Dredger mud throwing path planning method, device, dredger and storage medium

Abstract

The embodiments of the present application disclose a method and device for planning a mud dumping path of a dredger, a dredger and a storage medium, and relate to the field of dredging engineering technology, including: 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; 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; determining multiple candidate global routes between the current position of the current dredger and the target mud dumping point based on the water environment model; determining the optimal global route from multiple candidate global routes based on a multi-objective optimization function, thereby realizing an automatic planning function of the mud dumping path, especially when facing complex working conditions, the optimal mud dumping path can be determined accurately and quickly, thereby improving the efficiency of the mud dumping operation and the rationality of the mud dumping path planning, and reducing the risk of safety accidents.

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 throwing path of a dredger, a dredger, and a storage medium. Background Art

[0002] Mud throwing operation, as the last step of dredging operation by trailing suction hopper dredger, has a vital impact on the efficiency and environmental protection of the entire dredging project.

[0003] The traditional mud dumping path planning method relies on manual operation, that is, the mud dumping path is determined by manual experience. However, relying on manual mud dumping path planning, there are problems such as unreasonable mud dumping path planning and low operation efficiency. In addition, when faced with complex working conditions, the speed of manually determining the mud dumping path is relatively slow, which is easy to cause safety accidents. Summary of the Invention

[0004] The embodiments of the present application provide a method, device, dredger and storage medium for planning the mud throwing path of a dredger, which realize the mud throwing path planning function of the dredger to solve the problems in the prior art such as unreasonable mud throwing path planning, low operating efficiency and easy to cause safety accidents.

[0005] In the first aspect, an embodiment of the present application provides a mud dumping path planning method for a dredger, the method comprising: 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; 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; determining multiple candidate global routes between the current position of the current dredger and the target mud dumping point based on the water environment model; and determining the optimal global route from multiple candidate global routes based on a multi-objective optimization function.

[0006] In an embodiment of the present application, a water environment model of a preset navigation area and a preset mud dumping area can be established, and the water environment model is marked with the mud dumping suitability level of each unit area in the preset mud dumping area; a core mud dumping area is determined from the preset mud dumping area based on the mud dumping suitability level of each unit area, and a target mud dumping point is determined from the core mud dumping area; multiple candidate global routes between the current position of the current dredger and the target mud dumping point are determined based on the water environment model; and the optimal global route is determined from multiple candidate global routes based on a multi-objective optimization function. In the above technical solution, first, a core mud dumping area is determined based on the mud dumping suitability level of each unit area in the preset mud dumping area, and a target mud dumping point for this mud dumping operation is determined from the core mud dumping area, so that the target mud dumping point is located in the unit area with the highest mud dumping suitability level or in continuous unit areas, ensuring that mud dumping operations are performed preferentially on areas with high mud dumping suitability levels, thereby improving the efficiency of mud dumping operations. At the same time, mud dumping at a suitable location can reduce the impact on the marine environment; then, with the current position as the starting point and the target mud dumping point as the end point, multiple candidate global routes between the starting point and the end point are determined based on the water environment model, and the optimal global route is determined based on the multi-objective optimization function. The optimal global route is determined by the number, and the automatic planning function of the mud throwing path is realized. There is no need to rely on manual path planning, which shortens the path planning time, thereby improving the efficiency of the mud throwing operation, reducing the errors of manual planning, and improving the accuracy of the optimal global route. Especially in the face of complex working conditions, the optimal mud throwing route can be determined accurately and quickly, thereby improving the rationality of mud throwing path planning and reducing the risk of safety accidents, thereby effectively solving the problems of unreasonable mud throwing path planning, low operating efficiency and easy to cause safety accidents in the existing technology, and improving the mud throwing efficiency and safety performance of the dredger.

[0007] In the second aspect, an embodiment of the present application provides a mud dumping path planning device for a dredger, which includes: a model building module for 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; a first determination module for 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; 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 environment model; and a third determination module for determining the optimal global route from 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, the dredger comprising:

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

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

[0011] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for planning a mud throwing path for a dredger as in any embodiment of the present application.

[0012] The description of the second, third and fourth aspects in this application can refer to the detailed description of the first aspect; and the beneficial effects described in the second, third and fourth aspects can refer to the analysis of the beneficial effects of the first aspect, which will not be repeated here.

[0013] In this application, the name of the aforementioned dredger mud dumping path planning device does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear with other names. As long as the functions of each device or functional module are similar to those of this application, they fall within the scope of the claims of this application and their equivalents.

[0014] These and other aspects of the present application will become more readily apparent from 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 briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0016] Figure 1 This is a flow chart of a method for planning a mud dumping path for a dredger provided in an embodiment of the present application;

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

[0018] Figure 3 This is a structural diagram of a mud throwing path planning device for a dredger provided in an embodiment of the present application;

[0019] Figure 4 It is a structural schematic diagram of a dredger provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0021] It should be noted that the terms "first," "second," "target," and "original" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or apparatus.

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

[0023] S110: Establishing water environment models for a preset navigation area and a preset mud dumping area.

[0024] Among them, the preset mud dumping area is a mud dumping area that is pre-demarcated manually, and the dredger can dump mud in the preset mud dumping area; for example, the preset mud dumping area can be a continuous area close to the shore, or a continuous area far away from the waterway, where the waterway is a waterway pre-planned for other ships when sailing 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 the area pre-designated for dredging operations, that is, the area where the dredger dredges.

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

[0027] Specifically, when planning the mud dumping path of the current dredger, a water environment model of the preset navigation area and the preset mud dumping area can be established, that is, the status information of the current dredger, such as position information, speed information, loading information and wind and wave flow information, etc., can be obtained, wherein the loading information includes the mud weight and mud density of each mud compartment, and the wind and wave flow information includes wind speed, water flow rate, wave height and wave crest, etc., and the water area information within the preset mud dumping area is obtained, such as coordinate range and water depth, etc., and then the water area information within the preset navigation area is obtained, such as island distribution, and the status information of other ships at sea in the preset navigation area obtained through the ship automatic identification system, etc., and then the status 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, to remove noise data and data with errors and improve the accuracy of the data.

[0028] Afterwards, based on the status information of the current dredger after preprocessing, the water information in the preset mud dumping area and the water information in the preset navigation area, and in combination with electronic nautical charts and hydrological files, environmental modeling can be performed to obtain a three-dimensional water environment model. The hydrological file is equivalent to a seabed topographic map, including the distribution of water depth, shoals, reefs and trenches. The water environment model is then gridded, and each grid in the preset mud dumping area is determined as a unit area. The suitability level of each unit area is then determined, and the suitability level of each unit area in the preset mud dumping area is marked in the water environment model. The suitability level is used to characterize the degree of suitability for mud dumping. The higher the suitability level, the more suitable the corresponding unit area is for mud dumping.

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

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

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

[0032] The core dumping area is a specific area of water used to receive the sediment generated by dredging operations. The target dumping point is the specific dumping location of the current dredger for this dumping operation, determined from the core dumping area.

[0033] Specifically, after establishing the water environment model, the core mud dumping area can be determined from the preset mud dumping area based on the mud dumping suitability level of each unit area. For example, an area with a concentrated distribution of high mud dumping suitability levels can be selected from the preset mud dumping area and determined as the core mud dumping area.

[0034] Then, the target mud dumping point can be determined from the core mud dumping area. For example, based on the suitability level of each unit area, the unit areas with the same and continuous suitability level in the core mud dumping area can be combined into a sub-area, and it is ensured that the sub-area can carry the mud and sand of a single mud dumping operation of the current dredger. In this way, multiple sub-areas can be obtained, and then the sub-area with the largest water depth is determined as the target mud dumping area for this mud dumping operation, and the center position of the target mud dumping area is determined as the target mud dumping point.

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

[0036] Among them, the candidate global route is a navigable route plan between the current position of the current dredger and the target mud dumping point, with the starting point being the current position of the current dredger and the end point being the target mud dumping point.

[0037] Specifically, after determining the target mud dumping point, multiple candidate global routes between the current position of the current dredger and the target mud dumping point can be determined based on the water environment model. For example, the water area information between the current position and the target mud dumping point can be obtained based on the water environment model, and then the path planning algorithm is used to determine multiple feasible routes between the current position and the target mud dumping point based on the water area information between the current position and the target mud dumping point, that is, multiple candidate global routes. The path planning algorithm can be the Dijkstra algorithm or the A-star algorithm, etc.

[0038] Specifically, the water area between the current position and the target mud dumping point can be gridded, where each grid represents a node, and the edge represents a navigable channel segment. The edges are assigned corresponding weights (such as distance, navigation time or cost, etc.). Then, a path planning algorithm is used to determine multiple candidate global routes between the current position and the target mud dumping point that meet different weight conditions.

[0039] S140 . Determine an 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 pros and cons of each candidate global route.

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

[0042] Specifically, after obtaining multiple candidate global routes, the optimal global route can be determined from the multiple candidate global routes based on a multi-objective optimization function. For example, a pre-set multi-objective optimization function can be obtained. Then, for the current candidate global route among the multiple candidate global routes, the objective function value of the current candidate global route is calculated based on the multi-objective optimization function. The objective function values of the multiple candidate global routes are then 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 quality of the candidate global routes; the smaller the objective function value, the better the corresponding candidate global route.

[0043] Afterwards, the dredger can be controlled to travel according to the optimal global route to safely travel to the target mud dumping point and perform the mud dumping operation. After the mud dumping operation is completed, the dredger is controlled to return to the dredging operation area for dredging, and S120 to S140 are repeated to control the dredger to perform the next mud dumping operation until the dredging operation in the dredging operation area is completed.

[0044] Optionally, while the current dredger is traveling along the optimal global route, the path execution status and navigation data of the current dredger are continuously monitored and recorded to form a data set, which can be used for data analysis of subsequent mud dumping path planning, thereby continuously improving the safety and intelligence level of mud dumping path planning.

[0045] Optionally, an operator (such as the driver of the current dredger) can independently define the mud dumping route of the current dredger. In this case, the overall controller can obtain the mud dumping route pre-defined by the operator and perform a feasibility and safety check on the mud dumping route to determine whether there is a safety risk in the mud dumping route. That is, based on the water environment model and the performance parameters of the current dredger, it is determined whether the mud dumping route will collide with obstacles, whether it is within the safe operating range of the current dredger (such as the maximum speed and minimum turning radius), and whether it will cause the current dredger to consume too much energy or sail for too long. If there is no safety risk in the mud dumping route, the current dredger is controlled to travel according to the mud dumping route to perform the mud dumping operation. If there is a safety risk in the mud dumping route, an early warning message is generated and displayed on the console display. At the same time, the risk points in the mud dumping route are displayed for the operator to view. Then, based on S110 to S140, the optimal global route for the mud dumping operation is determined, and the optimal global route or correction suggestions generated based on the optimal global route are displayed, so that the operator can adjust or redefine the mud dumping route according to actual conditions.

[0046] The technical solution of the embodiment of the present application can establish a water environment model of a preset navigation area and a preset mud dumping area, in which the mud dumping suitability level of each unit area in the preset mud dumping area is marked; based on the mud dumping suitability 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 environment model, multiple candidate global routes between the current position of the current dredger and the target mud dumping point are determined; based on the multi-objective optimization function, the optimal global route is determined from multiple candidate global routes. In the above technical solution, first, the core mud dumping area is determined based on the mud dumping suitability level of each unit area in the preset mud dumping area, and the target mud dumping point of this mud dumping operation is determined from the core mud dumping area, so that the target mud dumping point is located in the unit area with the highest mud dumping suitability level or in the continuous unit area, ensuring that mud dumping operations are performed preferentially on areas with high mud dumping suitability levels, thereby improving the efficiency of mud dumping operations. At the same time, mud dumping at a suitable location can reduce the impact on the marine environment; then, with the current position as the starting point and the target mud dumping point as the end point, multiple candidate global routes between the starting point and the end point are determined based on the water environment model, and based on the multi-objective optimization function, the optimal global route is determined from multiple candidate global routes. The optimal global route is determined by the number, and the automatic planning function of the mud throwing path is realized. There is no need to rely on manual path planning, which shortens the path planning time, thereby improving the efficiency of the mud throwing operation, reducing the errors of manual planning, and improving the accuracy of the optimal global route. Especially in the face of complex working conditions, the optimal mud throwing route can be determined accurately and quickly, thereby improving the rationality of mud throwing path planning and reducing the risk of safety accidents, thereby effectively solving the problems of unreasonable mud throwing path planning, low operating efficiency and easy to cause safety accidents in the existing technology, and improving the mud throwing efficiency and safety performance of the dredger.

[0047] The following further describes a method for planning a mud dumping path for a dredger provided in an embodiment of the present application. Figure 2 This is another flow chart of the mud dumping path planning method for a dredger provided in an embodiment of the present application. This embodiment of the present application is optimized based on the above embodiments. Figure 2 The method of this embodiment includes but is not limited to the following steps:

[0048] S210: Establishing water environment models of a preset navigation area and a preset mud dumping area.

[0049] Specifically, when establishing a water environment model, islands and reefs and ships at sea within a preset navigation area can be marked in the water environment model to clarify the obstacles that the current dredger needs to avoid when navigating.

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

[0051] The preset dredging volume is the amount of sediment that is pre-determined based on the construction volume of the dredging operation area, that is, the amount of sediment that can be produced in the dredging operation area during 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 the current dredger's multiple mud compartments.

[0052] The number of mud throwing times is the number of mud throwing times required when the current dredging vessel is loaded 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 can be calculated to obtain the number of dredging times.

[0054] S230: Determine a core mud dumping area from the preset mud dumping areas based on the number of mud dumping times and the mud dumping suitability level of each unit area.

[0055] Specifically, after obtaining the number of mud dumping times, the size of the area that can bear the amount of sediment brought by the number of mud dumping times can be determined based on the number of mud dumping times, that is, the size of the area that can bear the preset dredging amount, and then based on the suitability level of each unit area, the area that can bear the amount of sediment brought by the number of mud dumping times is selected from the preset mud dumping area, and the selection principle is that the area with high suitability level is concentrated, thereby obtaining the core mud dumping area, that is, the core mud dumping area is the area with high suitability level is concentrated, and can bear the preset dredging amount of sediment.

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

[0057] The sub-area may include at least one unit area.

[0058] Specifically, after obtaining the core mud dumping area, based on the suitability level of each unit area, the unit areas with the same and continuous suitability level can be combined into a sub-area, and it can be ensured that the sub-area can carry the single loading amount of mud and sand of the current dredger. In this way, 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 suitability level.

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

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

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

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

[0063] The first weight is used to represent the importance of the suitability level in determining the comprehensive suitability score.

[0064] The second weight is used to represent the importance of the regional area in 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 of the navigation distance in 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 that mud be dumped in an area with a high dumping suitability level first, the first weight is set to be higher, and the second weight and the third weight are lower; if the actual operation requirements require that mud be dumped in an area with a larger area first, the second weight is set to be higher, and the first weight and the third weight are lower; if the actual operation requirements require that mud be dumped in an area close to the current position first, the third weight is set to be higher, and the first weight and the second weight are lower, and the first weight, the second weight and the third weight are all within [0,1].

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

[0068] The suitability grade distribution is the proportion of different suitability grades within the core mud dumping area. The suitability grade score is a quantitative score assigned to different suitability grades, and the value range of the suitability grade score is [0,1].

[0069] Specifically, the suitability level distribution of the core mud dumping area can be determined based on the suitability level of each unit area in the core mud dumping area, such as whether the high suitability level accounts for a larger proportion, or whether the low suitability level accounts for a larger proportion, etc.; then, according to the suitability level distribution of the core mud dumping area, different suitability level scores are assigned to each suitability level, that is, a higher suitability level score is assigned to a high suitability level, and a lower suitability level score is assigned to a low suitability level, so as to weaken the area with a low suitability level. For example, if the suitability level distribution is that the high suitability level accounts for a larger proportion, the suitability level score of the high suitability level is set to 0.8, and the suitability level score of the low suitability level is set to 0.2; if the suitability level distribution is that the low suitability level accounts for a larger proportion, the suitability level score of the high suitability level is set to 0.5, and the suitability level score of the low suitability level is set to 0.2.

[0070] Sa3. Determine the suitability level score of the corresponding sub-region based on the suitability level score corresponding to the suitability 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] The area score is a quantitative score assigned to the area of the sub-region based on its size, and its value range is [0, 1]. The distance score is a quantitative score assigned to the distance based on the distance between the current location and the sub-region, and its value range is [0, 1].

[0072] Specifically, for the current sub-area in each sub-area, the suitability level score of the current sub-area is determined based on the suitability level score corresponding to the suitability level of the current sub-area. If the suitability level of the current sub-area is a high suitability level, the suitability level score of the current sub-area is determined to be a suitability level score of a high suitability level; if the suitability level of the current sub-area is a low suitability level, the suitability level score of the current sub-area is determined to be a suitability level score of a low suitability level.

[0073] Next, the area score of the current sub-region is determined based on the area of the current sub-region, that is, the area area of the current sub-region can be determined based on the area coordinate range of the current sub-region in the water environment model. If the area of the current sub-region is larger, the area score of the current sub-region is set higher; then, the navigation distance score of the current sub-region is determined based on the navigation distance between the current position and the current sub-region, that is, the distance between the current position and the current sub-region is calculated 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] Afterwards, each sub-area is traversed and the above process is repeated to obtain the suitability rating score, area score and navigation distance score of each sub-area.

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

[0076] Specifically, for the current sub-region within each sub-region, the product of the first weight and the current sub-region's suitability rating is calculated to obtain a first product. The product of the second weight and the current sub-region's area rating is calculated to obtain a second product. The product of the third weight and the current sub-region's navigation distance rating is calculated to obtain a third product. The sum of the first, second, and third products is then calculated to obtain the current sub-region's comprehensive suitability rating. This process is then repeated for each sub-region to obtain a comprehensive suitability rating for each sub-region.

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

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

[0079] S260: 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.

[0080] The gravity function is used to calculate the magnitude and direction of the gravitational force exerted by the target dumping point on the current dredger at a specific location. In other words, in this embodiment, the target dumping point is considered a gravitational source, exerting a gravitational force on the current dredger. The gravity vector includes the magnitude and direction of the gravitational force, with the gravitational direction pointing from the current dredger toward the target dumping point.

[0081] The repulsion function is used to calculate the magnitude and direction of the repulsive force exerted by an obstacle on the current dredger at a specific location. In other words, in this embodiment, obstacles surrounding the current dredger are considered repulsive sources, which can exert a repulsive force on the current dredger. The repulsion vector includes the magnitude and direction of the repulsive force, with the repulsive force direction pointing from the obstacle toward the current dredger.

[0082] Specifically, the parameters of the gravity function can be determined, including the gravity coefficient and the distance power coefficient, that is, the initial gravity coefficient can be determined as the current gravity coefficient, and the initial distance power coefficient can be determined as the current distance power coefficient, or the current gravity coefficient and the current distance power coefficient can be determined based on the water area information of the current position and the status information of the current dredger at the current position; then, the gravity vector of the target mud dumping point affected by the current dredger at the current position can be determined based on the gravity function, that is, the coordinates of the target mud dumping point and the coordinates of the current position can be calculated using the gravity function after the parameters are determined to obtain the gravity vector. Among them, the gravity coefficient is used to adjust the strength of the gravity effect. In the embodiment of the present application, the gravity coefficient can be dynamically adjusted according to the current state information of the dredger and the water area information of the current dredger to ensure that the gravity is appropriate, which can not only guide the current dredger to the target mud dumping point, but also will not cause the current dredger to be difficult to control or consume too much energy due to excessive gravity, and the value range of the gravity coefficient is [1.0, 10.0]; the initial gravity coefficient is the initial value of the gravity coefficient, which is usually small, such as 3.0; the current gravity The coefficient is the gravity coefficient of the current dredger at its current position; the distance power coefficient is used to adjust the law of gravity changing with distance, and determines the power function relationship between the gravity size and the distance. In the embodiment of the present application, the distance power coefficient can be dynamically adjusted according to the status information of the current dredger and the water area information of the current dredger, 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 its current position.

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

[0084]

[0085] in, represents the gravitational vector; represents the gravitational coefficient; Indicates the coordinates of the target mud dumping point; The coordinates representing the current position of the dredger; represents the distance power coefficient; Indicates the distance between the target mud dumping point and the current position.

[0086] Afterwards, the parameters of the repulsion function can be determined, including the repulsion coefficient and the repulsion power coefficient, that is, the initial repulsion coefficient can be determined as the current repulsion coefficient, and the initial repulsion power coefficient can be determined as the current repulsion power coefficient, or the current repulsion coefficient and the current repulsion power coefficient can be determined based on the water area information of the current position; then, the repulsion vector of the obstacle suffered by the current dredger at the current position can be determined based on the repulsion function, that is, the obstacles around the current position can be determined based on the water area environment model, and the obstacles at this time can be one or more, and the influence range radius of the obstacle is obtained, where the influence range radius is used to characterize the repulsive influence range of the obstacle, that is, when the current dredger is within the influence range radius, the current dredger will be affected by the repulsion of the obstacle; when the current dredger is outside the influence range radius, the current dredger will not be affected by the repulsion of the obstacle; then, the repulsion function after parameter determination is used to calculate based on the coordinates of the obstacle, the influence range radius of the obstacle and the coordinates of the current position to obtain the repulsion vector. Among them, the repulsion coefficient is used to adjust the strength of the repulsion force. In the embodiment of the present application, the repulsion coefficient can be dynamically adjusted according to the obstacle information at the current location of the dredger, and the value range of the repulsion coefficient is [10.0, 100.0]; the initial repulsion coefficient is the initial value of the repulsion coefficient, and the value is usually large, such as 50.0; the current repulsion coefficient is the repulsion coefficient of the current dredger at the current location; the repulsion power coefficient is used to adjust the law of repulsion changing with distance, and determines the power function relationship between the repulsion size and distance. In the embodiment of the present application, the repulsion power coefficient can be dynamically adjusted according to the obstacle distribution at the current location of the dredger, and the value range of the repulsion power coefficient is [1, 2]; the initial repulsion power coefficient is the initial value of the repulsion power coefficient, such as 1; the current repulsion power coefficient is the repulsion power coefficient of the current dredger at the current location.

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

[0088]

[0089] in, represents the repulsive force vector; represents the repulsion coefficient; Represents the coordinates of the obstacle; Indicates the current distance between the dredger and the obstacle; Indicates the radius of influence of the obstacle; Represents the repulsive power coefficient.

[0090] S270: Determine the next waypoint of the current dredger based on the attraction vector and the repulsion vector, and adjust parameters of the attraction function and the repulsion function based on water area information of the next waypoint and state information of the current dredger at the next waypoint.

[0091] Among them, the next waypoint is the position that the current dredger reaches after traveling a unit time step from the current position according to the resultant force vector of the attraction vector and the repulsion vector. That is, the position reached after traveling a unit time step with the direction of the resultant force as the heading and the magnitude of the resultant force as the speed; the unit time step is a preset duration data and can be adjusted according to actual conditions, such as 5 minutes or 10 minutes.

[0092] Specifically, after obtaining the attraction vector and the repulsion vector, the resultant force vector of the attraction vector and one or more repulsion vectors can be calculated based on the parallelogram law, including the magnitude and direction of the resultant force. Then, a path simulation is performed based on the resultant force vector to determine the position that the current dredger can reach per unit time step with the resultant force direction as the heading and the magnitude of the resultant force as the speed, that is, the next waypoint.

[0093] Then, the parameters of the gravity 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, the mud throwing condition can be determined based on the water area information of the next waypoint and the status information of the current dredger at the next waypoint. Specifically, if the navigation water surface of the next waypoint is wider (that is, the fewer obstacles), the water flow of 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 mud throwing condition is determined to be better; if the navigation water surface of the next waypoint is narrower (that is, the more obstacles), the water flow of the next waypoint is more unstable, the power of the current dredger at the next waypoint is less The less sufficient it is or the slower the speed of the current dredger at the next waypoint, the worse the mud dumping condition is determined to be; then the gravity coefficient and the distance power coefficient are adjusted according to the mud dumping condition, that is, if the mud dumping condition is better, the gravity coefficient is set to be larger, such as the gravity coefficient can be gradually increased to 10.0, and the distance power coefficient is set to be smaller, so that the gravity changes relatively slowly with distance and the route is smoother; if the mud dumping condition is worse, the gravity coefficient is set to be smaller, such as the gravity coefficient can be gradually reduced to 1.0, and the distance power coefficient is set to be larger, so that the current dredger can adjust its course more accurately when approaching the target mud 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 current dredger's state information at the next waypoint. That is, if the obstacle size at the next waypoint is larger, the repulsion coefficient is set to a larger value, such as the repulsion coefficient can be gradually increased to [85.0, 100.0]. If the obstacle size at the next waypoint is smaller, the repulsion coefficient is set to a smaller value, such as the repulsion coefficient can be gradually decreased to [10.0, 20.0]. If there are more obstacles at the next waypoint, the repulsion power coefficient is set to a larger value, and the repulsion force changes more dramatically with distance. The current dredger is more inclined to avoid obstacles in advance, ensuring strong obstacle avoidance sensitivity. If there are fewer obstacles at the next waypoint, the repulsion power coefficient is set to a smaller value, and the repulsion force changes more slowly with distance. The current dredger will only make large avoidance movements when approaching obstacles, ensuring 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. Then, the gravity coefficient and the distance power coefficient are adjusted based on the mud throwing condition to ensure that the gravity is of 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 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 determining 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 the resultant force vector corresponding to each waypoint is carried.

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

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

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

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

[0102] The energy consumption value is the energy consumed by the current dredger when sailing along the candidate global route. The fourth weight is used to represent the importance of the energy consumption value in determining the objective function value.

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

[0104] The number of obstacles is the number of obstacles that the current dredger may encounter when navigating along the candidate global route. The sixth weight is used to represent the importance of the number of obstacles in 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 requirement is higher, the fourth weight is set to be higher, and the fifth weight and the sixth weight are lower; if the time control requirement in the actual operation requirement is higher, the fifth weight is set to be higher, and the fourth weight and the sixth weight are lower; if the navigation safety requirement in the actual operation requirement is higher, the sixth weight is set to be higher, and the fourth weight and the fifth weight are lower, 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 navigation data of the current dredger.

[0107] The historical navigation data refers to the navigation data of the current dredger when performing mud dumping operations at historical moments, which may include navigation distance, sediment load, water flow resistance, ship propulsion efficiency, and corresponding energy consumption values.

[0108] Specifically, the relationship between sailing distance and energy consumption can be determined based on the current dredger's historical sailing data. Then, based on the actual sailing distance of each candidate global route, the relationship between sailing distance and energy consumption can be queried to determine the energy consumption value for the corresponding candidate global route. The actual sailing distance is the actual distance the current dredger traveled along the candidate global route.

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

[0110] The preset average speed is a pre-set speed, which can be preset based on historical navigation data of the current dredger.

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

[0112] Specifically, for the current candidate global route among multiple candidate global routes, obstacles that affect the current dredger navigating along the current candidate global route can be identified from the obstacles annotated in the water environment model. Specifically, if the current dredger is within the influence radius of an obstacle while navigating along the current candidate global route, it indicates that the obstacle affects the current dredger navigating along the current candidate global route. The number of these obstacles is then calculated to determine the number of obstacles for the current candidate global route. The above process is then repeated for each candidate global route to determine the number of obstacles for each candidate global route.

[0113] Sb5. 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.

[0114] Specifically, for the current candidate global route among the multiple candidate global routes, the fourth weight and the energy consumption value of the current candidate global route are multiplied to obtain a fourth product. The fifth weight and the flight time of the current candidate global route are multiplied to obtain a fifth product. The sixth weight and the number of obstacles in the current candidate global route are multiplied to obtain a sixth product. The fourth, fifth, and sixth products are then summed to obtain the objective function value of the current candidate global route. The above process is then repeated for each candidate global route to obtain the objective function value for each candidate global route.

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

[0116] In an embodiment of the present application, weights corresponding to the energy consumption value, navigation time and number of obstacles are set according to the actual operational requirements of the dredging operation, which can improve the accuracy and flexibility of the fourth weight, the fifth weight and the sixth weight, and provide an accurate data basis for the subsequent determination of the objective function value; then, based on the historical navigation data of the current dredger, the energy consumption value corresponding to each candidate global route can be predicted, thereby improving the accuracy and efficiency of determining the energy consumption value, and based on the actual navigation distance and the preset average speed, the accuracy and efficiency of determining the navigation time can be improved, and then the number of obstacles for each candidate global route is determined based on the water environment model, which can improve the accuracy and efficiency of determining the number of obstacles; then, weighted fusion is further performed based on the weights, so that the smaller the energy consumption value, the shorter the navigation time and the fewer the number of obstacles, the smaller the objective function value of the candidate global route, thereby improving the accuracy and efficiency of determining the optimal global route, and ensuring that routes with low energy consumption, high speed and high safety are given priority.

[0117] Optionally, after obtaining the optimal global route, the optimal global route can be visually simulated on the console display of the current dredger, and the operator can mark the prohibited areas at this time; then, the overall controller can obtain the prohibited areas marked by the operator, and fine-tune the optimal global route based on the prohibited areas so that the optimal global route bypasses the prohibited areas, and then receive the operator's confirmation information on the optimal global route after fine-tuning, and travel 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 travel according to the optimal global route. In response to detecting that the water area information of the current dredger at the current waypoint has changed, multiple candidate local routes 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 driving according to the optimal global route until the current dredger reaches the target mud dumping point.

[0119] The candidate local route is the route plan that the dredger can take to bypass the area with environmental changes. The optimal local route is the best route among multiple candidate local routes after comprehensive evaluation based on the multi-objective optimization function.

[0120] Specifically, after determining the optimal global route, the current dredger can be controlled to travel along the optimal global route. During the travel process, the water area information of the current dredger at the current waypoint is detected in real time, and the water area information at the current waypoint during travel is compared with the water area information at the current waypoint during route planning. If the change between the wind, wave and current information at the current waypoint during travel and the wind, wave and current information at the current waypoint during route planning exceeds a preset change threshold, it is determined that the water area information of the current dredger at the current waypoint has changed. Alternatively, if a new obstacle appears at the current waypoint during travel compared to the obstacle information at the current waypoint during route 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 pre-set value used to determine whether the wind, wave and 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 heading adjustment angle, that is, the angle between the resultant force direction and the current heading, can be determined according to the resultant force direction of the current waypoint and the current heading of the current dredger, and the rudder angle of the current dredger is controlled to rotate the heading adjustment angle to achieve steering, so that the current heading is adjusted to the resultant force direction. At the same time, the speed of the current dredger is adjusted based on the resultant force size of the current waypoint to ensure that the current dredger moves towards the target mud dumping point under the action of the resultant force and safely avoids obstacles.

[0122] In response to detecting a change in the water area information of the current dredger at the current waypoint, the nearest waypoint in the optimal global route after bypassing the environmental change area can be determined as the local end point, or the next waypoint in the optimal global route after the current waypoint 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 multiple candidate local routes between the current waypoint and the local end point are determined using the same processing steps as S260 to S280. 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. Thereafter, the dredger is driven according to the fine-tuned optimal local route to safely travel to the local end point, thereby returning to the optimal global route.

[0123] Afterwards, the above process is repeated to continue traveling along the optimal global route until the current dredger reaches the target mud dumping point.

[0124] In an embodiment of the present application, when it is detected that the water area information of the current dredger at the current waypoint has changed, the optimal local route returning from the current waypoint to the optimal global route is determined, and the optimal global route can be locally optimized according to actual conditions, ensuring that the current dredger bypasses the environmental change area along a route with low energy consumption, high speed and high safety, thereby improving the safety and accuracy of the mud throwing path, thereby reducing the energy consumption and time cost during the mud throwing operation, and improving the efficiency and safety performance of the mud throwing operation.

[0125] The technical solution of the embodiment of the present application can establish a water environment model of a preset navigation area and a preset mud dumping area, and then determine the number of mud dumping times based on the preset dredging volume and the current loading capacity of the dredger, and determine the core mud dumping area from the preset mud dumping area based on the number of mud dumping times and the mud dumping suitability level of each unit area, so as to ensure that the core mud dumping area is an area with a concentrated distribution of high mud dumping suitability levels and can carry a preset dredging volume of mud and sand, thereby providing an accurate data basis for the subsequent determination of the target mud dumping point; then, based on the mud dumping suitability level of each unit area, the core mud dumping area is divided into multiple sub-areas, and the comprehensive mud dumping suitability score of each sub-area is determined, and then the center position of the sub-area with the highest comprehensive mud dumping suitability score is further determined as the target mud dumping point, so as to ensure that mud dumping operations are carried out preferentially in sub-areas with high mud dumping suitability levels, large areas and short navigation distances, thereby improving the accuracy and efficiency of determining the target mud dumping points, thereby improving the efficiency of mud dumping operations, and at the same time, mud dumping at appropriate locations can reduce the impact on the marine environment.

[0126] Afterwards, the gravitational vector of the target mud dumping point received by the current dredger at the current position is determined based on the gravitational function, and the repulsive vector of the obstacle received by the current dredger at the current position is determined based on the repulsive function. Then, the next waypoint of the current dredger is determined based on the gravitational vector and the repulsive vector, and the parameters of the gravitational function and the repulsive 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. Then, the next waypoint is determined as the current position, and the execution is returned to determine the gravitational vector of the target mud dumping point received by the current dredger at the current position based on the gravitational function until the next waypoint is the target mud dumping point. A plurality of candidate global routes are obtained, with the target mud dumping point as the gravitational source and the obstacle as the repulsive source, which can ensure that the current waypoint is guided with an appropriate gravitational magnitude. The dredger moves towards the target mud dumping point and guides the current dredger away from obstacles with an appropriate repulsive force, thereby improving the rationality and safety of the candidate global routes and providing an accurate data basis for the subsequent determination of the optimal global route; then, based on the multi-objective optimization function, the optimal global route is determined from multiple candidate global routes, and the automatic planning function of the mud dumping path is realized. There is no need to rely on manual path planning, which shortens the path planning time and reduces manual planning errors, thereby improving the accuracy of the optimal global route. Especially in the face of complex working conditions, the optimal mud dumping path can be determined accurately and quickly, thereby improving the mud dumping efficiency and safety performance of the dredger, improving the intelligence level of the dredger, and ensuring the construction quality of the dredging operation.

[0127] Figure 3 This is a schematic diagram of the structure of the mud throwing path planning device of the dredger provided in the embodiment of the present application, referring to Figure 3 The mud throwing path planning device of the dredger may include:

[0128] The model building module 310 is 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 the mud dumping suitability level of each unit area in the preset mud dumping area;

[0129] The first determining module 320 is configured to determine a core mud dumping area from the preset mud dumping areas based on the mud dumping suitability level of each unit area, and determine a target mud dumping point from the core mud dumping area;

[0130] The second determination module 330 is configured 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;

[0131] The third determination module 340 is configured to determine an optimal global route from a plurality of candidate global routes based on a multi-objective optimization function.

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

[0133] In one embodiment, the first determination module 320 determines the comprehensive suitability score of each sub-area, including: determining a first weight corresponding to the suitability level, a second weight corresponding to the area, and a third weight corresponding to the sailing distance; determining the suitability level score corresponding to each suitability level based on the suitability level distribution of the core mud dumping area; determining the suitability level score of the corresponding sub-area based on the suitability level score corresponding to the suitability level of each sub-area, determining the area score of the corresponding sub-area based on the area 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 suitability level score, area score and sailing distance score of each sub-area based on the first weight, the second weight and the third weight to obtain the comprehensive suitability score of the corresponding sub-area.

[0134] In one embodiment, obstacles are marked in the water environment model, and the second determination module 330 is specifically used to: determine the gravity vector of the target mud dumping point that the current dredger is subjected to at the current position based on the gravity function, and determine the repulsion vector of the obstacle that the current dredger is subjected to at the current position based on the repulsion function; determine the next waypoint of the current dredger based on the gravity vector and the repulsion vector, and adjust the parameters of the gravity function and the parameters of the repulsion function based on the water information of the next waypoint and the state information of the current dredger at the next waypoint; determine the next waypoint as the current position, and return to execute the gravity vector of the target mud dumping point that the current dredger is subjected to at the current position based on the gravity function, until the next waypoint is the target mud dumping point, and obtain multiple candidate global routes.

[0135] In one embodiment, the parameters of the gravity function include a gravity coefficient and a distance power coefficient, and the parameters of the repulsion function include a repulsion coefficient and a repulsion power coefficient. The second determination module 330 adjusts the parameters of the gravity function and the parameters of the repulsion function based on the water area information of the next waypoint and the status information of the current dredger at the next waypoint, including: determining the mud throwing condition based on the water area information of the next waypoint and the status information of the current dredger at the next waypoint, if the mud throwing condition is better, the gravity coefficient is set to be larger and the distance power coefficient is set to be smaller; if the obstacle size of the next waypoint is larger, the repulsion coefficient is set to be larger; if the obstacles distributed at the next waypoint are more numerous, the repulsion power coefficient is set to be larger.

[0136] In one embodiment, the third determination module 340 is specifically used to: determine the fourth weight corresponding to the energy consumption value, the fifth weight corresponding to the navigation time, and the 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; calculate the ratio of the actual navigation distance of each candidate global route to the preset average speed to obtain the navigation time of the corresponding candidate global route; determine the number of obstacles for each candidate global route based on the water environment model; calculate the weighted sum of the energy consumption value, navigation time and 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; determine the candidate global route with the smallest objective function value as the optimal global route.

[0137] In one embodiment, the optimal global route includes multiple waypoints, and the dredger's mud dumping path planning device also includes a local optimization module, which is specifically used to: travel according to the optimal global route, in response to detecting that the water area information of the current dredger at the current waypoint has changed, determine multiple candidate local routes 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 travel according to the optimal global route until the current dredger travels to the target mud dumping point.

[0138] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0139] The mud throwing path planning device for a dredger provided in this embodiment can be applied to the mud throwing path planning method for a dredger provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0140] Figure 4 It is a structural schematic diagram of a dredger provided in an embodiment of the present application. Figure 4 A block diagram of an exemplary dredging vessel 11 suitable for implementing embodiments of the present application is shown. Figure 4 The dredger 11 shown is only an example and should not bring any limitation to the function and scope of use of this embodiment.

[0141] like Figure 4As shown, the dredger 11 is implemented as a general purpose computing electronic device. 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 connecting various system components (including the system memory 28 and the processing unit 16).

[0142] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a 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, the storage system 34 may be configured to read and write to non-removable, non-volatile magnetic media ( Figure 4 Not shown, usually called a "hard drive"). Although Figure 4 Although not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), as well as an optical drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present application.

[0145] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in 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 of which, or some combination thereof, may include an implementation of a network environment. Program modules 42 generally implement the functions and / or methods of the embodiments described herein.

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

[0147] like Figure 4 As shown, the network adapter 20 communicates with other modules of the dredger 11 via the bus 18. Figure 4 Not shown, other hardware and / or software modules may be used in conjunction 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.

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

[0149] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, it implements, for example, a method for planning a mud throwing path for a dredger provided in any embodiment of the present application.

[0150] The computer storage medium of this embodiment may be any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having 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 thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device, or component.

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

[0152] Program code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0153] The computer program code for performing the operations of the present application can be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, 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 can 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 can be connected to an external computer (for example, through the Internet using an Internet service provider).

[0154] Those skilled in the art will appreciate that the modules or steps of the present application described above can be implemented using a general-purpose computing device. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Alternatively, they can 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 can be fabricated into separate integrated circuit modules, or multiple modules or steps can 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, and processing of data in the technical solution of this application comply with relevant laws and regulations.

[0156] Note that the above are only preferred embodiments of the present application and the technical principles employed. Those skilled in the art will understand that the present application is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection 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 and may include more other equivalent embodiments without departing from the inventive concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A method for planning a mud dumping 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 the current dredger and the target dredging point based on the water environment model; determining an optimal global route from the plurality of candidate global routes based on a multi-objective optimization function, the optimal global route comprising a plurality of waypoints; Driving 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, determining multiple candidate local routes returning from the current waypoint to the optimal global route, and determining an optimal local route from the multiple candidate local routes based on the multi-objective optimization function; returning to the optimal global route according to the optimal local route, and returning to executing driving according to the optimal global route until the current dredger reaches the target mud dumping point.

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 volume and the current loading capacity of the dredger; Determining the core mud dumping area from the preset mud dumping areas based on the mud dumping times and the mud dumping suitability level of each unit area; Based on the suitability level of each unit area, the core mud dumping area is divided into a plurality of sub-areas, each sub-area including 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 for each sub-region 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; Determining a suitability rating score for each suitability rating based on the suitability rating distribution of the core mud dumping area; determining a castaway grade score for the corresponding sub-region based on the castaway grade score corresponding to the castaway grade of each sub-region, determining an area score for the corresponding sub-region based on the area of each sub-region, and determining 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 for 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: Determining a gravitational vector of a target mud dumping point at a current position of the current dredger based on a gravitational function, and determining a repulsive vector of an obstacle at a current position of the current dredger based on a repulsive function; Determining a next waypoint of the current dredger based on the attraction vector and the repulsion vector, and adjusting parameters of an attraction function and parameters of a repulsion 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 method 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 multiple 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 attraction function include an attraction coefficient and a distance power coefficient, the parameters of the repulsion function include a repulsion coefficient and a repulsion power coefficient, and the adjusting of the parameters of the attraction function and the parameters of the repulsion function based on the water area information of the next waypoint and the state information of the current dredger at the next waypoint includes: Determining a mud dumping condition based on the water area information of the next waypoint and the status information of the current dredger at the next waypoint, and setting the gravity coefficient to be larger and the distance power coefficient to be smaller if the mud dumping condition is better; 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 repulsive 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 includes: determining 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; determining an energy consumption value of each candidate global route based on historical navigation data of the current dredger; Calculating the ratio of the actual sailing distance of each candidate global route to the preset average 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; calculating a weighted sum of the energy consumption value, the flight time, and the number of obstacles for each candidate global route based on the fourth weight, the fifth weight, and the sixth weight 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. A mud throwing path planning device for a dredger, characterized in that: The device comprises: A model building module is 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 the mud dumping suitability level of each unit area in the preset mud dumping area; A first determining module is configured 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 configured to determine a plurality of candidate global routes between a current position of the current dredger and the target dredging point based on the water environment model; a third determining module, configured to determine an optimal global route from the plurality of candidate global routes based on a multi-objective optimization function, wherein the optimal global route includes a plurality of waypoints; A local optimization module is configured to travel according to the optimal global route, determine a plurality of candidate local routes returning from the current waypoint to the optimal global route in response to detecting a change in the water area information of the current dredger at the current waypoint, and determine 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 executing travel according to the optimal global route until the current dredger travels to the target dredging point.

8. A dredger, characterized in that: The dredger comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a computer program that can be executed 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 6.

9. 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 dumping path for a dredger as claimed in any one of claims 1 to 6 is implemented.

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