On-flight tide level control method and system of drag suction dredger

Abstract

The invention discloses an in-flight tide level control method and system for a drag suction dredger. The method comprises the steps that tide level data are defined based on antenna elevation data; acquiring draft data of different positions of the drag suction dredger; the sea level data and the draught data are synchronized to the unified time scale, synchronization of the sea level data and the draught data in time is achieved, further processing of the sea level data and the draught data is facilitated, and follow-up processing of the sea level data and the draught data is guaranteed. Further, ship installation data are collected, and a vertical distance is defined according to the ship installation data; according to the method, the on-line tide level of the drag suction dredger is defined based on the tide level data, the draught data and the vertical distance, overall consideration of the tide level data, the draught data and the vertical distance is compatible, multi-dimensional control over the tide level data, the draught data and the vertical distance is achieved, accurate control over the on-line tide level of the drag suction dredger is guaranteed, and the control accuracy of the drag suction dredger is improved. And therefore, the accuracy of the drag suction dredger on the sea level is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of trailing suction dredgers, and in particular to a method and system for controlling the tide level of a trailing suction dredger in navigation. Background Art

[0002] With the development of science and technology, during the dredging construction process, the bucket-suction dredging vessel needs to obtain real-time tide data. In the construction area where it is convenient to set up tide observation stations, the bucket-suction dredging vessel relies on the tide observation stations to obtain real-time tide data. However, in some construction areas where tide observation stations are not set up, the bucket-suction dredging vessel cannot obtain real-time tide data, which affects the accuracy of the tide level of the bucket-suction dredging vessel during navigation. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a method and system for controlling tide level of a trailing suction hopper dredger in operation, which collect antenna elevation data of the trailing suction hopper dredger; define tide level data based on the antenna elevation data; obtain draft data of different positions of the trailing suction hopper dredger; synchronize the tide level data and the draft data to a unified time scale, thereby realizing the synchronization of the tide level data and the draft data in time, so as to facilitate further processing of the tide level data and the draft data, and ensure subsequent processing of the tide level data and the draft data.

[0004] Furthermore, the ship installation data is collected, and the vertical distance is defined according to the ship installation data; the tide position of the trailing-suction dredger is defined based on the tide data, draft data and vertical distance, which is compatible with the overall consideration of tide data, draft data and vertical distance, and realizes the multi-dimensional control of tide data, draft data and vertical distance, ensuring the precise control of the tide position of the trailing-suction dredger, and further ensuring the accuracy of the tide position of the trailing-suction dredger.

[0005] The embodiment of the present invention provides a method for controlling the tide level of a trailing suction dredger in navigation, which is applied to the scenario of controlling the tide level of a trailing suction dredger in navigation; The method for controlling the tide level of the trailing suction dredger during navigation comprises: Collect antenna elevation data of trailing suction dredger; Define tide data based on antenna elevation data; Obtain draft data of different positions of the trailing suction dredger; Synchronize tide data and draft data to a common time scale; Collect ship installation data and define vertical distances based on the ship installation data; The tidal position of the trailing suction dredger is defined based on tidal data, draft data and vertical distance.

[0006] Optionally, the collecting of antenna elevation data of the trailing suction dredging vessel includes: Positioning of trailing suction dredgers; Associated trailing suction dredger and satellite station differential high-precision positioning equipment; Dynamically interact with the trailing suction dredger and the satellite station differential high-precision positioning equipment; The antenna elevation data of the trailing suction hopper dredger is collected based on the dynamic interaction between the trailing suction hopper dredger and the satellite station differential high-precision positioning equipment.

[0007] Optionally, defining tide data based on antenna elevation data includes: Freeze antenna elevation data; Traverse the antenna elevation data; Defining a plurality of position data according to the traversal of the antenna elevation data; Tidal data is defined based on the identification of the plurality of location data.

[0008] Optionally, the obtaining of draft data at different positions of the trailing suction dredger includes: Fixed frame suction dredger; Conduct sensor testing on trailing suction dredgers; The positions of the draft sensors are defined based on the sensor detection of the trailing suction dredger; at this time, the positions of the draft sensors are the bow, the middle of the ship, the position of the ship, and the dredge mouth; Collect corresponding draft sensors according to each draft sensor to define the draft data of different positions of the suction dredging vessel; The draft data of the suction dredging vessel at different positions are dynamically acquired.

[0009] Optionally, synchronizing the tide data and the draft data to a unified time scale includes: Freeze the draft data at different positions; Collect tide data; Correlate various draft data and tide data at different locations; Time control of draft data and tide data at different locations; Correlate the time dimension, various draft data at different locations, and tide data; Synchronize tide data and draft data to a common time scale.

[0010] Optionally, collecting ship installation data and defining the vertical distance according to the ship installation data includes: Real-time monitoring of trailing suction dredgers; Vessel installation data is defined based on real-time monitoring of a trailing suction hopper dredger.

[0011] Optionally, the collecting of ship installation data and defining the vertical distance according to the ship installation data further includes: Collect ship installation data; Analyze ship installation data; The vertical distances are defined based on analysis of the vessel installation data.

[0012] Optionally, the step of defining the tidal position of the trailing suction dredger based on tidal level data, draft data and vertical distance includes: Freeze vertical distance; Correlate tide data, draft data, and vertical distance; Dynamically interact with tide data, draft data, and vertical distance.

[0013] Optionally, the method of defining the tidal position of the trailing suction dredger based on the tidal position data, the draft data and the vertical distance further includes: Define the first in-service tide level parameters according to tide level data and draft data; Define the second in-flight tide level parameters according to tide level data and vertical distance; The first tidal level parameter, the second tidal level parameter and the trailing suction dredger are associated, and the tidal level of the trailing suction dredger is defined according to the first tidal level parameter, the second tidal level parameter and the trailing suction dredger.

[0014] In addition, an embodiment of the present invention further provides a tidal level control system for a trailing suction dredger, which is applied to the above-mentioned tidal level control method for a trailing suction dredger, and the tidal level control system for a trailing suction dredger includes: The acquisition module is used to collect the antenna elevation data of the trailing suction dredging vessel; Tide data module, used to define tide data based on antenna elevation data; Draft data module, used to obtain draft data of different positions of the trailing suction dredger; Synchronization module, used to synchronize tide data and draft data to a unified time scale; A vertical distance module is used to collect ship installation data and define vertical distances based on the ship installation data; The tidal position module is used to define the tidal position of the trailing suction dredger based on tidal data, draft data and vertical distance.

[0015] In an embodiment of the present invention, through the method of the embodiment of the present invention, the antenna elevation data of the trailing suction dredger is collected; the tide data is defined based on the antenna elevation data; the draft data of different positions of the trailing suction dredger is obtained; the tide data and the draft data are synchronized to a unified time scale, thereby realizing the time synchronization of the tide data and the draft data, so as to facilitate further processing of the tide data and the draft data, thereby ensuring the subsequent processing of the tide data and the draft data.

[0016] Furthermore, the ship installation data is collected, and the vertical distance is defined according to the ship installation data; the tide position of the trailing-suction dredger is defined based on the tide data, draft data and vertical distance, which is compatible with the overall consideration of tide data, draft data and vertical distance, and realizes the multi-dimensional control of tide data, draft data and vertical distance, ensuring the precise control of the tide position of the trailing-suction dredger, and further ensuring the accuracy of the tide position of the trailing-suction dredger. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions of 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.

[0018] Figure 1 It is a flow chart of a method for controlling tide level of a trailing suction dredger in navigation according to an embodiment of the present invention; Figure 2 1 is a flow chart of S11 of the method for controlling the tidal level of a trailing suction dredger in navigation according to an embodiment of the present invention; Figure 3 1 is a flow chart of S12 of the method for controlling the tidal level of a trailing suction dredger in navigation according to an embodiment of the present invention; Figure 4 1 is a flow chart of S13 of the method for controlling the tidal level of a trailing suction dredger in navigation according to an embodiment of the present invention; Figure 5 1 is a flow chart of S14 of the method for controlling the tidal level of a trailing suction dredger in navigation according to an embodiment of the present invention; Figure 6 1 is a flow chart of S15 of the method for controlling the tidal level of a trailing suction dredger in navigation according to an embodiment of the present invention; Figure 7 1 is a flow chart of S16 of the method for controlling the tidal level of a trailing suction dredger in navigation according to an embodiment of the present invention; Figure 8 Schematic diagram of the structure of the tidal level control system of the trailing suction dredger in the embodiment of the present invention; Fig. 9 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0019] The following will be combined with the accompanying drawings of the embodiments of the present invention to clearly and completely describe the technical solutions of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figures 1 to 9 , a method for controlling the tide level of a trailing suction dredger in navigation, which is applied to the scene of controlling the tide level of a trailing suction dredger in navigation; the method for controlling the tide level of a trailing suction dredger in navigation includes: Step S11: collecting antenna elevation data of the trailing suction dredging vessel; Step S12: defining tide data based on antenna elevation data; Step S13: obtaining draft data of the trailing suction dredger at different positions; Step S14: Synchronizing the tide data and draft data to a unified time scale; Step S15: collecting ship installation data, and defining the vertical distance according to the ship installation data; Step S16: defining the tidal position of the trailing suction dredger based on the tidal data, the draft data and the vertical distance.

[0021] In an embodiment of the present invention, through the method of the embodiment of the present invention, the antenna elevation data of the trailing suction dredger is collected; the tide data is defined based on the antenna elevation data; the draft data of different positions of the trailing suction dredger is obtained; the tide data and the draft data are synchronized to a unified time scale, thereby realizing the time synchronization of the tide data and the draft data, so as to facilitate further processing of the tide data and the draft data, thereby ensuring the subsequent processing of the tide data and the draft data.

[0022] Furthermore, the ship installation data is collected, and the vertical distance is defined according to the ship installation data; the tide position of the trailing-suction dredger is defined based on the tide data, draft data and vertical distance, which is compatible with the overall consideration of tide data, draft data and vertical distance, and realizes the multi-dimensional control of tide data, draft data and vertical distance, ensuring the precise control of the tide position of the trailing-suction dredger, and further ensuring the accuracy of the tide position of the trailing-suction dredger.

[0023] refer to Figure 2 , in step S11, collecting antenna elevation data of the trailing suction dredging vessel; In the specific implementation process of the present invention, the specific steps may be: S111: Positioning trailing suction dredger; S112: Associated trailing suction dredger and satellite station differential high-precision positioning equipment; S113: Dynamic interaction between the trailing suction dredger and the satellite station differential high-precision positioning equipment; S114: The antenna elevation data of the trailing suction hopper dredger is collected based on the dynamic interaction between the trailing suction hopper dredger and the satellite station differential high-precision positioning device.

[0024] In an embodiment of the present application, a trailing-suction dredger is positioned, a trailing-suction dredger is introduced, and the trailing-suction dredger is controlled. At the same time, the trailing-suction dredger and a satellite station differential high-precision positioning device are associated, and the trailing-suction dredger and the satellite station differential high-precision positioning device are considered as a whole, thereby realizing multi-dimensional control of the trailing-suction dredger and the satellite station differential high-precision positioning device.

[0025] Therefore, dynamic interaction is carried out between the trailing-suction dredger and the satellite station differential high-precision positioning equipment; based on the dynamic interaction between the trailing-suction dredger and the satellite station differential high-precision positioning equipment, the antenna elevation data of the trailing-suction dredger is collected, the antenna elevation data of the trailing-suction dredger is introduced, and the antenna elevation data of the trailing-suction dredger is subsequently controlled.

[0026] At this time, the satellite station differential high-precision positioning device is connected to the automation system of the trailing-suction dredger through a wireless network or a wired connection. During the navigation of the trailing-suction dredger, the satellite station differential high-precision positioning device will measure the position and altitude information of the ship in real time. Through the ship automation system, these data can be acquired and stored in real time, including the height of the antenna relative to the sea level or a certain reference surface. Therefore, based on the dynamic interaction between the trailing-suction dredger and the satellite station differential high-precision positioning device, the antenna elevation data of the trailing-suction dredger can be collected in real time.

[0027] Optionally, the RTX device can output the GGA format message of the NEMA0183 protocol in the phase-locked state. The message contains time information, latitude information, accuracy information, elevation information (based on the starting elevation of the earth ellipsoid), satellite status information (satellite status ranges from 1 to 4, and different statuses represent different elevation accuracy), etc. The time information, elevation information and satellite status information can be extracted from the GGA message.

[0028] refer to Figure 3 , in step S12, defining tide data based on antenna elevation data; In the specific implementation process of the present invention, the specific steps may be: S121: freeze antenna elevation data; S122: traverse the antenna elevation data; S123: defining a plurality of position data according to the traversal of the antenna elevation data; S124: Defining tide data based on the identification of the plurality of position data.

[0029] In the embodiment of the present application, the antenna elevation data is frozen, the antenna elevation data is introduced, and the antenna elevation data is traversed, so as to realize the traversal of the antenna elevation data.

[0030] At this point, the antenna elevation data is traversed. Traversal refers to the process of accessing the antenna elevation data one by one in a certain order (such as time order). Through traversal, the integrity and continuity of the data can be checked, and the basis for subsequent analysis and processing can be provided. The data is traversed in time order. They may use programming languages ​​(such as Python, MATLAB, etc.) to write scripts, access each data point one by one through a loop structure, and check the data value, timestamp and other information.

[0031] In the process of traversing the antenna elevation data, multiple position data can be defined according to the characteristics of the data (such as height change, time interval, etc.). These position data usually represent the position and height information of the ship at different time points, which can be used for subsequent tide level calculation and analysis.

[0032] Furthermore, multiple position data are defined based on the traversal of antenna elevation data; tide data are defined based on the identification of multiple position data, and the identification of multiple position data is introduced to control the multiple position data, thereby ensuring the accuracy of tide data.

[0033] At this point, after defining multiple location data, tide data can be defined by analyzing and processing these location data. Tide data usually represents the height of sea water at a specific time point and location. Optionally, engineers can use reference data such as tide tables and nautical charts in combination with the defined location data to calculate the tide level. They may look up the corresponding tide value in the tide table based on the longitude, latitude, and time information of the location data. In addition, they can also use mathematical models (such as tide prediction models) to calculate the tide level based on the location data and time information. In the end, engineers will get a series of tide data that represents the height of sea water at different time points and locations.

[0034] refer to Figure 4 , in step S13, obtaining draft data of different positions of the trailing suction dredger; In the specific implementation process of the present invention, the specific steps may be: S131: Fixed suction dredger; S132: Sensor detection of the trailing suction dredger; S133: defining the positions of the draft sensors based on the sensor detection of the trailing suction dredger; at this time, the positions of the draft sensors are respectively the bow, the middle of the ship, the position of the ship, and the dredger mouth; S134: collecting corresponding draft sensors according to the draft sensors to define draft data of different positions of the trailing suction dredger; S135: dynamically acquiring the draft data of the trailing suction dredger at different positions.

[0035] In an embodiment of the present application, a trailing suction hopper dredger is fixed and introduced, so as to perform sensor detection on the trailing suction hopper dredger; the position of the draft sensor is defined based on the sensor detection of the trailing suction hopper dredger; at this time, the positions of the draft sensors are respectively the bow, the middle of the ship, the ship position and the dredge mouth, and the positions of the draft sensors are controlled as a whole.

[0036] At this point, based on the sensor detection results of the trailing suction dredger, the specific location of the draft sensor needs to be determined. The location selection of the draft sensor is crucial to accurately reflect the draft status of the ship. Usually, these locations are distributed in key parts of the ship to comprehensively monitor the draft changes of the ship.

[0037] Bow: The draft sensor is installed at the bow to monitor the draft depth of the front of the ship.

[0038] Midship: Installing a draft sensor in the midship can monitor the draft status of the middle part of the ship.

[0039] Drag mouth: Installing a draft sensor at the drag mouth of a drag suction dredger can monitor the draft status of the drag mouth during operation.

[0040] Therefore, the corresponding draft sensors are collected according to each draft sensor to define the draft data of different positions of the suction dredging ship; the draft data of different positions of the suction dredging ship are dynamically acquired, the draft data of different positions of the suction dredging ship are introduced, and the draft data of different positions of the suction dredging ship are overall managed and controlled.

[0041] At this time, the draft sensor will collect data in real time or periodically, and transmit the data to the ship's automation system or data recording equipment. Engineers or technicians can use these systems or equipment to view and analyze the draft data, including the draft depth at different locations, change trends, etc.

[0042] Optionally, a trailed suction dredger will generally be equipped with a pair of draft sensors at the bow, midship, ship position and dredger mouth. The draft sensor data will enter the network switch through the gateway and be edited together with other sensor data into a ship construction data message for transmission. The draft data corresponding to each draft sensor can be read according to the ship construction data message protocol.

[0043] refer to Figure 5 , S14: Synchronize tide data and draft data to a unified time scale; In the specific implementation process of the present invention, the specific steps may be: S141: freeze the draft data at different positions; S142: Collect tide data; S143: Correlate the draft data and tide level data at different locations; S144: Time control of draft data and tide data at different locations; S145: Correlate the time dimension, the draft data at different locations, and the tide data; S146: Synchronize tide data and draft data to a unified time scale.

[0044] In an embodiment of the present application, antenna elevation data of a trailing suction hopper dredger is collected; tide data is defined based on the antenna elevation data; draft data of different positions of the trailing suction hopper dredger is obtained; the tide data and the draft data are synchronized to a unified time scale, thereby achieving time synchronization of the tide data and the draft data, so as to facilitate further processing of the tide data and the draft data, thereby ensuring subsequent processing of the tide data and the draft data.

[0045] At this time, the draft data at different locations are frozen, and at the same time, the tide data are collected; the draft data and tide data at different locations are linked, and the draft data and tide data at different locations are managed as a whole, thus realizing multi-dimensional control of the draft data and tide data at different locations.

[0046] At this time, the draft data of different positions of the dredger (such as the bow, midship, ship position, and dredger mouth) are associated with the tide data at the same time point, the data of the draft sensor and tide meter are recorded, and each data point is timestamped. Whenever new draft data and tide data are collected, they are automatically associated with the current timestamp and stored in the corresponding database table.

[0047] Therefore, time control is performed on each draft data and tide data at different locations; the time dimension, each draft data and tide data at different locations are associated; the tide data and draft data are synchronized to a unified time scale, thereby achieving time synchronization of the tide data and draft data, so as to facilitate further processing of the tide data and draft data, and ensure subsequent processing of the tide data and draft data.

[0048] At this point, a deeper association of the time dimension (such as date, time) with the draft data and tide data can be made using data visualization tools (such as Excel, Tableau, etc.) to create time series charts to show the trend of the draft data and tide data over time. These charts can help us identify patterns, trends, and outliers in the data, and ensure that the tide data and draft data are compared on a unified time scale. This usually means that we need to time synchronize the data to ensure that they have the same time reference. Optionally, suppose we decide to adjust all data points to midnight (00:00) every day. In this way, no matter when the draft data and tide data are collected during the day, they will be synchronized to the time scale of midnight every day. In this way, we can more easily compare and analyze this data without worrying about errors caused by time differences.

[0049] Optionally, the tide data output by RTX is time-stamped with GNSS (Satellite Navigation Positioning System) time, and the ship draft data output by the draft sensor is time-stamped with the computer time of the ship's central server. The two are inconsistent in data collection frequency, and time synchronization technology is needed to synchronize the tide data and draft data to a unified time scale.

[0050] refer to Figure 6 , S15: collecting ship installation data, and defining the vertical distance according to the ship installation data; In the specific implementation process of the present invention, the specific steps may be: S151: Real-time monitoring of trailing suction dredgers; S152: defining ship installation data based on real-time monitoring of the trailing suction dredger; S153: Collecting ship installation data; S154: Analyze the ship installation data; S155: Define the vertical distance based on the analysis of the ship installation data.

[0051] In the embodiment of the present application, a trailing suction dredger is monitored in real time; ship installation data is defined based on the real-time monitoring of the trailing suction dredger, and the ship installation data is collected to facilitate the management and control of the ship installation data. At the same time, the ship installation data is parsed, and the parsing of the ship installation data is realized, so that the vertical distance is defined according to the parsing of the ship installation data, and the accuracy of the vertical distance is ensured.

[0052] At this point, all data from the ship installation process is collected, including but not limited to the ship's dimensions (such as length, breadth, depth), equipment location, installation angle, vertical and horizontal distances, etc. The collected data is preprocessed, including data cleaning (removing invalid or erroneous data), data conversion (such as converting string data to numerical data) and data formatting (such as unifying data formats and units), and the preprocessed data is parsed. This usually involves splitting, reorganizing and calculating the data to extract useful information, and verifying the parsed results to ensure the accuracy and completeness of the data. This can be achieved by comparing the original data, using a verification algorithm, or performing actual measurements.

[0053] At the same time, during the ship installation process, one or more reference points need to be determined as the basis for measuring vertical distances. These reference points can be a fixed position on the ship, the foundation of the equipment, or the mounting bracket, etc. Use measurement tools (such as laser rangefinders, tape measures, etc.) to measure the vertical distance from the reference point to the target position (such as the top, bottom or other key positions of the equipment); record the measured vertical distance data and organize them. This includes classifying and numbering the data, marking the measurement location and date, etc.

[0054] Based on the analysis results of the ship installation data, the measured vertical distance is further analyzed and defined. This may involve calibration, correction or conversion of the data to obtain more accurate vertical distance values, and the analyzed and defined vertical distance data is applied to the ship installation and commissioning process. This can ensure the correct installation and positioning of the equipment and improve the performance and safety of the ship.

[0055] refer to Figure 7 , S16: defining the tidal position of the trailing suction dredger based on the tidal data, the draft data and the vertical distance; In the specific implementation process of the present invention, the specific steps may be: S161: freeze vertical distance; S162: Associate tide data, draft data and vertical distance; S163: Dynamic interaction of tide data, draft data and vertical distance; S164: defining the first in-service tide level parameter according to the tide level data and the draft data; S165: define the second in-flight tide level parameter according to the tide level data and the vertical distance; S166: Associating the first tidal position parameter, the second tidal position parameter and the trailing suction dredger, and defining the tidal position of the trailing suction dredger according to the first tidal position parameter, the second tidal position parameter and the trailing suction dredger.

[0056] In the specific implementation process of the present invention, the ship installation data is collected, and the vertical distance is defined according to the ship installation data; the tide position of the trailing-suction dredger in navigation is defined based on the tide data, the draft data and the vertical distance, which is compatible with the overall consideration of the tide data, the draft data and the vertical distance, and realizes the multi-dimensional control of the tide data, the draft data and the vertical distance, thereby ensuring the precise control of the tide position of the trailing-suction dredger in navigation, and further ensuring the accuracy of the tide position of the trailing-suction dredger in navigation.

[0057] At this time, the vertical distance is frozen; the tide data, draft data and vertical distance are associated, the tide data, draft data and vertical distance are introduced, the tide data, draft data and vertical distance are considered as a whole, and the multi-dimensional spacing of the tide data, draft data and vertical distance is realized.

[0058] At the same time, the tide data, draft data and vertical distance are dynamically interacted; the first tide level parameter in navigation is defined according to the tide data and draft data; the second tide level parameter in navigation is defined according to the tide data and vertical distance; the first tide level parameter in navigation, the second tide level parameter in navigation and the trailing-suction dredger are associated, and the tide level of the trailing-suction dredger in navigation is defined according to the first tide level parameter in navigation, the second tide level parameter in navigation and the trailing-suction dredger, which is compatible with the overall consideration of tide data, draft data and vertical distance, realizes multi-dimensional control of tide data, draft data and vertical distance, ensures the precise control of the tide level of the trailing-suction dredger in navigation, and thus ensures the accuracy of the tide level of the trailing-suction dredger in navigation.

[0059] At this time, during the ship's voyage, the tide data, draft data and vertical distance data are updated in real time or regularly, and these data need to be interrelated and interactive. Specifically, when the tide changes, the draft depth of the ship will also be affected, and the vertical distance between the ship and the water surface or seabed will also change accordingly.

[0060] For the first tidal level parameter, the first tidal level parameter is defined based on the tidal level data and the draft data. This parameter may reflect the safe water level or operating limit of the ship under specific navigation conditions. Specifically, we can add the tidal level data to the draft data and add a safety margin (usually determined according to the type of ship and navigation conditions) to obtain a minimum water level to ensure the safe navigation of the ship. This parameter is very important for ship operators because it can help them assess navigation safety, make navigation plans, and avoid dangerous situations such as grounding or collision.

[0061] For the second tidal level parameter, the second tidal level parameter is defined based on the tidal level data and the vertical distance. This parameter focuses more on the vertical relationship between the ship and the water surface or the seabed to ensure that the ship does not collide with obstacles or run aground during navigation. Specifically, we can compare the tidal level data with the minimum vertical distance between the ship and the obstacle (determined according to the ship type and navigation conditions) to derive a maximum tidal level limit to ensure the safe navigation of the ship. When the tidal level exceeds this limit, the ship operator needs to take appropriate measures to avoid dangerous situations.

[0062] These parameters are combined to define the actual tide level of the dredger during navigation. Specifically, we can use the two tide level parameters as the limiting conditions for the safe navigation of the ship, and formulate the navigation plan, adjust the navigation attitude and take corresponding safety measures according to these conditions. For example, when the tide level approaches or exceeds the second tide level parameter, the ship operator may need to reduce the speed, adjust the course or choose other safe navigation routes to avoid collision or grounding and other dangerous situations.

[0063] Alternatively, assume that a dredger is operating in a certain sea area, with a draft of 6 meters and a minimum vertical distance of 3 meters from the seabed. At the same time, the tide data of the sea area shows that the current tide level is 2 meters, and as the tide changes, the tide level will fluctuate between -1 meters and 3 meters.

[0064] First, the tidal level parameters: Considering the ship's draft and safety margin (assuming it is 1 meter), we can conclude that the ship's safe water level at the lowest tide (-1 meter) is 7 meters (draft 6 meters + safety margin 1 meter). Therefore, when the tide level is lower than 7 meters, the ship may face the risk of running aground.

[0065] Second, the tidal level parameters: Considering the minimum vertical distance between the ship and the seabed (3 meters), we can conclude that the maximum safe tidal level limit for ships at the highest tidal level (3 meters) is 6 meters (the original minimum vertical distance of 3 meters minus the reduction in the 3-meter tidal level rise). This means that when the tidal level exceeds 6 meters, the vertical distance between the ship and the seabed will be less than 3 meters, and there may be a risk of collision.

[0066] Optionally, the vertical distance Tide from the sea surface to the tide level starting surface is the ship's tidal position value; H1 is the elevation data measured by the RTX device, H2 is the ship's draft data measured by the draft sensor, and D is the vertical distance from the RTX device to the draft sensor device (which can be obtained from the ship's installation data). The ship's tidal position data Tide can be calculated by the following formula: Tide = H1 - D + H2 In an embodiment of the present invention, through the method of the embodiment of the present invention, the antenna elevation data of the trailing suction dredger is collected; the tide data is defined based on the antenna elevation data; the draft data of different positions of the trailing suction dredger is obtained; the tide data and the draft data are synchronized to a unified time scale, thereby realizing the time synchronization of the tide data and the draft data, so as to facilitate further processing of the tide data and the draft data, thereby ensuring the subsequent processing of the tide data and the draft data.

[0067] Furthermore, the ship installation data is collected, and the vertical distance is defined according to the ship installation data; the tide position of the trailing-suction dredger is defined based on the tide data, draft data and vertical distance, which is compatible with the overall consideration of tide data, draft data and vertical distance, and realizes the multi-dimensional control of tide data, draft data and vertical distance, ensuring the precise control of the tide position of the trailing-suction dredger, and further ensuring the accuracy of the tide position of the trailing-suction dredger.

[0068] See also Figure 8 , Figure 8 The present invention is a schematic diagram of the structure of a tidal level control system for a trailing suction dredger according to an embodiment of the present invention.

[0069] like Figure 8 As shown, a tidal level control system for a trailing suction dredger in operation, the tidal level control system for a trailing suction dredger in operation comprising: A collection module 21 is used to collect antenna elevation data of the trailing suction dredging vessel; A tide data module 22, used to define tide data based on antenna elevation data; A draft data module 23 is used to obtain draft data of different positions of the trailing suction dredger; A synchronization module 24, for synchronizing the tide data and the draft data to a unified time scale; A vertical distance module 25 is used to collect ship installation data and define a vertical distance according to the ship installation data; The navigation tide level module 26 is used to define the navigation tide level of the trailing suction dredging vessel based on the tide level data, the draft data and the vertical distance.

[0070] See also Fig. 9 , refer to the following Fig. 9 The electronic device 40 according to this embodiment of the present invention will be described. Fig. 9 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0071] like Fig. 9As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0072] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0073] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0074] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include the implementation of a network environment.

[0075] Bus 43 may be a local bus representing one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or any of a variety of bus architectures.

[0076] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 45. Fig. 9 As shown, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Fig. 9 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0077] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes a number of instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0078] Those skilled in the art can understand that all or part of the steps of the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0079] In addition, the above describes in detail the method and system for controlling the tide level of the trailing suction dredger provided in the embodiments of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for controlling the tide level of a trailing suction dredger, characterized in that: Applied to the tide level control scenario of the trailing suction dredger; The method for controlling the tide level of the trailing suction dredger during navigation comprises: Collect antenna elevation data of trailing suction dredger; Define tide data based on antenna elevation data; Obtain draft data of different positions of the trailing suction dredger; Synchronize tide data and draft data to a common time scale; Collect ship installation data and define vertical distances based on the ship installation data; The tidal position of the trailing suction dredger is defined based on tidal data, draft data and vertical distance.

2. The method for controlling the tide level of a trailing suction dredger in navigation according to claim 1, characterized in that: The acquisition of antenna elevation data of the trailing suction dredging vessel includes: Positioning of trailing suction dredgers; Associated trailing suction dredger and satellite station differential high-precision positioning equipment; Dynamically interact with the trailing suction dredger and the satellite station differential high-precision positioning equipment; The antenna elevation data of the trailing suction hopper dredger is collected based on the dynamic interaction between the trailing suction hopper dredger and the satellite station differential high-precision positioning equipment.

3. The method for controlling tide level of a trailing suction dredger in navigation according to claim 1, characterized in that: The step of defining tide data based on antenna elevation data includes: Freeze antenna elevation data; Traverse the antenna elevation data; Defining a plurality of position data according to the traversal of the antenna elevation data; Tidal data is defined based on the identification of the plurality of location data.

4. The method for controlling tide level of a trailing suction dredger in navigation according to claim 3, characterized in that: The method of obtaining the draft data of the trailing suction dredger at different positions includes: Fixed frame suction dredger; Conduct sensor testing on trailing suction dredgers; The positions of the draft sensors are defined based on the sensor detection of the trailing suction dredger; at this time, the positions of the draft sensors are the bow, the middle of the ship, the position of the ship, and the dredge mouth; Collecting corresponding draft sensors according to each draft sensor to define draft data of different positions of the trailing suction dredger; The draft data of the trailing suction dredger at different positions are dynamically acquired.

5. The method for controlling tide level of a trailing suction dredger in navigation according to claim 4, characterized in that: The step of synchronizing the tide data and the draft data to a unified time scale includes: Freeze the draft data at different positions; Collect tide data; Correlate various draft data and tide data at different locations; Time control of draft data and tide data at different locations; Correlate the time dimension, various draft data at different locations, and tide data; Synchronize tide data and draft data to a common time scale.

6. The method for controlling tide level of a trailing suction dredger in navigation according to claim 5, characterized in that: The collecting of ship installation data and defining the vertical distance according to the ship installation data includes: Real-time monitoring of trailing suction dredgers; Vessel installation data is defined based on real-time monitoring of a trailing suction hopper dredger.

7. The method for controlling tide level of a trailing suction dredger in navigation according to claim 6, characterized in that: The collecting of ship installation data and defining the vertical distance according to the ship installation data further includes: Collect ship installation data; Analyze ship installation data; The vertical distances are defined based on analysis of the vessel installation data.

8. The method for controlling tide level of a trailing suction dredger in navigation according to claim 7, characterized in that: The method of defining the tidal position of the trailing suction dredger based on tidal position data, draft data and vertical distance includes: Freeze vertical distance; Correlate tide data, draft data, and vertical distance; Dynamically interact with tide data, draft data, and vertical distance.

9. The method for controlling tide level of a trailing suction dredger in navigation according to claim 8, characterized in that: The method of defining the tidal position of the trailing suction dredger based on the tidal position data, the draft data and the vertical distance also includes: Define the first in-service tide level parameters according to tide level data and draft data; Define the second in-flight tide level parameters according to tide level data and vertical distance; The first tidal level parameter, the second tidal level parameter and the trailing suction dredger are associated, and the tidal level of the trailing suction dredger is defined according to the first tidal level parameter, the second tidal level parameter and the trailing suction dredger.

10. An in-service tide level control system for a trailing suction dredger, characterized in that: The tidal level control system of the trailing suction dredger is applied to the tidal level control method of the trailing suction dredger as claimed in any one of claims 1 to 9, and the tidal level control system of the trailing suction dredger comprises: The acquisition module is used to collect the antenna elevation data of the trailing suction dredging vessel; Tide data module, used to define tide data based on antenna elevation data; Draft data module, used to obtain draft data of different positions of the trailing suction dredger; Synchronization module, used to synchronize tide data and draft data to a unified time scale; A vertical distance module is used to collect ship installation data and define vertical distances based on the ship installation data; The tidal position module is used to define the tidal position of the trailing suction dredger based on tidal data, draft data and vertical distance.

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