the three-cable column to the center axis of the ship is 5m; the hull width is b=19.6m; the vertical distance c from the transverse pulley to the center axis of the ship is 3.5m; the axial distance h from the center of the three-cable column to the transverse pulley is 101.8m; the axial distance L from the center of the three-cable column to the cutter head is 108.5m; the length of the navigation channel is e=18m; the width of the navigation channel is f=50m; the radius of the circular pier is r=0.4m; the safe distance s=2m between the pier and the three-cable side anchor cable; the safe distance Z=2m between the pier and the transverse anchor cable; the vertical distance d1=15m from the center of the three-cable column to the entrance of the navigation channel when the cutter suction dredger is initially positioned; the vertical distance d2=15m from the cutter head of the cutter suction dredger to the exit of the navigation channel.

[0080] Calculation yields:

[0081] The angle between the side anchor cable and the hull's midline is greater than 30°, and the angle between the traverse cable and the hull's midline is greater than 30°. This creates areas A1 and A2 for the traverse and side anchors. The side anchor position on the other side of the hull is symmetrically arranged with the anchor position on this side along the stern anchor cable. The traverse anchor position on the other side of the hull is symmetrically arranged with the anchor position on this side along the hull's midline. The stern anchor position is positioned 40 meters from the center plane of the three bollards at the completion of the hull's passage. This completes step S1.

[0082] After all anchors are dropped, the aforementioned steps S2 to S4 are executed until the cutter suction vessel completes its passage through the narrow channel.

Claims

1. A method for a non-self-propelled dredger suction boat to autonomously pass through a narrow channel, characterized by: The following steps are included: Step S1, adjust the stern of the dredger suction boat toward the channel, move the boat with the assistance of the auxiliary ship and slowly approach the channel, keep the center axis of the hull of the dredger suction boat on the center line of the channel, when the vertical distance from the center of the three-cable column at the stern to the entrance of the channel is d1, the dredger suction boat stops moving and maintains the ship's position, the two transverse anchors at the bow are thrown and the two transverse cables are tightened to complete the anchor braking, the three-cable anchor at the stern is thrown to the other side of the channel, the stern anchor cable is thrown along the center line of the channel and the two side anchor cables are symmetrical along the stern anchor cable, and the stern anchor cable and the two side anchor cables are tightened to complete the anchor braking; Step S2, the auxiliary ship sails away from the dredging vessel and stands by in nearby waters, the dredging vessel starts the three-cable winch to reel in the stern anchor cable and two side anchor cables, and starts the transverse cable winch to release the transverse cable, keeping the five cables always in a taut state, adjusting the reeling and releasing speeds of the five winches, so that the dredging vessel remains on the center line of the channel and slowly enters the channel; Step S3, when the side anchor cable is perpendicular to the center axis of the hull of the dredger, the side anchor winch changes from the cable-collecting state to the cable-releasing state; Step S4, when the hull of the dredging vessel completely passes through the channel and the vertical distance between the dredging head and the channel exit is d2, stop retracting and releasing the cable, and the auxiliary ship will keep the dredging vessel in position, and the stern anchor, side anchor and transverse anchor will be hoisted and retrieved to complete the passage through the narrow channel.

2. The method for a non-self-propelled dredger suction vessel to autonomously pass through a narrow channel as claimed in claim 1, characterized in that: the deployment area of ​​the transverse anchor in step S1 is determined by the following method: Establish a coordinate system, let the vertical distance from the center of the three cable posts at the stern to the center axis of the ship be a, the width of the hull be b, the vertical distance from the traverse cable pulley to the center axis of the ship be c, the axial distance from the center of the three cable posts to the traverse pulley be h, the axial distance from the center of the three cable posts to the cutter head be L, the length of the navigation channel be e, the width of the navigation channel be f, the radius of the circular pier be r, and all dimensions are fixed values; Coordinate points D and E of the transverse anchor position, coordinate points P and Q of the transverse pulley, coordinate point O of the center point of the three-cable column, coordinate point A of the three-cable stern anchor position, coordinate points B and C of the three-cable side anchor position, coordinate points G, F, M and N of the four corners of the rectangular navigation channel, the vertical distance from the center of the three-cable column to the entrance of the navigation channel when the dredger is initially positioned is d1, the vertical distance from the dredger head to the exit of the navigation channel is d2, the safety distance s from the near corner of the navigation channel to the three-cable side anchor cable, the safety distance Z from the near corner of the navigation channel to the transverse cable; the critical boundary of the side anchor position area before the passage is the OB line, and the critical boundary of the transverse anchor position area after the passage is the PD line; According to the conditions before the passage, the angle between the traverse cable and the centerline of the hull is set to be greater than 30° and the angle between the traverse cable and the direction perpendicular to the centerline of the hull is set to be greater than 15°, forming the traverse anchor deployment area S1; According to the conditions after passing, the coordinates of point P are The coordinates of point G are Assuming that the slope of the PD line is -k1 (k1>0), the equation of the PD line is as follows: Right now The safe distance Z of the transverse anchor cable at the near angle of the navigation channel is expressed as: k1 can be calculated based on Z and d2, and the critical boundary PD line of the transverse anchor position area can be obtained. In addition, the angle between the transverse cable and the centerline of the hull is greater than 30°, forming the transverse anchor deployment area S2; The overlapping area A1 between the aforementioned deployment area S1 and the deployment area S2 is the deployment area of ​​the transverse anchor.

3. The method for a non-self-propelled dredger suction boat to autonomously pass through a narrow channel as claimed in claim 2, characterized in that: The placement area of ​​the side anchor in step S1 is determined by the following method: According to the conditions before the passage, the coordinates of point O are The coordinates of point F are Assuming that the slope of the OB line is k2 (k2>0), the equation of the OB line is as follows: Right now The net distance s between the near corner of the rectangular navigation channel and the three-cable side anchor cable is expressed as: k2 can be calculated based on s and d1, and the critical boundary OB line of the side anchor anchoring area can be obtained. In addition, the angle between the side anchor cable and the hull centerline is greater than 30°, forming the side anchor layout area S3; According to the conditions after the passage, the angle between the side anchor cable and the center axis of the hull is set to be greater than 30°, forming the side anchor deployment area S4; The overlapping area A2 between the aforementioned deployment area S3 and the deployment area S4 is the deployment area of ​​the side anchor.

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