Method and device for planning mud throwing path of dredger, dredger and storage medium

Abstract

The embodiment of the invention discloses a dredger mud throwing path planning method and device, a dredger and a storage medium, and relates to the technical field of dredging engineering.The dredger mud throwing path planning method comprises the steps that a water area environment model of a preset navigation area and a preset mud throwing area is established, and the suitable throwing level of each unit area in the preset mud throwing area is marked in the water area environment model; determining a core mud throwing area from the preset mud throwing area based on the suitable throwing level of each unit area, and determining a target mud throwing point from the core mud throwing area; determining a plurality of candidate global routes between the current position of the current dredger and the target mud throwing point based on a water area environment model; according to the method, the optimal global route is determined from the multiple candidate global routes based on the multi-objective optimization function, the automatic planning function of the mud throwing path is achieved, the optimal mud throwing path can be accurately and rapidly determined especially in the face of complex working conditions, the mud throwing operation efficiency and the mud throwing path planning reasonability are further improved, and the method is suitable for popularization and application. And the risk of safety accidents is reduced.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of dredging engineering, and in particular, to a method and device for planning a mud dumping path of a dredger, a dredger, and a storage medium. Background Art

[0002] The mud dumping operation, as the last link of the dredging operation of a trailing suction hopper dredger, has a crucial impact on the efficiency and environmental protection of the entire dredging project.

[0003] Traditional methods for planning mud dumping paths rely on manual operations, that is, determining the mud dumping path based on manual experience. However, the mud dumping path planning that relies on manual labor has problems such as unreasonable planning of the mud dumping path and low operation efficiency. Moreover, when facing complex working conditions, the speed of manually determining the mud dumping path is relatively slow, which is likely to cause safety accidents. Summary of the Invention

[0004] The embodiments of the present application provide a method and device for planning a mud dumping path of a dredger, a dredger, and a storage medium, realizing the function of planning the mud dumping path of the dredger, so as to solve problems such as unreasonable planning of the mud dumping path, low operation efficiency, and easy occurrence of safety accidents in the prior art.

[0005] In a first aspect, the embodiments of the present application provide a method for planning a mud dumping path of a dredger. The method includes: establishing a water area environment model of a preset navigation area and a preset mud dumping area, where each unit area in the preset mud dumping area is marked with a suitable dumping level; determining a core mud dumping area from the preset mud dumping area based on the suitable dumping level of each unit area, and determining a target mud dumping point from the core mud dumping area; determining multiple candidate global routes between the current position of the current dredger and the target mud dumping point based on the water area environment model; and determining an optimal global route from the multiple candidate global routes based on a multi-objective optimization function.

[0006] In the embodiments of the present application, a water area environment model of a preset navigation area and a preset mud dumping area can be established. The water area environment model is marked with the suitable dumping level of each unit area in the preset mud dumping area. Based on the suitable dumping level of each unit area, a core mud dumping area is determined from the preset mud dumping area, and a target mud dumping point is determined from the core mud dumping area. Based on the water area environment model, multiple candidate global routes between the current position of the current dredger and the target mud dumping point are determined. Based on a multi-objective optimization function, an optimal global route is determined from the multiple candidate global routes. In the above technical solution, first, based on the suitable dumping level of each unit area in the preset mud dumping area, a core mud dumping area is determined, and a target mud dumping point for this mud dumping operation is determined from the core mud dumping area, which can make the target mud dumping point located in the unit area or continuous unit areas with the highest suitable dumping level, ensuring that the mud dumping operation is preferentially carried out in the areas with a high suitable dumping level, thereby improving the efficiency of the mud dumping operation. At the same time, dumping mud at a suitable position can reduce the impact on the marine environment. Then, starting from the current position and ending at the target mud dumping point, multiple candidate global routes between the starting point and the ending point are determined based on the water area environment model, and an optimal global route is determined based on the multi-objective optimization function, realizing the automatic planning function of the mud dumping path, without relying on manual path planning, shortening the duration of path planning, thereby improving the efficiency of the mud dumping operation, and reducing the mistakes in manual planning, improving the accuracy of the optimal global route. Especially when facing complex working conditions, the optimal mud dumping route can be accurately and quickly determined, thereby improving the rationality of the mud dumping path planning and reducing the risk of safety accidents, effectively solving the problems in the prior art such as unreasonable planning of the mud dumping path, low operation efficiency, and easy occurrence of safety accidents, and improving the mud dumping efficiency and safety performance of the dredger.

[0007] In a second aspect, an embodiment of the present application provides a mud dumping path planning device for a dredger. The device includes: a model establishment module for establishing a water area environment model of a preset navigation area and a preset mud dumping area, where the water area environment model is marked with the suitable dumping level of each unit area in the preset mud dumping area; a first determination module for determining a core mud dumping area from the preset mud dumping area based on the suitable dumping level of each unit area, and determining a target mud dumping point from the core mud dumping area; a second determination module for determining multiple candidate global routes between the current position of the current dredger and the target mud dumping point based on the water area environment model; a third determination module for determining an optimal global route from the multiple candidate global routes based on a multi-objective optimization function.

[0008] In a third aspect, an embodiment of the present application provides a dredger, which includes:

[0009] at least one processor; and a memory communicatively connected to the at least one processor;

[0010] Among them, the memory stores a computer program that can be executed by at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the mud dumping path planning method of the dredger according to any embodiment of the present application.

[0011] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the mud dumping path planning method of the dredger according to any embodiment of the present application.

[0012] For the descriptions of the second, third, and fourth aspects in the present application, reference can be made to the detailed description of the first aspect; and for the beneficial effects described in the second, third, and fourth aspects, reference can be made to the analysis of the beneficial effects of the first aspect, which will not be elaborated here.

[0013] In the present application, the name of the above-mentioned mud dumping path planning device of the dredger does not constitute a limitation on the device or functional module itself. In actual implementation, these devices or functional modules may appear under other names. As long as the functions of each device or functional module are similar to those of the present application and fall within the scope of the claims of the present application and their equivalent technologies.

[0014] These aspects or other aspects of the present application will be more clearly understood in the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0016] Figure 1 is a flowchart of the mud dumping path planning method of the dredger provided by an embodiment of the present application;

[0017] Figure 2 is another flowchart of the mud dumping path planning method of the dredger provided by an embodiment of the present application;

[0018] Figure 3 is a structural diagram of the mud dumping path planning device of the dredger provided by an embodiment of the present application;

[0019] Figure 4 is a structural diagram of the dredger provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part rather than all of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0021] It should be noted that the terms "first", "second", "target", and "original" in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including", "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0022] Figure 1 FIG. is a schematic flowchart of a method for planning a mud dumping path of a dredger provided by an embodiment of this application. This embodiment can be applied to scenarios where the mud dumping path of a dredger needs to be planned. A method for planning a mud dumping path of a dredger provided by this embodiment can be executed by a device for planning a mud dumping path of a dredger provided by an embodiment of this application, and this device can be implemented in software and / or hardware. In a specific embodiment, the device for planning a mud dumping path of this dredger can be integrated into the overall controller of the dredger. For example, this dredger can be a trailing suction hopper dredger. The execution subject of this method can be the overall controller of the dredger. Refer to Figure 1 , the method for planning a mud dumping path of a dredger in this embodiment includes but is not limited to the following steps:

[0023] S110. Establish a water area environment model for a preset navigation area and a preset mud dumping area.

[0024] Among them, the preset mud dumping area is a mud dumping area artificially delimited in advance, and the dredger can dump mud within the preset mud dumping area; for example, the preset mud dumping area can be a continuous area near the shore or a continuous area far from the waterway, where the waterway is a waterway pre-planned for other ships to navigate in this sea area.

[0025] The preset navigation area is the area between the dredging operation area and the preset mud dumping area; the dredging operation area is an area artificially delimited in advance for dredging operations, that is, the area where the dredger dredges mud.

[0026] The water area environment model is a digital model constructed by abstracting, quantifying, and integrating many relevant elements within a preset navigation area and a preset mud dumping area. Essentially, it presents the complex real water area environment in a form that can be analyzed and processed by a computer, providing basic data support for subsequent mud dumping path planning; Exemplarily, the water area environment model can be a three-dimensional model.

[0027] Specifically, when planning the mud dumping path of the current dredger, a water area environment model of the preset navigation area and the preset mud dumping area can be established. That is, the state information of the current dredger can be obtained, such as position information, speed information, loading information, and wind-wave-current information, etc. The loading information includes the sediment weight and sediment density of each mud tank, and the wind-wave-current information includes wind speed, water flow velocity, wave height, and wave crest of the wave, etc. And the water area information within the preset mud dumping area can be obtained, such as coordinate range and water depth, etc. Then, the water area information within the preset navigation area can be obtained, such as the distribution of islands, and the state information of other vessels in navigation within the preset navigation area obtained through the Automatic Identification System (AIS), etc. Then, the state information of the current dredger, the water area information within the preset mud dumping area, and the water area information within the preset navigation area are preprocessed, such as filtering and calibration, etc., to remove noise data and data with errors, and improve the accuracy of the data.

[0028] After that, based on the state information of the current dredger, the water area information within the preset mud dumping area, and the water area information within the preset navigation area after preprocessing, and combined with the electronic nautical chart and hydrographic documents, environmental modeling can be carried out to obtain a three-dimensional water area environment model. The hydrographic documents are equivalent to the underwater topographic map, including the distribution of water depth, shoals, reefs, and trenches, etc. Then, the water area environment model is meshed, and each grid within the preset mud dumping area is determined as a unit area. Then, the suitable dumping level of each unit area is determined, and the suitable dumping level of each unit area within the preset mud dumping area is marked in the water area environment model. The suitable dumping level is used to represent the degree of suitability for mud dumping. The higher the suitable dumping level, the more suitable the corresponding unit area is for mud dumping.

[0029] Optionally, the suitable dumping level of the corresponding unit area can be determined according to the water area information within the unit area; if the wind-wave-current information within the unit area is less than the preset wind-wave-current threshold, the water depth is greater than the preset depth threshold, and the distance between the unit area and the waterway is greater than the preset distance, it indicates that the wind-wave-current within the unit area is stable, the sediment deposition is less (i.e., the water is deeper) and it is far from the waterway. At this time, the suitable dumping level of the unit area can be set as the high suitable dumping level, and the sediment loaded by the dredger will be concentrated and dumped here; if the wind-wave-current information within the unit area is greater than or equal to the preset wind-wave-current threshold, the water depth is less than or equal to the preset depth threshold, or the distance between the unit area and the waterway is less than or equal to the preset distance, it indicates that the wind-wave-current within the unit area is relatively rapid, the sediment deposition is more (i.e., the water is shallower) or it is close to the waterway. At this time, the suitable dumping level of the unit area can be set as the low suitable dumping level, and the dredger will try to avoid dumping sediment in this area. Among them, the preset wind-wave-current threshold is a pre-set value used to determine whether the wind-wave-current information (such as wind speed, water flow, and waves, etc.) is stable; the preset depth threshold is a pre-set value used to determine whether the sediment deposition is less; the preset distance is a pre-set value used to determine whether the unit area is far from the waterway.

[0030] It should be noted that the suitable dumping level of the unit area changes dynamically with the water area information within the unit area. Therefore, it is necessary to dynamically update the suitable dumping level marked in the water area environment model according to the water area information.

[0031] S120. Determine the core dumping area from the preset dumping areas based on the suitable dumping level of each unit area, and determine the target dumping point from the core dumping area.

[0032] Among them, the core dumping area is a specific water area range used to receive the sediment generated by the dredging operation. The target dumping point is the specific dumping position for the current dredger to perform this dumping operation determined from the core dumping area.

[0033] Specifically, after establishing the water area environment model, the core dumping area can be determined from the preset dumping areas based on the suitable dumping level of each unit area. For example, the area where the high suitable dumping levels are concentratedly distributed can be selected from the preset dumping areas and determined as the core dumping area.

[0034] Then, the target dumping point can be determined from the core dumping area. For example, based on the suitable dumping level of each unit area, the unit areas with the same and continuous suitable dumping levels in the core dumping area can be combined into a sub-area, and it is ensured that the sub-area can carry the sediment of a single dumping operation of the current dredger. Thus, multiple sub-areas can be obtained. After that, the sub-area with the maximum water depth is determined as the target dumping area for this dumping operation, and the central position of the target dumping area is determined as the target dumping point.

[0035] S130. Determine multiple candidate global routes between the current position of the current dredger and the target spoil disposal point based on the water area environment model.

[0036] Among them, the candidate global route is a passable route plan between the current position of the current dredger and the target spoil disposal point, with the starting point being the current position of the current dredger and the ending point being the target spoil disposal point.

[0037] Specifically, after determining the target spoil disposal point, multiple candidate global routes between the current position of the current dredger and the target spoil disposal point can be determined based on the water area environment model. For example, the water area information between the current position and the target spoil disposal point can be obtained based on the water area environment model, and then, using a path planning algorithm based on the water area information between the current position and the target spoil disposal point, multiple feasible routes between the current position and the target spoil disposal point are determined, that is, multiple candidate global routes. The path planning algorithm among them can be Dijkstra's algorithm or A-star algorithm, etc.

[0038] Specifically, the water area between the current position and the target spoil disposal point can be gridded. Each grid represents a node, the edge represents a passable waterway section, and corresponding weights (such as distance, navigation time, or cost, etc.) are assigned to the edge. Then, using a path planning algorithm, multiple candidate global routes that meet different weight conditions between the current position and the target spoil disposal point are determined.

[0039] S140. Determine the optimal global route from multiple candidate global routes based on a multi-objective optimization function.

[0040] Among them, the multi-objective optimization function is a mathematical model that comprehensively considers multiple different evaluation indicators and is used to measure the advantages and disadvantages of each candidate global route.

[0041] The optimal global route is the optimal route among multiple candidate global routes after comprehensive evaluation based on the multi-objective optimization function.

[0042] Specifically, after obtaining multiple candidate global routes, the optimal global route can be determined from multiple candidate global routes based on the multi-objective optimization function. For example, a pre-set multi-objective optimization function can be obtained. Then, for the current candidate global route among multiple candidate global routes, the objective function value of the current candidate global route is calculated based on the multi-objective optimization function. Then, the objective function values of multiple candidate global routes are compared, and the candidate global route with the smallest objective function value is determined as the optimal global route. The objective function value is used to measure the advantages and disadvantages of the candidate global route. The smaller the objective function value, the better the corresponding candidate global route.

[0043] After that, it can travel along the optimal global route to control the current dredger to safely travel to the target spoil dumping point and perform the current spoil dumping operation. After the completion of the current spoil dumping operation, control the current dredger to return to the dredging operation area for dredging, and repeat the execution of S120 to S140 to control the current dredger to perform the next spoil dumping operation until the dredging operation in the dredging operation area is completed.

[0044] Optionally, during the process of the current dredger traveling along the optimal global route, continuously monitor and record the path execution situation and navigation data of the current dredger to form a data set, which can be used for the data analysis of subsequent spoil dumping path planning, thereby continuously improving the safety and intelligent level of spoil dumping path planning.

[0045] Optionally, an operator (such as the driver of the current dredger, etc.) can independently define the spoil dumping route of the current dredger. At this time, the overall controller can obtain the spoil dumping route predefined by the operator and perform a feasibility and safety check on the spoil dumping route to determine whether there are safety risks in the spoil dumping route, that is, based on the water area environment model and the performance parameters of the current dredger, determine whether the spoil dumping route will collide with obstacles, whether it is within the safe operation range of the current dredger (such as limitations on the maximum sailing speed and minimum turning radius, etc.), and whether it will cause the current dredger to consume excessive energy or have an overly long sailing time, etc.; if there are no safety risks in the spoil dumping route, control the current dredger to travel along the spoil dumping route to perform the current spoil dumping operation; if there are safety risks in the spoil dumping route, generate a warning message and display the warning message on the console display, and at the same time display the risk points in the spoil dumping route for the operator to view, and then determine the optimal global route for the current spoil dumping operation based on S110 to S140, and display the optimal global route or display the correction suggestions generated based on the optimal global route for the operator to adjust according to the actual situation or redefine the spoil dumping route.

[0046] The technical solution of the embodiment of the present application can establish a water area environment model for a preset navigation area and a preset mud dumping area. The water area environment model is marked with the suitable dumping grades of each unit area in the preset mud dumping area; determine the core mud dumping area from the preset mud dumping area based on the suitable dumping grades of each unit area, and determine the target mud dumping point from the core mud dumping area; determine multiple candidate global routes between the current position of the current dredger and the target mud dumping point based on the water area environment model; determine the optimal global route from the multiple candidate global routes based on a multi-objective optimization function. In the above technical solution, first, determine the core mud dumping area based on the suitable dumping grades of each unit area in the preset mud dumping area, and determine the target mud dumping point for this mud dumping operation from the core mud dumping area, which can make the target mud dumping point in the unit area or continuous unit areas with the highest suitable dumping grade, ensure that the mud is preferentially dumped in the areas with high suitable dumping grades, thereby improving the efficiency of the mud dumping operation. At the same time, dumping the mud in a suitable position can reduce the impact on the marine environment; then, starting from the current position and ending at the target mud dumping point, determine multiple candidate global routes between the starting point and the ending point based on the water area environment model, and determine the optimal global route based on the multi-objective optimization function, realizing the automatic planning function of the mud dumping path, without relying on manual path planning, shortening the duration of path planning, thereby improving the efficiency of the mud dumping operation, and reducing the mistakes in manual planning, improving the accuracy of the optimal global route. Especially when facing complex working conditions, it can accurately and quickly determine the optimal mud dumping route, thereby improving the rationality of the mud dumping path planning and reducing the risk of safety accidents, effectively solving the problems of unreasonable planning of the mud dumping path, low operation efficiency and easy occurrence of safety accidents in the prior art, and improving the mud dumping efficiency and safety performance of the dredger.

[0047] Next, a method for planning the mud dumping path of a dredger provided by an embodiment of the present application will be further described. Figure 2 It is another flow chart of the method for planning the mud dumping path of the dredger provided by the embodiment of the present application. The embodiment of the present application is optimized based on the above embodiments. Refer to Figure 2 This embodiment of the method includes but is not limited to the following steps:

[0048] S210. Establish a water area environment model for a preset navigation area and a preset mud dumping area.

[0049] Specifically, when establishing the water area environment model, reefs and vessels in navigation in the preset navigation area can be marked in the water area environment model to clarify the obstacles that the current dredger needs to avoid during navigation.

[0050] S220. Determine the number of mud dumping times based on the preset mud volume and the loading capacity of the current dredger.

[0051] Among them, the preset dredging volume is the amount of sediment determined in advance according to the construction volume of the dredging operation area, that is, the amount of sediment that can be generated in the dredging operation area in this dredging project. The loading capacity is the maximum weight of sediment that the current dredger can load, that is, the sum of the maximum sediment loading capacities of multiple mud holds of the current dredger.

[0052] The number of mud dumping times is the number of times of mud dumping required when the current dredger loads according to the loading capacity for the preset dredging volume.

[0053] Specifically, the preset dredging volume determined in advance according to the construction volume of the dredging operation area can be obtained, and the loading capacity of the current dredger can be determined according to the model of the current dredger. Then, the ratio of the preset dredging volume to the loading capacity is calculated to obtain the number of mud dumping times.

[0054] S230. Determine the core mud dumping area from the preset mud dumping areas based on the number of mud dumping times and the suitable dumping grade of each unit area.

[0055] Specifically, after obtaining the number of mud dumping times, the area size that can bear the sediment amount brought by this number of mud dumping times can be determined based on the number of mud dumping times, that is, the area size that can bear the preset dredging volume. Then, based on the suitable dumping grade of each unit area, the area that can bear the sediment amount brought by this number of mud dumping times is selected from the preset mud dumping areas, and the selection principle is the area where the high suitable dumping grades are concentrated. Thus, the core mud dumping area is obtained. That is, the core mud dumping area is the area where the high suitable dumping grades are concentrated and can bear the sediment of the preset dredging volume.

[0056] S240. Divide the core mud dumping area into multiple sub-areas based on the suitable dumping grade of each unit area.

[0057] Among them, the sub-area can include at least one unit area.

[0058] Specifically, after obtaining the core mud dumping area, the unit areas with the same and continuous suitable dumping grades can be combined into a sub-area based on the suitable dumping grade of each unit area, and it is ensured that the sub-area can bear the sediment of the single loading capacity of the current dredger. Thus, the core mud dumping area can be divided into multiple sub-areas, and each sub-area includes at least one unit area, and each sub-area corresponds to a suitable dumping grade.

[0059] S250. Determine the comprehensive suitable dumping score of each sub-area, and determine the central position of the sub-area with the highest comprehensive suitable dumping score as the target mud dumping point.

[0060] Among them, the comprehensive suitable dumping score is used to characterize the suitable dumping degree of the sub-area, that is, the degree suitable for mud dumping operation in this sub-area; the higher the comprehensive suitable dumping score, the higher the suitable dumping degree of the corresponding sub-area.

[0061] Specifically, determine the comprehensive suitability scores for each sub-region, including Sa1 - Sa4:

[0062] Sa1. Determine the first weight corresponding to the suitability level, the second weight corresponding to the area of the region, and the third weight corresponding to the navigation distance.

[0063] Among them, the first weight is used to represent the importance degree of the suitability level when determining the comprehensive suitability score.

[0064] The area of the region is the area of the sub-region. The second weight is used to represent the importance degree of the area of the region when determining the comprehensive suitability score.

[0065] The navigation distance is the distance between the current position and the sub-region. The third weight is used to represent the importance degree of the navigation distance when determining the comprehensive suitability score.

[0066] Specifically, the first weight, the second weight, and the third weight can be determined according to the actual operation requirements of the dredging operation. That is, if the actual operation requirements require dumping mud in areas with a high suitability level first, then set the first weight higher and the second weight and the third weight lower; if the actual operation requirements require dumping mud in areas with a larger area first, then set the second weight higher and the first weight and the third weight lower; if the actual operation requirements require dumping mud in areas closer to the current position first, then set the third weight higher and the first weight and the second weight lower, and all of the first weight, the second weight, and the third weight are within [0, 1].

[0067] Sa2. Based on the distribution of the suitability levels in the core mud dumping area, determine the suitability level scores corresponding to each suitability level.

[0068] Among them, the distribution of the suitability levels is the proportion of different suitability levels in the core mud dumping area. The suitability level score is the quantitative score assigned to different suitability levels, and the value range of the suitability level score is [0, 1].

[0069] Specifically, the suitable throwing level distribution of the core mud throwing area can be determined based on the suitable throwing level of each unit area within the core mud throwing area. For example, the proportion of the high-suitable throwing level is relatively large, or the proportion of the low-suitable throwing level is relatively large, etc. Then, according to the suitable throwing level distribution of the core mud throwing area, different suitable throwing level scores are assigned to each suitable throwing level. That is, a higher suitable throwing level score is assigned to the high-suitable throwing level, and a lower suitable throwing level score is assigned to the low-suitable throwing level, so as to weaken the area with the low-suitable throwing level. For example, if the suitable throwing level distribution shows that the proportion of the high-suitable throwing level is relatively large, the suitable throwing level score of the high-suitable throwing level is set to 0.8, and the suitable throwing level score of the low-suitable throwing level is set to 0.2. If the suitable throwing level distribution shows that the proportion of the low-suitable throwing level is relatively large, the suitable throwing level score of the high-suitable throwing level is set to 0.5, and the suitable throwing level score of the low-suitable throwing level is set to 0.2.

[0070] Sa3. Determine the suitable throwing level score of the corresponding sub-region based on the suitable throwing level score corresponding to the suitable throwing level of each sub-region, determine the area score of the corresponding sub-region based on the area of each sub-region, and determine the navigation distance score of the corresponding sub-region based on the navigation distance between the current position and each sub-region.

[0071] Among them, the area score is a quantization score assigned to the area of the sub-region based on the size of the area of the sub-region, and the value range of the area score is [0, 1]. The navigation distance score is a quantization score assigned to the navigation distance based on the length of the navigation distance between the current position and the sub-region, and the value range of the navigation distance score is [0, 1].

[0072] Specifically, for the current sub-region in each sub-region, determine the suitable throwing level score of the current sub-region based on the suitable throwing level score corresponding to the suitable throwing level of the current sub-region. If the suitable throwing level of the current sub-region is the high-suitable throwing level, determine that the suitable throwing level score of the current sub-region is the suitable throwing level score of the high-suitable throwing level. If the suitable throwing level of the current sub-region is the low-suitable throwing level, determine that the suitable throwing level score of the current sub-region is the suitable throwing level score of the low-suitable throwing level.

[0073] Next, determine the area score of the current sub-region based on the area of the current sub-region. That is, the area of the current sub-region can be determined based on the area coordinate range of the current sub-region in the water area environment model. If the area of the current sub-region is larger, the area score of the current sub-region is set higher. Then, determine the navigation distance score of the current sub-region based on the navigation distance between the current position and the current sub-region. That is, calculate the distance between the current position and the current sub-region to obtain the navigation distance. If the navigation distance between the current position and the current sub-region is shorter, the navigation distance score of the current sub-region is set higher.

[0074] After that, each sub-region is traversed, and the above process is repeated to obtain the suitable throwing level score, area score, and sailing distance score of each sub-region.

[0075] Sa4. Based on the first weight, the second weight, and the third weight, calculate the weighted sum of the suitable throwing level score, area score, and sailing distance score of each sub-region to obtain the comprehensive suitable throwing score of the corresponding sub-region.

[0076] Specifically, for the current sub-region in each sub-region, calculate the product of the first weight and the suitable throwing level score of the current sub-region to obtain the first product, calculate the product of the second weight and the area score of the current sub-region to obtain the second product, and calculate the product of the third weight and the sailing distance score of the current sub-region to obtain the third product. Then calculate the sum of the first product, the second product, and the third product to obtain the comprehensive suitable throwing score of the current sub-region. After that, each sub-region is traversed, and the above process is repeated to obtain the comprehensive suitable throwing score of each sub-region.

[0077] In the embodiment of the present application, the weights corresponding to the suitable throwing level, the area of the region, and the sailing distance are set according to the actual operation requirements of the dredging operation. Based on the distribution of the suitable throwing levels in the core mud dumping area, different suitable throwing level scores are assigned to each suitable throwing level, providing an accurate data basis for subsequent determination of the comprehensive suitable throwing score. Then, based on the suitable throwing level of the sub-region, the suitable throwing level score is determined, based on the area of the sub-region, the area score is determined, and based on the sailing distance between the current position and the sub-region, the sailing distance score is determined. Then, further weighted fusion is performed based on the weights, so that the higher the suitable throwing level, the larger the area of the region, and the shorter the sailing distance of the sub-region, the higher the comprehensive suitable throwing score, thus providing an accurate data basis for subsequent determination of the target mud dumping point and ensuring that the mud dumping operation is preferentially carried out on the sub-regions with high suitable throwing levels, large areas, and short sailing distances.

[0078] After obtaining the comprehensive suitable throwing score of each sub-region, the sub-region with the highest comprehensive suitable throwing score can be determined as the target mud dumping area for this mud dumping operation, and the central position of the target mud dumping area can be determined as the target mud dumping point.

[0079] S260. Based on the gravitational function, determine the gravitational vector of the target mud dumping point acting on the current dredger at the current position, and based on the repulsive force function, determine the repulsive force vector of the obstacle acting on the current dredger at the current position.

[0080] Among them, the gravitational function is used to calculate the gravitational magnitude and gravitational direction of the target mud dumping point on the current dredger at a specific position. That is, in the embodiment of the present application, the target mud dumping point is regarded as the gravitational source, which can generate a gravitational effect on the current dredger. The gravitational vector includes the gravitational magnitude and the gravitational direction, and the gravitational direction is from the current dredger to the target mud dumping point.

[0081] The repulsive force function is used to calculate the magnitude and direction of the repulsive force exerted by an obstacle on the current dredger at a specific position. That is, in the embodiments of the present application, the obstacles around the current dredger are regarded as repulsive force sources, which can exert a repulsive force on the current dredger. The repulsive force vector includes the magnitude and direction of the repulsive force, and the direction of the repulsive force is from the obstacle to the current dredger.

[0082] Specifically, the parameters of the gravitational force function can be determined, including the gravitational coefficient and the distance power coefficient. That is, the initial gravitational coefficient can be determined as the current gravitational coefficient, and the initial distance power coefficient can be determined as the current distance power coefficient. Alternatively, the current gravitational coefficient and the current distance power coefficient can be determined based on the water area information at the current position and the state information of the current dredger at the current position. Then, the gravitational force vector exerted on the current dredger by the target dumping point at the current position can be determined based on the gravitational force function. That is, the coordinates of the target dumping point and the coordinates of the current position can be calculated using the gravitational force function after the parameters are determined to obtain the gravitational force vector. Among them, the gravitational coefficient is used to adjust the strength of the gravitational force. In the embodiments of the present application, the gravitational coefficient can be dynamically adjusted according to the state information of the current dredger and the water area information of the position where the current dredger is located to ensure that the magnitude of the gravitational force is appropriate, which can not only guide the current dredger to move forward towards the target dumping point, but also prevent the current dredger from being difficult to control or consuming too much energy due to excessive gravitational force. The value range of the gravitational coefficient is [1.0, 10.0]; the initial gravitational coefficient is the initial value of the gravitational coefficient, and the value is usually small, such as 3.0; the current gravitational coefficient is the gravitational coefficient of the current dredger at the current position; the distance power coefficient is used to adjust the law of the gravitational force changing with distance, which determines the power function relationship between the magnitude of the gravitational force and the distance. In the embodiments of the present application, the distance power coefficient can be dynamically adjusted according to the state information of the current dredger and the water area information of the position where the current dredger is located, and the value range of the distance power coefficient is [1, 3]; the initial distance power coefficient is the initial value of the distance power coefficient, such as 1; the current distance power coefficient is the distance power coefficient of the current dredger at the current position.

[0083] Specifically, the formula of the gravitational force function can be expressed as:

[0084]

[0085] Among them, represents the gravitational force vector; represents the gravitational coefficient; represents the coordinates of the target dumping point; represents the coordinates of the current position of the current dredger; represents the distance power coefficient; represents the distance between the target dumping point and the current position.

[0086] After that, the parameters of the repulsive force function can be determined, including the repulsive force coefficient and the repulsive force power coefficient. That is, the initial repulsive force coefficient can be determined as the current repulsive force coefficient, and the initial repulsive force power coefficient can be determined as the current repulsive force power coefficient. Alternatively, the current repulsive force coefficient and the current repulsive force power coefficient can be determined based on the water area information at the current position. Then, the repulsive force vector of the current dredger at the current position due to the obstacle can be determined based on the repulsive force function. That is, the obstacles around the current position can be determined based on the water area environment model. The obstacles at this time can be one or more, and the influence range radius of the obstacle can be obtained. The influence range radius is used to characterize the repulsive force influence range of the obstacle. That is, when the current dredger is within the influence range radius, the current dredger will be subject to the repulsive force of the obstacle. When the current dredger is outside the influence range radius, the current dredger will not be subject to the repulsive force of the obstacle. Then, using the repulsive force function after the parameters are determined, calculations are performed based on the coordinates of the obstacle, the influence range radius of the obstacle, and the coordinates of the current position to obtain the repulsive force vector. Among them, the repulsive force coefficient is used to adjust the strength of the repulsive force. In the embodiments of the present application, the repulsive force coefficient can be dynamically adjusted according to the obstacle information at the position where the current dredger is located, and the value range of the repulsive force coefficient is [10.0, 100.0]. The initial repulsive force coefficient is the initial value of the repulsive force coefficient, and the value is usually large, such as 50.0. The current repulsive force coefficient is the repulsive force coefficient when the current dredger is at the current position. The repulsive force power coefficient is used to adjust the law of the repulsive force changing with distance, and determines the power function relationship between the repulsive force magnitude and the distance. In the embodiments of the present application, the repulsive force power coefficient can be dynamically adjusted according to the obstacle distribution at the position where the current dredger is located, and the value range of the repulsive force power coefficient is [1, 2]. The initial repulsive force power coefficient is the initial value of the repulsive force power coefficient, such as 1. The current repulsive force power coefficient is the repulsive force power coefficient when the current dredger is at the current position.

[0087] Specifically, the formula of the repulsive force function can be expressed as:

[0088]

[0089] Among them, represents the repulsive force vector; represents the repulsive force coefficient; represents the coordinates of the obstacle; represents the distance between the current dredger and the obstacle; represents the influence range radius of the obstacle; represents the repulsive force power coefficient.

[0090] S270. Determine the next navigation point of the current dredger based on the gravitational force vector and the repulsive force vector, and adjust the parameters of the gravitational force function and the parameters of the repulsive force function based on the water area information of the next navigation point and the state information of the current dredger at the next navigation point.

[0091] Among them, the next waypoint is the position that the current dredger reaches after traveling a unit time step according to the resultant vector of the gravitational vector and the repulsive vector, that is, the position reached after traveling a unit time step with the resultant direction as the course and the resultant magnitude as the speed; the unit time step is a preset duration data, which can be adjusted according to the actual situation, such as 5 minutes or 10 minutes.

[0092] Specifically, after obtaining the gravitational vector and the repulsive vector, the resultant vector of the gravitational vector and one or more repulsive vectors can be calculated based on the parallelogram rule, including the resultant magnitude and the resultant direction. Then, based on the resultant vector, path simulation is performed to determine the position that the current dredger can reach by traveling a unit time step with the resultant direction as the course and the resultant magnitude as the speed, that is, the next waypoint.

[0093] Then, the parameters of the gravitational function can be adjusted based on the water area information of the next waypoint and the state information of the current dredger at the next waypoint. That is, the dumping condition can be determined based on the water area information of the next waypoint and the state information of the current dredger at the next waypoint. Specifically, if the navigation water surface at the next waypoint is more open (i.e., fewer obstacles), the water flow at the next waypoint is smoother, the power of the current dredger at the next waypoint is more sufficient and the speed is faster, then the determined dumping condition is better; if the navigation water surface at the next waypoint is narrower (i.e., more obstacles), the water flow at the next waypoint is less smooth, the power of the current dredger at the next waypoint is less sufficient or the speed of the current dredger at the next waypoint is slower, then the determined dumping condition is worse; then, the gravitational coefficient and the distance power coefficient are adjusted according to the dumping condition. That is, if the dumping condition is better, the gravitational coefficient is set larger, such as the gravitational coefficient can be gradually increased to 10.0, and the distance power coefficient is set smaller, so that the gravity changes relatively smoothly with distance and the route is relatively smooth; if the dumping condition is worse, the gravitational coefficient is set smaller, such as the gravitational coefficient can be gradually decreased to 1.0, and the distance power coefficient is set larger, so that the current dredger can adjust the course more accurately when approaching the target dumping point.

[0094] Afterwards, the parameters of the repulsion function can be adjusted based on the water area information of the next waypoint and the status information of the current dredger at the next waypoint, that is, if the obstacle size of the next waypoint is larger, the repulsion coefficient is set to be larger, such as the repulsion coefficient can be gradually increased to [85.0, 100.0]; if the obstacle size of the next waypoint is smaller, the repulsion coefficient is set to be smaller, such as the repulsion coefficient can be gradually reduced to [10.0, 20.0]. If there are more obstacles distributed at the next waypoint, the larger the repulsion power coefficient is set, the more drastic the change of repulsion with distance, and the current dredger is more inclined to avoid obstacles in advance to ensure strong obstacle avoidance sensitivity; if there are fewer obstacles distributed at the next waypoint, the smaller the repulsion power coefficient is set, the repulsion changes relatively slowly with distance, and the current dredger will make a larger avoidance action when approaching the obstacle to ensure weak obstacle avoidance sensitivity.

[0095] In an embodiment of the present application, the mud throwing condition of the current dredger at the next waypoint can be accurately determined through the water area information of the next waypoint and the status information of the current dredger at the next waypoint, and then the gravity coefficient and the distance power coefficient are adjusted based on the mud throwing condition to ensure that the gravity is of an appropriate size, which can not only guide the current dredger to the target mud throwing point, but also will not cause the current dredger to be difficult to control or consume too much energy due to excessive gravity, thereby improving the adjustment accuracy of the gravity coefficient and the distance power coefficient; at the same time, the repulsion coefficient and the repulsion power coefficient are adjusted based on the obstacle information around the next waypoint, and the obstacle avoidance sensitivity can be dynamically adjusted to ensure that the repulsion is of an appropriate size, thereby improving the adjustment accuracy of the repulsion coefficient and the repulsion power coefficient, thereby providing an accurate data basis for the subsequent determination of multiple candidate global routes, ensuring the accuracy and safety of the candidate global routes.

[0096] S280, determining the next waypoint as the current position, and returning to execute the determination of the gravity vector of the target mud dumping point of the current dredger at the current position based on the gravity function, until the next waypoint is the target mud dumping point, and obtaining multiple candidate global routes.

[0097] Specifically, the next waypoint can be determined as the current position, that is, the current position of the dredger is the next waypoint, and then based on the gravity function and repulsion function after parameter adjustment, S260 to S270 are repeatedly executed until the next waypoint is the target mud dumping point, and the obtained multiple waypoints are combined in sequence into candidate global routes, where the order is the time sequence of determining the waypoints, and at the same time carries the resultant force vector corresponding to each waypoint.

[0098] Then, the parameters of the attraction function and the parameters of the repulsion function are adjusted according to different adjustment ranges, and S260 to S280 are repeatedly executed to obtain a plurality of candidate global routes.

[0099] S290. Determine the optimal global route from multiple candidate global routes based on a multi-objective optimization function.

[0100] Specifically, determining the optimal global route from multiple candidate global routes based on a multi-objective optimization function includes Sb1 - Sb6:

[0101] Sb1. Determine the fourth weight corresponding to the energy consumption value, the fifth weight corresponding to the sailing time, and the sixth weight corresponding to the number of obstacles.

[0102] Among them, the energy consumption value is the energy required for the current dredger to sail according to the candidate global route. The fourth weight is used to represent the importance degree of the energy consumption value when determining the objective function value.

[0103] The sailing time is the time required for the current dredger to sail according to the candidate global route. The fifth weight is used to represent the importance degree of the sailing time when determining the objective function value.

[0104] The number of obstacles is the number of obstacles that the current dredger can encounter when sailing according to the candidate global route. The sixth weight is used to represent the importance degree of the number of obstacles when determining the objective function value.

[0105] Specifically, the fourth weight, the fifth weight, and the sixth weight can be determined according to the actual operation requirements of the dredging operation, that is, if the cost control requirement in the actual operation requirements is relatively high, the fourth weight is set relatively high, and the fifth weight and the sixth weight are relatively low; if the time control requirement in the actual operation requirements is relatively high, the fifth weight is set relatively high, and the fourth weight and the sixth weight are relatively low; if the sailing safety requirement in the actual operation requirements is relatively high, the sixth weight is set relatively high, and the fourth weight and the fifth weight are relatively low, and the fourth weight, the fifth weight, and the sixth weight are all within [0, 1].

[0106] Sb2. Determine the energy consumption value of each candidate global route based on the historical sailing data of the current dredger.

[0107] Among them, the historical sailing data is the sailing data of the current dredger during the mud dumping operation at a historical moment, which may include the sailing distance, the sediment load, the water flow resistance, the ship propulsion efficiency, and the corresponding energy consumption value, etc.

[0108] Specifically, the relationship between the sailing distance and the energy consumption value can be determined based on the historical sailing data of the current dredger, and then based on the actual sailing distance of each candidate global route, query the relationship between the sailing distance and the energy consumption value to determine the energy consumption value of the corresponding candidate global route. The actual sailing distance therein is the actual distance when the current dredger sails according to the candidate global route.

[0109] Sb3. Calculate the ratio of the actual sailing distance of each candidate global route to the preset average sailing speed to obtain the sailing time of the corresponding candidate global route.

[0110] Among them, the preset average sailing speed is the sailing speed set in advance, which can be preset according to the historical sailing data of the current dredger.

[0111] Sb4. Determine the number of obstacles for each candidate global route based on the water area environment model.

[0112] Specifically, for the current candidate global route among multiple candidate global routes, the obstacles affecting the current dredger sailing on the current candidate global route can be determined from the obstacles marked in the water area environment model. That is, when the current dredger sails according to the current candidate global route, if the current dredger is within the influence range radius of the obstacle, it indicates that the obstacle affects the current dredger sailing on the current candidate global route; then calculate the number of these obstacles to obtain the number of obstacles of the current candidate global route. After that, traverse each candidate global route and repeat the above process to obtain the number of obstacles of each candidate global route.

[0113] Sb5. Based on the fourth weight, the fifth weight, and the sixth weight, calculate the weighted sum of the energy consumption value, the sailing time, and the number of obstacles of each candidate global route to obtain the objective function value of the corresponding candidate global route.

[0114] Specifically, for the current candidate global route among multiple candidate global routes, calculate the product of the fourth weight and the energy consumption value of the current candidate global route to obtain the fourth product, calculate the product of the fifth weight and the sailing time of the current candidate global route to obtain the fifth product, and calculate the product of the sixth weight and the number of obstacles of the current candidate global route to obtain the sixth product. Then calculate the sum of the fourth product, the fifth product, and the sixth product to obtain the objective function value of the current candidate global route. After that, traverse each candidate global route and repeat the above process to obtain the objective function value of each candidate global route.

[0115] Sb6. Determine the candidate global route with the minimum objective function value as the optimal global route.

[0116] In the embodiments of the present application, by setting the weights corresponding to the energy consumption value, the sailing time, and the number of obstacles according to the actual operation requirements of the dredging operation, the accuracy and flexibility of the fourth weight, the fifth weight, and the sixth weight can be improved, providing an accurate data basis for determining the objective function value subsequently; then, based on the historical sailing data of the current dredger, the energy consumption value corresponding to each candidate global route can be predicted, thereby improving the determination accuracy and determination efficiency of the energy consumption value, and based on the actual sailing distance and the preset average sailing speed, the determination accuracy and determination efficiency of the sailing time can be improved. Then, based on the water area environment model, the number of obstacles for each candidate global route is determined, which can improve the determination accuracy and determination efficiency of the number of obstacles; subsequently, further weighted fusion is performed based on the weights, so that the objective function value of the candidate global route with a smaller energy consumption value, a shorter sailing time, and a smaller number of obstacles is smaller, thereby improving the determination accuracy and determination efficiency of the optimal global route and ensuring the priority selection of a route with less energy consumption, high speed, and high safety.

[0117] Optionally, after obtaining the optimal global route, a visual simulation of the optimal global route can be performed on the console display of the current dredger. At this time, the operator can mark the prohibited passage area; then, the overall controller can obtain the prohibited passage area marked by the operator and fine-tune the optimal global route based on the prohibited passage area so that the optimal global route bypasses the prohibited passage area. After that, the confirmation information of the operator for the fine-tuned optimal global route is received, and the dredger sails according to the optimal global route.

[0118] Optionally, the optimal global route includes multiple waypoints, and each waypoint corresponds to a resultant force vector. After obtaining the optimal global route, the dredger can sail according to the optimal global route. In response to detecting a change in the water area information of the current dredger at the current waypoint, multiple candidate local routes for returning from the current waypoint to the optimal global route are determined, and the optimal local route is determined from the multiple candidate local routes based on the multi-objective optimization function; return to the optimal global route according to the optimal local route, and return to execute sailing according to the optimal global route until the current dredger sails to the target dumping point.

[0119] Among them, the candidate local route is a passable route plan when the current dredger bypasses the area with environmental changes. The optimal local route is the optimal route comprehensively evaluated based on the multi-objective optimization function among the multiple candidate local routes.

[0120] Specifically, after determining the optimal global route, the current dredger can be controlled to travel along the optimal global route. During the travel, the water area information of the current dredger at the current waypoint is detected in real time, and the water area information of the current waypoint during travel is compared with the water area information of the current waypoint during path planning. If the change amount between the wind-wave-current information of the current waypoint during travel and the wind-wave-current information of the current waypoint during path planning exceeds the preset change threshold, it is determined that the water area information of the current dredger at the current waypoint has changed; or, if there are new obstacles at the current waypoint during travel compared with the obstacle information of the current waypoint during path planning, it is determined that the water area information of the current dredger at the current waypoint has changed. The preset change threshold is a preset value used to determine whether the wind-wave-current information has changed.

[0121] In response to detecting that the water area information of the current dredger at the current waypoint has not changed, the course adjustment angle can be determined according to the resultant force direction of the current waypoint and the current course of the current dredger, that is, the included angle between the resultant force direction and the current course, and the rudder angle of the current dredger is controlled to rotate by the course adjustment angle to achieve a turn, so that the current course is adjusted to the resultant force direction. At the same time, the ship speed of the current dredger is adjusted based on the magnitude of the resultant force of the current waypoint to ensure that the current dredger advances towards the target spoil point under the action of the resultant force and safely avoids obstacles.

[0122] In response to detecting that the water area information of the current dredger at the current waypoint has changed, the nearest waypoint after bypassing the environmental change area in the optimal global route can be determined as the local end point, or the next waypoint of the current waypoint in the optimal global route can be determined as the local end point. Then, based on the water area information of the current waypoint and the state information of the current dredger at the current waypoint, the parameters of the attraction function and the parameters of the repulsion function are determined, and using the same processing steps as S260 to S280, multiple candidate local routes between the current waypoint and the local end point are determined. Then, using the same processing steps as S290, the optimal local route is determined from the multiple candidate local routes, and the optimal local route is visualized and fine-tuned. After that, travel along the fine-tuned optimal local route to control the current dredger to safely travel to the local end point and return to the optimal global route.

[0123] After that, repeat the above process to continue traveling along the optimal global route until the current dredger travels to the target spoil point.

[0124] In the embodiment of the present application, when it is detected that the water area information of the current dredger at the current waypoint changes, the optimal local route for returning from the current waypoint to the optimal global route can be determined, which can realize the local optimization of the optimal global route according to the actual situation, ensure that the current dredger bypasses the environmental change area along the route with less energy consumption, high speed and high safety, thereby improving the safety and accuracy of the mud dumping path, reducing the energy consumption and time cost during the mud dumping operation, and improving the efficiency and safety performance of the mud dumping operation.

[0125] The technical solution of the embodiment of the present application can establish a water area environment model of the preset navigation area and the preset mud dumping area. Secondly, the number of mud dumping times is determined based on the preset mud volume and the loading volume of the current dredger, and the core mud dumping area is determined from the preset mud dumping area based on the number of mud dumping times and the suitable dumping grade of each unit area, which can ensure that the core mud dumping area is an area where the high suitable dumping grade is concentrated and can carry the sediment of the preset mud volume, providing an accurate data basis for determining the target mud dumping point in the follow-up; then, based on the suitable dumping grade of each unit area, the core mud dumping area is divided into multiple sub-areas, and the comprehensive suitable dumping score of each sub-area is determined. Then, the center position of the sub-area with the highest comprehensive suitable dumping score is further determined as the target mud dumping point, which can ensure that the mud dumping operation is preferentially carried out on the sub-areas with high suitable dumping grade, large area and short sailing distance, thereby improving the determination accuracy and determination efficiency of the target mud dumping point, improving the efficiency of the mud dumping operation, and reducing the impact on the marine environment when dumping mud at a suitable position.

[0126] After that, based on the gravitational function, determine the gravitational vector of the target dumping point acting on the current dredger at the current position, and based on the repulsive force function, determine the repulsive force vector of the obstacle acting on the current dredger at the current position. Then, based on the gravitational vector and the repulsive force vector, determine the next waypoint of the current dredger, and adjust the parameters of the gravitational function and the parameters of the repulsive force function based on the water area information of the next waypoint and the state information of the current dredger at the next waypoint. Then, determine the next waypoint as the current position, and return to execute the step of determining the gravitational vector of the target dumping point acting on the current dredger at the current position based on the gravitational function, until the next waypoint is the target dumping point, obtaining multiple candidate global routes. Using the target dumping point as the gravitational source and the obstacle as the repulsive force source can ensure that the current dredger is guided towards the target dumping point with an appropriate gravitational magnitude and away from the obstacle with an appropriate repulsive force magnitude, thereby improving the rationality and safety of the candidate global routes and providing an accurate data basis for determining the optimal global route subsequently. After that, determine the optimal global route from multiple candidate global routes based on the multi-objective optimization function, realizing the automatic planning function of the dumping path, without relying on manual path planning, shortening the duration of path planning, and reducing the mistakes in manual planning, thereby improving the accuracy of the optimal global route. Especially in the face of complex working conditions, the optimal dumping path can be accurately and quickly determined, thus improving the dumping efficiency and safety performance of the dredger, enhancing the intelligent level of the dredger, and ensuring the construction quality of the dredging operation.

[0127] Figure 3 is a schematic structural diagram of a dumping path planning device for a dredger provided by an embodiment of the present application. Referring to Figure 3 this, the dumping path planning device for the dredger may include:

[0128] A model establishment module 310, configured to establish a water area environment model of a preset navigation area and a preset dumping area, where the suitability for dumping level of each unit area within the preset dumping area is marked in the water area environment model;

[0129] A first determination module 320, configured to determine a core dumping area from the preset dumping area based on the suitability for dumping level of each unit area, and determine a target dumping point from the core dumping area;

[0130] A second determination module 330, configured to determine multiple candidate global routes between the current position of the current dredger and the target dumping point based on the water area environment model;

[0131] A third determination module 340, configured to determine an optimal global route from multiple candidate global routes based on the multi-objective optimization function.

[0132] In one embodiment, the first determination module 320 is specifically configured to: determine the number of mud dumping times based on a preset dredging volume and the loading capacity of the current dredger; determine a core mud dumping area from a preset mud dumping area based on the number of mud dumping times and the suitable dumping grade of each unit area; divide the core mud dumping area into multiple sub-areas based on the suitable dumping grade of each unit area, where the sub-areas include at least one unit area; determine the comprehensive suitable dumping score of each sub-area, and determine the central position of the sub-area with the highest comprehensive suitable dumping score as the target mud dumping point.

[0133] In one embodiment, when the first determination module 320 determines the comprehensive suitable dumping score of each sub-area, it includes: determining a first weight corresponding to the suitable dumping grade, a second weight corresponding to the area of the area, and a third weight corresponding to the sailing distance; determining the suitable dumping grade score corresponding to each suitable dumping grade based on the suitable dumping grade distribution of the core mud dumping area; determining the suitable dumping grade score of the corresponding sub-area based on the suitable dumping grade score corresponding to the suitable dumping grade of each sub-area, determining the area score of the corresponding sub-area based on the area of each sub-area, and determining the sailing distance score of the corresponding sub-area based on the sailing distance between the current position and each sub-area; calculating the weighted sum of the suitable dumping grade score, area score, and sailing distance score of each sub-area based on the first weight, second weight, and third weight to obtain the comprehensive suitable dumping score of the corresponding sub-area.

[0134] In one embodiment, obstacles are marked in the water area environment model. The second determination module 330 is specifically configured to: determine the gravitational vector of the target mud dumping point on the current dredger at the current position based on the gravitational function, and determine the repulsive vector of the obstacles on the current dredger at the current position based on the repulsive function; determine the next navigation point of the current dredger based on the gravitational vector and the repulsive vector, and adjust the parameters of the gravitational function and the parameters of the repulsive function based on the water area information of the next navigation point and the state information of the current dredger at the next navigation point; determine the next navigation point as the current position, and return to execute determining the gravitational vector of the target mud dumping point on the current dredger at the current position based on the gravitational function until the next navigation point is the target mud dumping point to obtain multiple candidate global routes.

[0135] In one embodiment, the parameters of the gravitational function include a gravitational coefficient and a distance power coefficient, and the parameters of the repulsive function include a repulsive coefficient and a repulsive power coefficient. When the second determination module 330 adjusts the parameters of the gravitational function and the parameters of the repulsive function based on the water area information of the next navigation point and the state information of the current dredger at the next navigation point, it includes: determining the mud dumping working condition based on the water area information of the next navigation point and the state information of the current dredger at the next navigation point. If the mud dumping working condition is better, set the gravitational coefficient to be larger and the distance power coefficient to be smaller; if the size of the obstacle at the next navigation point is larger, set the repulsive coefficient to be larger; if the distribution of obstacles at the next navigation point is more, set the repulsive power coefficient to be larger.

[0136] In one embodiment, the third determination module 340 is specifically configured to: determine a fourth weight corresponding to the energy consumption value, a fifth weight corresponding to the sailing time, and a sixth weight corresponding to the number of obstacles; determine the energy consumption value of each candidate global route based on the historical sailing data of the current dredger; calculate the ratio of the actual sailing distance of each candidate global route to the preset average sailing speed to obtain the sailing time of the corresponding candidate global route; determine the number of obstacles of each candidate global route based on the water area environment model; calculate the weighted sum of the energy consumption value, the sailing time, and the number of obstacles of each candidate global route based on the fourth weight, the fifth weight, and the sixth weight to obtain the objective function value of the corresponding candidate global route; and determine the candidate global route with the minimum objective function value as the optimal global route.

[0137] In one embodiment, the optimal global route includes multiple waypoints. The dredger's mud dumping path planning device further includes a local optimization module. The local optimization module is specifically configured to: sail according to the optimal global route, and in response to detecting a change in the water area information of the current dredger at the current waypoint, determine multiple candidate local routes for returning from the current waypoint to the optimal global route, and determine the optimal local route from the multiple candidate local routes based on a multi-objective optimization function; return to the optimal global route according to the optimal local route, and return to execute sailing according to the optimal global route until the current dredger sails to the target mud dumping point.

[0138] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the above-described functional modules can refer to the corresponding process in the foregoing method embodiments and will not be elaborated herein.

[0139] The mud dumping path planning device of the dredger provided in this embodiment is applicable to the mud dumping path planning method of the dredger provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0140] Figure 4 is a structural schematic diagram of a dredger provided by an embodiment of the present application. Figure 4 shows a block diagram of an exemplary dredger 11 suitable for implementing the embodiments of the present application. Figure 4 The shown dredger 11 is only an example and should not impose any limitation on the functions and usage scope of this embodiment.

[0141] Such as Figure 4As shown, the dredger 11 is embodied in the form of a general-purpose computing electronic device. The components of the dredger 11 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects different system components (including the system memory 28 and the processing unit 16).

[0142] The bus 18 represents one or more of several types of bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. By way of example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0143] The dredger 11 typically includes a variety of computer system-readable media. These media can be any available media that can be accessed by the dredger 11, including volatile and non-volatile media, removable and non-removable media.

[0144] The system memory 28 may include computer system-readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The dredger 11 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, a storage system 34 can be used for reading and writing on non-removable, non-volatile magnetic media ( Figure 4 not shown, commonly referred to as a "hard disk drive"). Although Figure 4 not shown in the figure, a disk drive for reading and writing on removable non-volatile disks (such as a "floppy disk"), and an optical disk drive for reading and writing on removable non-volatile optical disks (such as a CD-ROM, DVD-ROM, or other optical media) can be provided. In these cases, each drive can be connected to the bus 18 through one or more data media interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the embodiments of the present application.

[0145] A program / utility 40 having a set (at least one) of program modules 42 can be stored, for example, in the system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment. The program modules 42 generally perform the functions and / or methods described in the embodiments of the present application.

[0146] The dredger 11 can also communicate with one or more external devices 14 (such as a keyboard, a pointing device, a display 24, etc.), and can also communicate with one or more devices that enable a user to interact with the dredger 11, and / or communicate with any device that enables the dredger 11 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through an input / output (I / O) interface 22. Moreover, the dredger 11 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 20.

[0147] As Figure 4 shown, the network adapter 20 communicates with other modules of the dredger 11 through a bus 18. It should be understood that although Figure 4 not shown in the figure, other hardware and / or software modules can be used in combination with the dredger 11, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0148] The processing unit 16 executes various functional applications and page displays by running programs stored in the system memory 28, for example, implementing a method for planning the mud dumping path of a dredger provided in any embodiment of the present application.

[0149] The embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements, for example, a method for planning the mud dumping path of a dredger provided in any embodiment of the present application.

[0150] The computer storage medium of this embodiment can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.

[0151] A computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.

[0152] The program code contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination of the foregoing.

[0153] The computer program code for performing the operations of this application may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0154] Those of ordinary skill in the art should understand that the various modules or steps of the present application described above may be implemented using a general-purpose computing device. They may be centralized on a single computing device or distributed across a network composed of multiple computing devices. Optionally, they may be implemented using program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them may be fabricated into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0155] In addition, the acquisition, storage, use, processing, etc. of data in the technical solution of the present application all comply with the relevant regulations of laws and regulations.

[0156] Note that the above is only a preferred embodiment of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments here, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments. Without departing from the inventive concept of the present application, more other equivalent embodiments can be included, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A method for planning a mud throwing path for a dredger, characterized in that: The method comprises: Establishing a water environment model of a preset navigation area and a preset mud dumping area, wherein the water environment model is marked with the mud dumping suitability level of each unit area in the preset mud dumping area; Determine a core mud dumping area from the preset mud dumping area based on the mud dumping suitability level of each unit area, and determine a target mud dumping point from the core mud dumping area; Determining a plurality of candidate global routes between a current position of a current dredger and the target dredging point based on the water environment model; An optimal global route is determined from the plurality of candidate global routes based on a multi-objective optimization function.

2. The method for planning the mud throwing path of a dredger according to claim 1, characterized in that: The step of determining a core mud dumping area from the preset mud dumping area based on the mud dumping suitability level of each unit area, and determining a target mud dumping point from the core mud dumping area comprises: Determining the number of mud dumping times based on a preset dredging amount and the current loading amount of the dredging vessel; Based on the number of mud dumping times and the mud dumping suitability level of each unit area, determining the core mud dumping area from the preset mud dumping areas; Based on the suitability level of each unit area, the core mud dumping area is divided into a plurality of sub-areas, each of which includes at least one unit area; The comprehensive suitability score for dumping is determined for each sub-area, and the center position of the sub-area with the highest comprehensive suitability score for dumping is determined as the target dumping point.

3. The method for planning the mud throwing path of a dredger according to claim 2, characterized in that: Determining the comprehensive suitability score of each sub-area includes: Determine a first weight corresponding to the suitability level, a second weight corresponding to the area, and a third weight corresponding to the sailing distance; Based on the distribution of suitability grades in the core mud dumping area, determining a suitability grade score corresponding to each suitability grade; Determine a suitability level score for the corresponding sub-region based on the suitability level score corresponding to the suitability level of each sub-region, determine an area score for the corresponding sub-region based on the area of ​​each sub-region, and determine a navigation distance score for the corresponding sub-region based on the navigation distance between the current position and each sub-region; Based on the first weight, the second weight and the third weight, a weighted sum of the suitability level score, the area score and the navigation distance score of each sub-region is calculated to obtain a comprehensive suitability score of the corresponding sub-region.

4. The method for planning the mud throwing path of a dredger according to claim 1, characterized in that: Obstacles are marked in the water environment model, and determining multiple candidate global routes between the current position of the current dredger and the target dredging point based on the water environment model includes: Determine the gravitational vector of the target mud dumping point at the current position of the current dredger based on the gravitational function, and determine the repulsive vector of the obstacle at the current position of the current dredger based on the repulsive function; Determine a next waypoint of the current dredger based on the gravitational vector and the repulsive vector, and adjust parameters of a gravitational function and parameters of a repulsive function based on water area information of the next waypoint and state information of the current dredger at the next waypoint; The next waypoint is determined as the current position, and the process returns to determine the gravity vector of the target mud dumping point received by the current dredger at the current position based on the gravity function until the next waypoint is the target mud dumping point, thereby obtaining the plurality of candidate global routes.

5. The method for planning the mud throwing path of a dredger according to claim 4, characterized in that: The parameters of the gravity function include a gravity coefficient and a distance power coefficient, the parameters of the repulsion function include a repulsion coefficient and a repulsion power coefficient, and the parameters of the gravity function and the parameters of the repulsion function are adjusted based on the water area information of the next waypoint and the state information of the current dredger at the next waypoint, including: Determine the mud dumping condition based on the water area information of the next waypoint and the state information of the current dredger at the next waypoint, if the mud dumping condition is better, set the gravity coefficient to be larger, and set the distance power coefficient to be smaller; If the obstacle size of the next waypoint is larger, the repulsion coefficient is set to be larger; If there are more obstacles at the next waypoint, the repulsion power coefficient is set to be larger.

6. The method for planning the mud throwing path of a dredger according to claim 1, characterized in that: The determining the optimal global route from the plurality of candidate global routes based on the multi-objective optimization function comprises: Determine a fourth weight corresponding to the energy consumption value, a fifth weight corresponding to the flight time, and a sixth weight corresponding to the number of obstacles; Determine the energy consumption value of each candidate global route based on the historical navigation data of the current dredger; Calculating the ratio of the actual sailing distance of each candidate global route to the preset average sailing speed to obtain the sailing time of the corresponding candidate global route; Determining the number of obstacles for each candidate global route based on the water environment model; Based on the fourth weight, the fifth weight and the sixth weight, a weighted sum of the energy consumption value, the navigation time and the number of obstacles of each candidate global route is calculated to obtain an objective function value corresponding to the candidate global route; The candidate global route with the smallest objective function value is determined as the optimal global route.

7. The method for planning the mud throwing path of a dredger according to claim 1, characterized in that: The optimal global route includes a plurality of waypoints, and the method further includes: Traveling along the optimal global route, in response to detecting that the water area information of the current dredger at the current waypoint changes, determining a plurality of candidate local routes returning from the current waypoint to the optimal global route, and determining an optimal local route from the plurality of candidate local routes based on the multi-objective optimization function; Return to the optimal global route according to the optimal local route, and return to execute driving according to the optimal global route until the current dredger drives to the target dredging point.

8. A mud throwing path planning device for a dredger, characterized in that: The device comprises: A model building module, used to build a water environment model of a preset navigation area and a preset mud dumping area, wherein the water environment model is marked with a mud dumping suitability level of each unit area in the preset mud dumping area; A first determination module is used to determine a core mud dumping area from the preset mud dumping area based on the mud dumping suitability level of each unit area, and determine a target mud dumping point from the core mud dumping area; A second determination module is used to determine a plurality of candidate global routes between the current position of the current dredger and the target dredging point based on the water environment model; The third determination module is used to determine the optimal global route from the multiple candidate global routes based on a multi-objective optimization function.

9. A dredging vessel, characterized in that: The dredger comprises: at least one processor; and a memory communicatively coupled to the at least one processor; Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the mud throwing path planning method for a dredger as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for planning a mud throwing path for a dredger as claimed in any one of claims 1 to 7 is implemented.

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