Layered dredging path planning method and device for trailing suction dredger, dredger and medium

Abstract

The invention discloses a layered dredging path planning method and device for a drag suction dredger, the dredger and a medium. The method comprises the steps that the width of an interval water channel for single dredging is determined according to the width between dredger rakes and the width of suction rakes, and a small circulation dredging block is determined according to the width of the interval water channel for dredging; determining the dredging interval width when the dredger completes one-time rotation according to the minimum rotation diameter and the suction rake width of the dredger; determining a large circulation dredging block according to the dredging interval width when the dredger completes one-time rotation; the dredging interval width is controlled to be integral multiples of the small circulation dredging width; and in the dredging path planning process, according to the relation between the remaining dredging width and the minimum rotating diameter, sequentially determining the water channel identification groups when the dredger completes dredging on the current major circulation dredging block so as to complete path planning of the to-be-dredged area. According to the application, the reciprocating movement and empty driving distance of the dredger among different areas can be reduced, the energy consumption is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of the combination of trailing suction hopper dredgers and automation systems, and particularly relates to a method and device for planning the dredging path in layers of a trailing suction hopper dredger, a dredger, and a medium. Background Art

[0002] A dredger is an important vessel for water dredging engineering operations and is widely used in many fields such as channel widening and deepening, port construction, water conservancy projects, and land reclamation. In the traditional dredging operation process, the method of planning the path of the dredger is generally decided by the captain according to personal experience, that is, it lacks scientificity. Therefore, how to reasonably and scientifically plan the dredging path of a certain dredging area has a crucial impact on improving dredging efficiency, reducing energy consumption, and ensuring construction quality. Summary of the Invention

[0003] The present application provides a method and device for planning the dredging path in layers of a trailing suction hopper dredger, a dredger, and a medium, which can reasonably plan the dredging path for the dredger, improve the dredging efficiency, and reduce the energy consumption.

[0004] In a first aspect, the present application provides a method for planning the dredging path in layers of a trailing suction hopper dredger, including:

[0005] Obtain the area parameters of the area to be dredged and the suction rake parameters of the dredger. The area parameters at least include the area width; the suction rake parameters at least include the suction rake width and the width between two suction rakes. Divide the area to be dredged into multiple waterways according to the area width and the suction rake width, and each waterway includes a corresponding waterway identifier. Determine the interval waterway width for a single dredging according to the width between the rakes and the suction rake width, and determine a small-cycle dredging block according to the interval waterway width for a single dredging. The area to be dredged includes n small-cycle dredging blocks, and the small-cycle dredging block includes a small-cycle dredging width. Determine the dredging interval width when the dredger completes one rotation according to the minimum rotation diameter of the dredger and the suction rake width. Determine the large-cycle dredging block according to the dredging interval width when the dredger completes one rotation. The large-cycle dredging block includes a large-cycle dredging width, and the area to be dredged includes m large-cycle dredging blocks. Each large-cycle dredging block includes multiple groups of small-cycle dredging blocks, and m < n. Wherein, control the dredging interval width to be an integer multiple of the small-cycle dredging width. During the process of planning the dredging path, obtain the remaining dredging width in the current large-cycle dredging block, and sequentially determine the waterway identifier group when the dredger completes the dredging of the current large-cycle dredging block according to the relationship between the remaining dredging width and the minimum rotation diameter. Complete the path planning of the area to be dredged according to the waterway identifier group corresponding to each large-cycle dredging block, and each waterway identifier group includes a corresponding waterway identifier.

[0006] Optionally, the determining a small-cycle dredging block according to the interval waterway width for a single dredging includes: after performing a single dredging according to the interval waterway width for a single dredging, mark the waterway identifiers of the dredged waterways to obtain the dredged waterway identifiers. After controlling the dredger to complete a U-turn, perform sequential dredging according to the previous dredged waterway identifier. When the next undredged waterway identifier repeats the dredged waterway identifier, obtain a small-cycle dredging block according to the continuous area corresponding to the dredged waterway identifier.

[0007] Optionally, before determining the dredging interval width when the dredger completes one rotation according to the minimum rotation diameter of the dredger and the suction rake width, it further includes: obtaining the minimum rotation radius of the dredger, and determining the theoretical rotation diameter according to the minimum rotation radius. When the dredger makes a U-turn, control the dredger to aim at the shortest driving path to enter the adjacent waterway of the previous dredged waterway, and determine the minimum rotation diameter according to the theoretical rotation diameter.

[0008] Optionally, after successively determining the waterway identification group when the dredger completes dredging of the current large-cycle dredging block according to the relationship between the remaining dredging width and the minimum rotation diameter, the method further includes: for the remaining waterways to be dredged in the area to be dredged, repeatedly performing the operation of determining the interval waterway width of a single dredging according to the width between rakes and the suction rake width until the waterway identification group when the last large-cycle dredging block in the area to be dredged is dredged is obtained.

[0009] Optionally, the area parameter further includes the water depth of the area; the suction rake parameter further includes the suction rake depth; the method further includes: determining the number of suction rakes corresponding to each waterway identification according to the water depth of the area, the target excavation depth, and the suction rake depth;

[0010] Correspondingly, after successively determining the waterway identification group corresponding to one rotation of the dredger according to the relationship between the remaining dredging width and the minimum rotation diameter, it further includes: determining the dredging mode of the dredger according to the number of suction rakes corresponding to each waterway identification; displaying the waterway identification group corresponding to the dredger when dredging the area to be dredged according to the dredging mode.

[0011] Optionally, in the process of planning the dredging path, obtaining the remaining dredging width in the current large-cycle dredging block, and successively determining the waterway identification group when the dredger completes dredging of the current large-cycle dredging block according to the relationship between the remaining dredging width and the minimum rotation diameter includes: when the dredger completes one rotation in the large-cycle dredging block, determining whether the remaining dredging width is not less than the minimum rotation diameter; if the remaining dredging width is not less than the minimum rotation diameter, determining that the next waterway identification group includes two waterway identification groups, and each waterway identification group includes two waterway identifications; the waterway interval between the two waterway identification groups is the minimum rotation diameter; if the remaining dredging width is less than the minimum rotation diameter, determining that the next waterway identification group includes one waterway identification group, and the waterway interval in one waterway identification group is the suction rake width.

[0012] Optionally, the method further includes: determining the first midpoint coordinates of the turning travel of the dredger according to the two waterway identification groups; determining the travel path of the dredger according to the first midpoint coordinates, and the travel path is a semi-circular path;

[0013] Or, determining the second midpoint coordinates of the turning travel of the dredger according to the two waterway identifications in one waterway identification; determining the travel path of the dredger according to the second midpoint coordinates, and the travel path is a whistle-shaped path.

[0014] Second aspect, the present application provides a layered dredging path planning device for a trailing suction hopper dredger, the device comprising: a parameter acquisition module, configured to acquire regional parameters of a dredging area to be dredged and suction rake parameters of the dredger, where the regional parameters at least include the regional width; the suction rake parameters at least include the suction rake width and the width between two suction rakes;

[0015] a region division module, configured to divide the dredging area to be dredged into multiple waterways according to the regional width and the suction rake width, and each waterway includes a corresponding waterway identifier;

[0016] a first determination module, configured to determine the interval waterway width of a single dredging according to the width between the rakes and the suction rake width, and determine a small cycle dredging block according to the interval waterway width of the single dredging. The dredging area to be dredged includes n small cycle dredging blocks, and the small cycle dredging block includes a small cycle dredging width;

[0017] a second block determination module, configured to determine the dredging interval width when the dredger completes one rotation according to the minimum rotation diameter of the dredger and the suction rake width; determine a large cycle dredging block according to the dredging interval width when the dredger completes one rotation, the large cycle dredging block includes a large cycle dredging width, and the dredging area to be dredged includes m large cycle dredging blocks; each large cycle dredging block includes multiple groups of small cycle dredging blocks, and m < n; wherein, the dredging interval width is controlled to be an integer multiple of the small cycle dredging width;

[0018] a path planning module, configured to, during the process of planning the dredging path, acquire the remaining dredging width in the current large cycle dredging block, and sequentially determine a waterway identifier group when the dredger completes dredging of the current large cycle dredging block according to the relationship between the remaining dredging width and the minimum rotation diameter; complete the path planning of the dredging area to be dredged according to the waterway identifier group corresponding to each large cycle dredging block, and each waterway identifier group includes a corresponding waterway identifier.

[0019] Third aspect, the present application further provides a trailing suction hopper dredger, the trailing suction hopper dredger comprising: at least one processor; and a memory communicatively connected to the at least one processor;

[0020] wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the layered dredging path planning method for the trailing suction hopper dredger according to any embodiment of the present application.

[0021] Fourthly, the present application also provides a computer-readable storage medium storing computer instructions for causing a processor to implement the method for planning the layered dredging path of a trailing suction hopper dredger according to any embodiment of the present application when executed.

[0022] Fifthly, the present application also provides a computer program product including a computer program which, when executed by a processor, implements the method for planning the layered dredging path of a trailing suction hopper dredger according to any embodiment of the present application.

[0023] The scheme for planning the layered dredging path of a trailing suction hopper dredger provided by the embodiment of the present application divides the area to be dredged into multiple waterways according to the area width and the suction rake width, and determines the width of the interval waterways for single-time dredging according to the width between rakes and the suction rake width, enabling the dredger to make full use of the working width of the suction rake during single-time dredging and improving the efficiency of single-time dredging; then determines the dredging interval width according to the minimum rotation diameter of the dredger, avoiding unnecessary rotation and turning of the dredger, reducing equipment wear and energy consumption; at the same time, this embodiment controls the dredging interval width to be an integer multiple of the small-cycle dredging width, so that when the path planning for the area to be dredged is completed, the two suction rakes of the dredger can work simultaneously, avoiding the waste of energy consumption caused by single-time entry into the dredging area; furthermore, the waterway identification group of the dredger when completing the dredging of the current large-cycle dredging block is determined in sequence according to the relationship between the remaining dredging width and the minimum rotation diameter, so that the way of dredging the planned waterway identification group reduces the round-trip movement and empty driving distance of the dredger between different areas, achieving the beneficial effects of reducing energy consumption and improving work efficiency.

[0024] It should be noted that the above computer instructions can be stored in whole or in part on the computer-readable storage medium. Among them, the computer-readable storage medium can be packaged together with the processor of the device for planning the layered dredging path of a trailing suction hopper dredger, or can be packaged separately from the processor of the device for planning the layered dredging path of a trailing suction hopper dredger. The present application does not make any limitation thereto.

[0025] The descriptions of the second, third, fourth, and fifth aspects in the present application can refer to the detailed description of the first aspect; and, for the beneficial effects of the descriptions of the second, fourth, and fifth aspects, reference can be made to the analysis of the beneficial effects of the first aspect, which will not be elaborated herein.

[0026] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become easily understood through the following description.

[0027] It is understandable that before using the technical solutions disclosed in the embodiments of the present application, the types, usage scopes, usage scenarios, etc. of the personal information involved in the present application should be informed to the users and the authorization of the users should be obtained through appropriate means in accordance with relevant laws and regulations. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0029] Figure 1 is a schematic flowchart of a method for planning the layered dredging path of a trailing suction hopper dredger provided by an embodiment of the present application.

[0030] Figure 2 is a schematic structural diagram of an embodiment of the present application including area parameters and suction rake parameters.

[0031] Figure 3 is a schematic diagram of the cyclic dredging of two groups of waterways provided by an embodiment of the present application.

[0032] Figure 4 is a schematic diagram of the switching of two groups of waterways to the next group of waterways for dredging provided by an embodiment of the present application.

[0033] Figure 5 is a schematic diagram of two sets of cyclic dredging schemes for an area provided by an embodiment of the present application.

[0034] Figure 6 is a schematic diagram of an overlapping dredging scheme when the dredging interval width and the small cyclic dredging width are not integer multiples provided by an embodiment of the present application.

[0035] Figure 7 is a schematic diagram of a unilateral turn provided by an embodiment of the present application.

[0036] Figure 8 is a schematic diagram of entering the next group of waterways after a unilateral turn provided by an embodiment of the present application.

[0037] Figure 9 is a schematic structural diagram of a device for planning the layered dredging path of a trailing suction hopper dredger provided by an embodiment of the present application.

[0038] Figure 10 is a schematic structural diagram of a trailing suction hopper dredger provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] To enable those skilled in the art to better understand the solution of this application, the technical solution in this application will be clearly and completely described below in conjunction with the accompanying drawings in this embodiment. Obviously, the described embodiments are only part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0040] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned accompanying drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0041] The following further details this application in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described here are only used to explain this application, rather than limiting this application. Additionally, it should be noted that for the sake of convenience of description, only part of the structure related to this application rather than all of it is shown in the accompanying drawings.

[0042] Figure 1 FIG. 10 is a schematic flowchart of a method for planning a layered dredging path of a trailing suction hopper dredger provided in an embodiment of this application. This embodiment is applicable to the situation where a reasonable dredging path for a dredging area is planned by a trailing suction hopper dredger. This method can be executed by a device for planning a layered dredging path of a trailing suction hopper dredger. This device can be implemented in the form of hardware and / or software and integrated in the trailing suction hopper dredger that executes this method.

[0043] Refer to Figure 1 , the method for planning a layered dredging path of a trailing suction hopper dredger provided in this embodiment is implemented through the following steps S110 to S150.

[0044] S110. Obtain the area parameters of the dredging area and obtain the suction rake parameters of the dredger.

[0045] The dredging area refers to the area where the dredger needs to perform dredging operations. This solution is applied to the scenario where the underwater silt is relatively regular or flat, and the dredging area can be approximately regarded as an isobath rectangle for analysis.

[0046] The trailing suction hopper dredger includes two suction rakes on the left and right. During the operation, it can dredge straight along the channel direction at a certain depth, leaving two waterways parallel to the channel direction. For the convenience of explanation, please refer to Figure 2 , Figure 2 which is a schematic structural diagram provided by an embodiment of the present application including area parameters and suction rake parameters.

[0047] In this embodiment, the area parameters at least include the area width; the suction rake parameters at least include the suction rake width and the rake interval width between the two suction rakes. In Figure 2 , the area to be dredged is rectangular. Along the dredging channel direction is the length of the rectangle, denoted as S, and perpendicular to the channel direction is the area width, denoted as L; the suction rake width is denoted as ; the rake interval width between the two suction rakes is denoted as . In this embodiment, it can be considered that , where .

[0048] S120. Divide the area to be dredged into multiple waterways according to the area width and the suction rake width.

[0049] The purpose of dividing the area to be dredged into multiple waterways according to the area width and the rake interval width is to divide the area to be dredged along the channel direction into multiple waterways with a width of so as to preliminarily clarify how many round trips the dredger needs to operate based on the current suction rake width .

[0050] Please continue to refer to Figure 2 . The method of dividing the area to be dredged into multiple waterways according to the area width and the rake interval width can be explained by the following formula: , where in the formula represents the ceiling symbol.

[0051] For the multiple divided waterways, each waterway includes a corresponding waterway identifier. Specifically, the waterway identifier can be implemented by sequentially identifying based on numbers in the order from left to right. For example, if the area to be dredged contains 100 waterways, the corresponding waterway identifiers can be sequentially identified as 0, 1, 2,..., 99; optionally, the waterway identifier can also be represented by letters or a combination of letters and numbers. The specific representation method is not limited in this embodiment.

[0052] In one embodiment, the area parameters further include the area water depth , and the suction rake parameters further include the suction rake depth . Among them, the area water depth can be understood as the silt depth corresponding to the area to be dredged, and the suction rake depth can be understood as the depth that the dredger can excavate during a single operation; taking the target excavation depth as Taking the downward direction of the water surface as positive, then ; furthermore, the way to determine the number of trailing suction operations corresponding to each waterway identifier according to the regional water depth, the target dredging depth, and the trailing suction depth can be as follows: . That is to say, it can be understood as the minimum number of times the trailing suction dredger needs to pass through to clean the silt of each waterway to the target depth.

[0053] After dividing the area to be dredged into multiple waterways based on the above-mentioned step S120, the dredging path planning solution provided in this embodiment can be described as: finding a continuous path to traverse all waterways with the shortest total distance times. The planned path mainly includes two parts: the path of the dredger operating in the area to be dredged and the path of turning and returning after leaving the area to be dredged. Since the dredger can dredge at most two waterways with a distance of k each time, but it needs to travel straight along the waterway direction in the area to be dredged, therefore, to reduce the total voyage of the dredger in the area to be dredged, it is necessary to reduce the total number of times the dredger enters the area to be dredged; and the actions of the dredger outside the dredging area are mainly to turn and then re-enter the dredging area, so the minimum turning diameter of the dredger should be combined to minimize the total distance consumed by the dredger's turning. Thus, the path planning problem can be transformed into the following sub-problems: 1) How to reduce the total number of times the dredger enters the dredging area; 2) How to select the turning path of the dredger after leaving the dredging area. For the solution to the current problem, please refer to the analysis process of the corresponding embodiment in the subsequent steps for details.

[0054] S130. Determine the interval waterway width for a single dredging according to the width between rakes and the trailing suction width, and determine a small-cycle dredging block according to the interval waterway width for a single dredging.

[0055] The above-mentioned interval waterway width for a single dredging represents the interval width between the waterways operated by two trailing suctions each time the dredger performs a dredging operation, that is . Then, for the solution to reduce the total number of times the dredger enters the dredging area, it can be abstracted into the following problem: Given an array with a length of , and all initial items are equal to , it is required to select a serial number each time, or a group of serial numbers and (where and ), and perform (in the formula is an assignment symbol used to distinguish the equal sign in mathematical formulas) until all items in are equal to 0; find out how to select to minimize the total number of times.

[0056] In the above, the channel identifier corresponding to the channel of one (left side) suction rake operation of the dredger is recorded as When, then the channel identifier corresponding to the channel of the other (right side) suction rake operation is recorded as , that is, it is the next channel that is at a distance of one channel width of the interval channel from the channel . For example, if the current channel identifier is 1 and the interval channel width = 5, then = 7. That is, when the dredger performs a single dredging operation, the channels that can be cleaned simultaneously are Channel 1 and Channel 7.

[0057] Furthermore, considering a certain state, the smallest serial number and the largest serial number of all the non-cleared items in (if a certain serial number is a cleared item, it indicates that the channel corresponding to the current serial number has been cleaned n times), , no matter how the serial numbers are selected, we need to select at least times at to ensure that is finally completely cleared; if at this time, we can "by the way" reduce , otherwise skip; then recalculate , repeat the above steps, and the number of times required to completely clear and can be calculated. The purpose of the derivation here

[0058] is to show that the remaining suction times of the outermost channels affect the total number of times entering the dredging area. The above conclusion is applicable to any problem where the heights are equal within a single channel but not equal between channels, and the solution discussed in this embodiment is a problem where the heights are equal everywhere between channels (that is, each item in the list is equal to n at the beginning). Therefore, we can group the channels according to the numbers, and each group contains two or one channel, and they will be dredged n times simultaneously when the dredger is operating. Figure 3 Specifically, the grouping method can be to determine a small cycle dredging block according to the interval channel width of a single dredging. Specifically, reference can be made to Figure 3 to explain a small cycle dredging block. and are the channel identifiers of the channels where the dredger operates during a single dredging operation as described in the previous embodiment. Then, when a single operation is completed, in order to minimize the travel path of the dredger, a U-turn can be made based on the turning diameter, so that the dredger can dredge the channels and Dredging is carried out; then, when performing the next operation, in order to ensure the minimum travel path of the dredger, it is also necessary to turn around on the basis of the rotation diameter so that the dredger can dredge and carry out dredging, and so on in a cycle until when to all the waterways in the middle are dredged, a small cycle dredging block is obtained. Correspondingly, since two groups of synchronous operations along the way with an interval of the rotation diameter are carried out during one turn-around operation, when to all the waterways in the middle are dredged, while obtaining a small cycle dredging block, to all the waterways in the middle are also synchronously dredged, and another small cycle dredging block is obtained.

[0059] Specifically, in this embodiment, taking the obtaining of one small cycle dredging block as an example, specifically, a small cycle dredging block can be determined according to the width of the interval waterways for a single dredging as follows: after dredging once according to the width of the interval waterways for a single dredging, mark the waterway identifiers of the dredged waterways to obtain the dredged waterway identifiers; after controlling the dredger to complete one turn-around, carry out sequential dredging according to the previous dredged waterway identifier. When the next undredged waterway identifier repeats the dredged waterway identifier, obtain a small cycle dredging block according to the continuous area corresponding to the dredged waterway identifier.

[0060] Specifically, the implementation method of the above embodiment can be listed as follows. Taking the interval waterway width as an example, for the first operation of the dredger, the waterways that can be cleared are 0 and 6, and at this time, 0 and 6 are marked; after the dredger completes one turn-around, the waterways that can be cleared for the second operation are 1 and 7, and at this time, 1 and 7 are marked; after the dredger completes one turn-around again, the waterways that can be cleared for the third operation are 2 and 8, and at this time, 2 and 8 are marked,..., after the dredger completes one turn-around again, the waterways that can be cleared for the sixth operation are 5 and 11, and at this time, 5 and 11 are marked; according to this logical reasoning, the next waterways to be cleared should be 6 and 12, but since waterway 6 has been marked, that is, it is a dredged waterway, then, waterways 0 - 11 have all been sequentially cleared, so, the continuous area corresponding to 12 waterways from waterway 0 to 11 can be determined as a small cycle dredging block.

[0061] In the solution provided in this embodiment, the area to be dredged includes n small cycle dredging blocks, and the small cycle dredging block includes the small cycle dredging width. In this embodiment, the small cycle dredging width can be represented by . For example, in the above example, when = 5, the small cycle dredging width is 12.

[0062] For the Q waterways included in the area to be dredged, the available small-cycle dredging blocks During the actual division process, the last small-cycle dredging block allows for a shortage of waterways; for each small-cycle dredging block, the waterways with the serial number and are grouped together, and the waterways in the same group can be dredged simultaneously during operation; in the last block, if the number of waterways is insufficient to form groups, some waterways are allowed to be in a separate group and dredged separately during operation.

[0063] According to the above method, ensuring that each group of waterways is dredged N times can complete the operation task, and the specific dredging sequence can be automatically adjusted. This feature provides conditions for reducing the total turning voyage of the dredger outside the dredging area in the subsequent steps.

[0064] S140. Determine the dredging interval width when the dredger completes one rotation according to the minimum rotation diameter and suction rake width of the dredger; determine the large-cycle dredging block according to the dredging interval width when the dredger completes one rotation.

[0065] In actual work, since the channel distance is often long, compared with the method of bypassing the entire area to be dredged after one dredging and entering the channel from the opposite side in the same direction, choosing to dredge in the reverse direction from the same side where the dredging area is left can significantly shorten the voyage. Therefore, only two path schemes for returning to the dredging area in the reverse direction from the same side when leaving need to be discussed.

[0066] Before executing step S140, the solution provided in this embodiment also needs to execute the following steps a) and b):

[0067] a) Obtain the minimum rotation radius of the dredger and determine the theoretical rotation diameter according to the minimum rotation radius.

[0068] Denote the minimum rotation radius of the dredger as , then during rotation, the theoretical rotation diameter determined according to the minimum rotation radius is 2 .

[0069] In this embodiment, two groups of waterways are dredged in a cycle. One group is waterways and , and the other group is waterways and , where , and the corresponding theoretical rotation diameter is , represents the ceiling of the ratio of the rotation diameter to the suction rake width. As shown in Figure 3 , during the first rotation from waterways and to and , the corresponding rotation diameter is , and in the current process, the driving process of the dredger is called the rotation process.

[0070] b) When the dredger makes a U-turn, control the dredger to aim at the shortest driving path to enter the adjacent waterway of the previously dredged waterway, and determine the minimum rotation diameter according to the theoretical rotation diameter.

[0071] When the dredger exits from the waterways and , to enter the next group of waterways, that is, and 's adjacent waterways, at this time, a U-turn operation is required when exiting from and . As shown in Figure 4 , Figure 4 is a schematic diagram of the dredging of switching from two groups of waterways to the next group of waterways provided by the embodiment of the present application. In the figure, the light blue part is the waterway that has been dredged, and the light green part is the waterway to be transferred soon. To ensure that the dredger can cut into the waterways and with the minimum rotation diameter, when rotating according to the theoretical rotation diameter , it is no longer possible to drive into and . At this time, control the dredger to aim at the shortest driving path to enter the adjacent waterway of the previously dredged waterway, and determine the minimum rotation diameter as .

[0072] Specifically, the following example can be used for explanation. Taking , as an example, assume that waterways 0 and 6 are cleaned first. After that, if the theoretical rotation diameter is used, waterways 48 and 54 are selected for cleaning; when the dredger turns back to clean waterways 1 and 7 next time, it will be found that it is impossible to turn from 48 and 54 to 1 and 7 through a semi-circular trajectory because the difference between these two groups of waterways is 47. Therefore, when choosing to clean the two right waterways, waterways 49 and 55 should be selected, that is, the minimum rotation diameter should be .

[0073] Based on the determined minimum rotation diameter, then determine the dredging interval width when the dredger completes one rotation according to the minimum rotation diameter and the suction rake width of the dredger, denoted as .

[0074] Furthermore, the method for determining the large-cycle dredging block according to the dredging interval width when the dredger completes one rotation is: Please continue to refer to Figure 3 , the waterways cleaned when the dredger completes one rotation are two groups with a dredging interval width of waterways, such as and , and ; when the dredger completes a U-turn and rotates, the cleared ones are respectively and , and respectively corresponding adjacent waterways, as shown in the figure as , and , and so on, until the waterways at the leftmost of the first half of the first small cycle and the at the leftmost of the first half of the first small cycle are cleared. After that, the continuous area formed from the waterway to the rightmost waterway of the last small cycle is called the large cycle area.

[0075] In this embodiment, the large cycle dredging block includes the large cycle dredging width, and the area to be dredged includes m large cycle dredging blocks; each large cycle dredging block includes multiple groups of small cycle dredging blocks, m < n.

[0076] Specifically, it can be popularly explained by the following example: taking k = 5, = 49 as an example. At the beginning of the cleaning, the waterways cleared in the first rotation are 0 and 6, as well as 49 and 55. After completing one rotation and U-turn, the waterways cleared in the second cleaning are 1 and 7, as well as 50 and 56. After completing one rotation and U-turn, the waterways cleared in the third cleaning are 2 and 8, as well as 51 and 57,... After completing one rotation and U-turn, the waterways cleared in the sixth cleaning are 5 and 11, as well as 54 and 60. When cleaning for the seventh time, it is no longer based on the current array rule to clean the waterways 6 and 12 because the waterway 6 has been cleaned in the first cleaning. Therefore, the waterways [0, 11] and the waterways [49, 60] have been cleared; the waterways [0, 11] and the waterways [49, 60] can be regarded as two small cycle blocks respectively included in a group of small cycles.

[0077] Furthermore, based on the interval of each small cycle block, continue to clean the waterways. Then, the waterways corresponding to the second group of small cycles are 12 to 23 and 61 to 72, the waterways corresponding to the third group of small cycles are 24 to 35 and 73 to 84, the waterways corresponding to the fourth group of small cycles are 36 to 47 and 85 to 96,... However, the next group is not the waterways 48 to 59 and 97 to 108 because the waterway 49 has been cleaned in our first cleaning. So this time, we only need to use the suction rake on one side of the ship to clean the waterway 49 and the waterway 97. Thus, we have cleaned all 98 waterways from waterway 0 to 97 once, and the continuous area formed from waterway 0 to 97 is called the large cycle area.

[0078] Based on the above examples, it can be seen that for water channels 49 and 97, only one-sided suction rakes are used for cleaning. That is to say, in the last small cycle of each large cycle, there may be energy efficiency waste. Usually, it is caused by the overlap of the second half of the first small cycle (from 49 to 60) and the first half of the last small cycle (from 48 to 59). The number of overlapping water channels = 49 / 24 = 2 remainder 1. That is to say, when the dredging interval width divided by the small cycle width has a remainder, there will be production waste. In actual situations, due to the different multiple relationships between the minimum rotation angle and the hull itself, this remainder may be very large. Therefore, in this embodiment, controlling the dredging interval width to be an integer multiple of the small cycle dredging width can enable the simultaneous application of two-sided suction rakes, thereby further reducing energy consumption and improving operation efficiency.

[0079] Regarding controlling the dredging interval width to be an integer multiple of the small cycle dredging width, the following further explanation can be made in this embodiment. Specifically, please refer to Figure 5 , Figure 5 FIG. is a schematic diagram of two sets of cycles for dredging a region provided by an embodiment of the present application. In Figure 5 , the operation is sequentially performed from step S1 to S6. Among them, the blank rectangle represents the water channel to be dredged, the orange represents the water channel currently being dredged, the light blue represents the water channel that has been dredged, and the dark blue represents a small cycle that has been dredged. The width of the front and rear blocks of the small cycle is determined by the rake width and the ship width. Each block contains water channels; the width of the large cycle block is determined by the minimum rotation diameter of the dredger and the rake width. However, observing Figure 5 , it can be found that if is not an integer multiple of

[0080] Specifically, please refer to Figure 6 , Figure 6 FIG. is a schematic diagram of overlapping dredging when the dredging interval width and the small cycle dredging width provided by the embodiment of the present application are not an integer multiple; in Figure 6 , "front part of small cycle 1" represents a small cycle dredging block obtained when the first small cycle dredging is completed; since it is a synchronous operation along the way of two sets of interval rotation diameters during a turning operation, at this time, the "rear part of small cycle 1" can be understood as another small cycle dredging block obtained synchronously with the "front part of small cycle 1"; "front part of small cycle 2" and "rear part of small cycle 2" and "front part of small cycle 3" and "rear part of small cycle 3" are respectively small cycle dredging blocks obtained when the second small cycle dredging is completed and when the third small cycle dredging is carried out. The specific explanations are the same as those of the "front part of small cycle 1" and the "rear part of small cycle 1", and will not be elaborated here.

[0081] Since there are still un-dredged waterways between "Small Cycle 2, Front" and "Small Cycle 1, Rear" after the second small cycle dredging is completed, a third small cycle dredging is required. However, since the number of un-dredged waterways is not sufficient to be completely covered by two suction rakes, during one dredging process, there is a situation where the suction rake on the other side needs to repeat the operation on the already dredged waterways, resulting in waste of production capacity in this case. Figure 6 The red part is the part of wasted production capacity. The waste of production capacity is the largest when the remainder is k + 1.

[0082] From Figure 6 It can be seen that in order to ensure that the three waterways in Small Cycle 3 are completely dredged, it will result in waste of production capacity of the suction rake on a total of 6 waterways. A more general formula for calculating the total number of waterways with wasted production capacity in each cycle is as follows:

[0083]

[0084] In the formula, is the modulo symbol. represents the remainder of the multiple of the width of half of the small cycle in the large cycle.

[0085] When is exactly times, is 0. Therefore, the value of should be adjusted, and at the same time, it should satisfy:

[0086]

[0087] In the above formula, the meaning of is that when the minimum rotation diameter of the dredger is satisfied, the dredger can rotate; the meaning of

[0088] is that the width of the large cycle is an integer multiple of the width of the small cycle.

[0089]

[0090] In the above formula, the numerator and denominator of cannot be cancelled out due to the calculation of rounding up. Therefore, it can be obtained that when the dredging interval width is an integer multiple of the small cycle dredging width, the situation of waste of production capacity can be avoided to improve the operation efficiency.

[0091] S150. During the process of planning the dredging path, obtain the remaining dredging width in the current large-cycle dredging block, and sequentially determine the waterway identification group when the dredger completes dredging the current large-cycle dredging block according to the relationship between the remaining dredging width and the minimum rotation diameter; complete the path planning for the area to be dredged according to the waterway identification group corresponding to each large-cycle dredging block.

[0092] In this embodiment, sequentially determining the waterway identification group when the dredger completes dredging the current large-cycle dredging block according to the relationship between the remaining dredging width and the minimum rotation diameter can be interpreted as follows: when the dredger completes one rotation in the large-cycle dredging block, determine whether the remaining dredging width is not less than the minimum rotation diameter; if the remaining dredging width is not less than the minimum rotation diameter, determine that the next waterway identification group includes two waterway identification groups, and each waterway identification group includes two waterway identifications; the waterway interval between the two waterway identification groups is the minimum rotation diameter; if the remaining dredging width is less than the minimum rotation diameter, determine that the next waterway identification group includes one waterway identification group, and the waterway interval in one waterway identification group is the suction rake width.

[0093] For the above embodiment, it can be interpreted that when the remaining dredging width is not less than the minimum rotation diameter, the dredger can perform a complete turning-around dredging. Therefore, when performing a turning-around operation each time, dredging operations can be carried out on two groups of waterway identifications, and the interval width of each group of waterway identifications is , as Figure 3 the example scheme; when the remaining dredging width is less than the minimum rotation diameter, dredging is carried out based on the method of rotating in place and turning around. In this case, only one group of waterway identifications can be dredged when performing a turning-around operation each time.

[0094] Preferably, the path planning scheme provided in this embodiment further includes the following operations: determine the first midpoint coordinate of the dredger's turning travel according to two waterway identification groups; determine the travel path of the dredger according to the first midpoint coordinate, and the travel path is a semi-circular path; or, determine the second midpoint coordinate of the dredger's turning travel according to two waterway identifications in one waterway identification; determine the travel path of the dredger according to the second midpoint coordinate, and the travel path is a whistle-shaped path.

[0095] That is, when it is determined to output two waterway identification groups, the first midpoint coordinate of the dredger's turning travel can be determined, and thus rotate with the minimum rotation diameter of the dredger, and the travel path obtained after passing through the first midpoint coordinate is a semi-circular path, as Figure 3 the example; when the current path planning is one waterway identification group, the second midpoint coordinate of the dredger's turning travel in place can be determined according to two waterway identifications, and thus the path obtained after traveling according to the second midpoint coordinate is a whistle-shaped path.

[0096] Specifically, please refer to Figure 7And Figure 8 , Figure 7 is a schematic diagram of the one-sided turning solution provided by the embodiment of the present application; Figure 8 is a schematic diagram of the solution of entering the next group of waterways after one-sided turning. Compared with the turning method provided by Figure 3 , the disadvantage of this method is that the additional voyage increased each time when entering and leaving the dredging area is , almost more than twice that of Figure 3 . However, its advantage is that it allows the dredger to return to the original waterway. When the width of the remaining dredging area does not meet the minimum turning diameter, it can still turn back. Therefore, in order to shorten the voyage outside the dredging area as much as possible, when the width of the remaining dredging area exceeds , the turning method of circulating dredging of two groups of waterways in the Figure 3 scheme should be used, while when the remaining dredging width is narrower, the turning method of returning to the original waterway after one-sided turning in the Figure 7 scheme can be used. In addition, when the dredging of waterways and is completed, according to the method shown in Figure 8 , cut into the adjacent next group of waterways and .

[0097] After the above planning is completed, in the solution provided by this embodiment, after each group of waterway identification groups is planned, the waterway identification group when the dredger completes the dredging of the current large-circulation dredging block will be determined in turn according to the relationship between the remaining dredging width and the minimum turning diameter, that is, whether the current waterway identification group is two groups or one group. Until after the planning of the waterway identification group corresponding to the current large circulation is completed, the above step S130 is repeatedly executed until the waterway identification group when the last large-circulation dredging block in the area to be dredged is dredged is obtained.

[0098] In this embodiment, each waterway identification group includes the corresponding waterway identification. Then, after the path planning of the area to be dredged is completed, the path of the dredger can be displayed in the form of an array, that is, according to the dredging path, the waterway identification corresponding to each waterway identification group is tactically arranged in turn, so that after each dredging operation of the current waterway identification group is completed, the path transfer and dredging operation are automatically based on the next group of waterway identifications.

[0099] In yet another preferred embodiment, when the number of trailing suction times corresponding to each waterway identification is N times, the solution provided by this embodiment further includes the following method: determining the dredging method of the dredger according to the number of trailing suction times corresponding to each waterway identification; displaying the waterway identification group corresponding to the dredger when dredging the area to be dredged according to the dredging method.

[0100] That is, when the number of dredging times corresponding to each waterway identifier is N times, the corresponding dredging methods may include a first method and a second method. The first method is to dredge the next group of waterways after completing N dredging operations on the current group of waterways; the second method is to dredge all waterway groups in sequence, and after all dredging operations are completed, perform the next round of dredging on all waterway groups until the loop is executed N times and then ends. The specific dredging method depends on the actual selection requirements. Therefore, when the dredging methods are different, the display methods of the waterway identifier groups corresponding to the area to be dredged are different.

[0101] The method for planning the layered dredging path of the trailing suction hopper dredger provided in this embodiment divides the area to be dredged into multiple waterways based on the area width and the suction rake width, and determines the width of the interval waterways for a single dredging operation according to the width between rakes and the suction rake width, which can enable the dredger to make full use of the working width of the suction rake during a single dredging operation and improve the efficiency of a single dredging operation; then, the dredging interval width is determined according to the minimum rotation diameter of the dredger, avoiding unnecessary rotation and steering of the dredger, reducing equipment wear and energy consumption; at the same time, in this embodiment, the dredging interval width is controlled to be an integer multiple of the small-cycle dredging width, so that when the path planning for the area to be dredged is completed, the two suction rakes of the dredger can work simultaneously, avoiding the waste of energy consumption caused by entering the dredging area alone; furthermore, the waterway identifier groups when the dredger completes the dredging of the current large-cycle dredging block are determined in sequence through the relationship between the remaining dredging width and the minimum rotation diameter, so that the dredging method for the planned waterway identifier groups reduces the round-trip movement and empty driving distance of the dredger between different areas, achieving the beneficial effects of reducing energy consumption and improving work efficiency.

[0102] Figure 9 It is a structural schematic diagram of a device for planning the layered dredging path of a trailing suction hopper dredger provided in an embodiment of the present application. This device is applicable to execute the method for planning the layered dredging path of a trailing suction hopper dredger provided in the embodiment of the present application. As Figure 9 shown, this device may specifically include: a parameter acquisition module 910, an area division module 920, a first block determination module 930, a second block determination module 940, and a path planning module 950.

[0103] Among them, the parameter acquisition module 910 is used to acquire the area parameters of the area to be dredged and the suction rake parameters of the dredger. The area parameters at least include the area width; the suction rake parameters at least include the suction rake width and the width between the two suction rakes.

[0104] The area division module 920 is used to divide the area to be dredged into multiple waterways according to the area width and the suction rake width, and each waterway includes a corresponding waterway identifier.

[0105] The first block determination module 930 is configured to determine the width of the spaced waterways for a single dredging according to the width between rakes and the width of the suction rake, determine a small-cycle dredging block according to the width of the spaced waterways for a single dredging, where the area to be dredged includes n small-cycle dredging blocks, and the small-cycle dredging block includes a small-cycle dredging width.

[0106] The second block determination module 940 is configured to determine the dredging interval width when the dredger completes one rotation according to the minimum rotation diameter of the dredger and the width of the suction rake; determine a large-cycle dredging block according to the dredging interval width when the dredger completes one rotation, where the large-cycle dredging block includes a large-cycle dredging width, and the area to be dredged includes m large-cycle dredging blocks; each large-cycle dredging block includes multiple groups of small-cycle dredging blocks, m < n, and wherein, the dredging interval width is controlled to be an integer multiple of the small-cycle dredging width.

[0107] The path planning module 950 is configured to, during the process of planning the dredging path, obtain the remaining dredging width in the current large-cycle dredging block, and sequentially determine the waterway identification group when the dredger completes dredging the current large-cycle dredging block according to the relationship between the remaining dredging width and the minimum rotation diameter; complete the path planning for the area to be dredged according to the waterway identification group corresponding to each large-cycle dredging block, and each waterway identification group includes corresponding waterway identifications.

[0108] The trailing suction hopper dredger layered dredging path planning device provided by the embodiment of the present application divides the area to be dredged into multiple waterways according to the area width and the width of the suction rake, and determines the width of the spaced waterways for a single dredging according to the width between rakes and the width of the suction rake, which can enable the dredger to make full use of the working width of the suction rake during a single dredging, and improve the efficiency of a single dredging; then determine the dredging interval width according to the minimum rotation diameter of the dredger, avoiding unnecessary rotation and turning of the dredger, and reducing the wear and energy consumption of the equipment; at the same time, in this embodiment, the dredging interval width is controlled to be an integer multiple of the small-cycle dredging width, so that when the path planning for the area to be dredged is completed, the two suction rakes of the dredger can work simultaneously, avoiding the waste of energy consumption caused by a single entry into the dredging area; furthermore, the waterway identification group when the dredger completes dredging the current large-cycle dredging block is sequentially determined according to the relationship between the remaining dredging width and the minimum rotation diameter, so as to reduce the round-trip movement and empty driving distance of the dredger between different areas by means of dredging according to the planned waterway identification group, achieving the beneficial effects of reducing energy consumption and improving work efficiency.

[0109] In one embodiment, the first block determination module 930 is specifically configured to, after performing one dredging according to the interval waterway width of the single dredging, mark the waterway identifier of the dredged waterway to obtain the dredged waterway identifier; after controlling the dredger to complete one U-turn, perform sequential dredging according to the previous dredged waterway identifier, and when the next undredged waterway identifier duplicates the dredged waterway identifier, obtain one of the small-cycle dredging blocks according to the continuous area corresponding to the dredged waterway identifier.

[0110] In one embodiment, the device further includes a theoretical diameter determination module and a minimum diameter determination module;

[0111] Among them, the theoretical diameter determination module is configured to obtain the minimum rotation radius of the dredger and determine the theoretical rotation diameter according to the minimum rotation radius.

[0112] The minimum diameter determination module is configured to, when the dredger makes one U-turn, control the dredger to aim at the shortest driving path to the adjacent waterway of the previous dredged waterway, and determine the minimum rotation diameter according to the theoretical rotation diameter.

[0113] In one embodiment, the path planning module 950 is further configured to, for the remaining undredged waterways in the to-be-dredged area, repeatedly execute the operation of determining the interval waterway width of the single dredging according to the rake interval width and the suction rake width until the waterway identifier group at the time of dredging the last large-cycle dredging block in the to-be-dredged area is obtained.

[0114] In one embodiment, the area parameter further includes the area water depth; the suction rake parameter further includes the suction rake depth; the device further includes: a rake suction times determination module, a dredging method determination module, and an identifier group display module.

[0115] Among them, the rake suction times determination module is configured to determine the rake suction times corresponding to each waterway identifier according to the area water depth, the target excavation depth, and the suction rake depth.

[0116] The dredging method determination module is configured to determine the dredging method of the dredger according to the rake suction times corresponding to each waterway identifier.

[0117] The identifier group display module is configured to display the waterway identifier group corresponding to the dredger when dredging the to-be-dredged area according to the dredging method.

[0118] In one embodiment, the path planning module 950 is specifically configured to, after the dredger completes one rotation in the large-loop dredging block, determine whether the remaining dredging width is not less than the minimum rotation diameter; if the remaining dredging width is not less than the minimum rotation diameter, determine that the next waterway identification group includes two waterway identification groups, and each waterway identification group includes two waterway identifications; the waterway interval between the two waterway identification groups is the minimum rotation diameter; if the remaining dredging width is less than the minimum rotation diameter, determine that the next waterway identification group includes one waterway identification group, and the waterway interval in one waterway identification group is the suction rake width.

[0119] In one embodiment, the path planning module 950 is further specifically configured to determine the first midpoint coordinates of the turning travel of the dredger according to the two waterway identification groups; determine the travel path of the dredger according to the first midpoint coordinates, and the travel path is a semi-circular path; or, determine the second midpoint coordinates of the turning travel of the dredger according to two waterway identifications in one waterway identification; determine the travel path of the dredger according to the second midpoint coordinates, and the travel path is a whistle-shaped path.

[0120] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the above-described functional modules can refer to the corresponding process in the foregoing method embodiments and will not be elaborated here.

[0121] The embodiment of the present application also provides a trailing suction hopper dredger, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the trailing suction hopper dredger layered dredging path planning method according to any embodiment of the present application.

[0122] The embodiment of the present application also provides a computer-readable medium, and the computer-readable storage medium stores computer instructions for causing a processor to implement the trailing suction hopper dredger layered dredging path planning method according to any embodiment of the present application when executed.

[0123] Next, refer to Figure 10 , Figure 10 is a schematic structural diagram of a trailing suction hopper dredger provided by an embodiment of the present application. It shows a schematic structural diagram of a computer system 500 suitable for implementing the trailing suction hopper dredger of the embodiment of the present application. Figure 10The trailing suction hopper dredger shown is merely an example and should not impose any limitation on the functions and scope of use of the embodiments of the present application.

[0124] As Figure 10 shown, the computer system 500 includes a central processing unit 501, which can perform various appropriate actions and processes according to the programs stored in the read-only memory 502 or the programs loaded into the random access memory 503 from the storage section 508. In the random access memory 503, various programs and data required for the operation of the computer system 500 are also stored. The central processing unit 501, the read-only memory 502, and the random access memory 503 are connected to each other via a bus 504. The input / output interface 505 is also connected to the bus 504.

[0125] The following components are connected to the input / output interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the input / output interface 505 as required. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as required so that a computer program read from it can be installed into the storage section 508 as required.

[0126] Specifically, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program codes for performing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from the network through the communication section 509, and / or installed from the removable medium 511. When the computer program is executed by the central processing unit 501, the above functions defined in the system of the present application are executed.

[0127] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of a computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, a computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in conjunction with an instruction execution system, apparatus, or device. And in this application, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, and this computer-readable medium can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wire, and optical cable, etc., or any suitable combination of the above.

[0128] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram can represent a module, a program segment, or a part of code, and the above module, program segment, or part of code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, as well as the combination of blocks in a block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0129] The modules and / or units involved in the embodiments of the present application can be implemented in software or in hardware. The described modules and / or units can also be provided in a processor. For example, it can be described as: a processor includes a parameter acquisition module, a region division module, a first block determination module, a second block determination module, and a path planning module. Among them, the names of these modules do not constitute a limitation to the module itself in some cases.

[0130] As another aspect, the present application also provides a computer-readable medium, which can be included in the device described in the above embodiments; or can exist alone without being assembled into the device. The above computer-readable medium carries one or more programs. When the one or more programs are executed by the device, the device includes: acquiring the region parameters of the area to be dredged and the suction rake parameters of the dredger, where the region parameters at least include the region width; the suction rake parameters at least include the suction rake width and the width between two suction rakes; dividing the area to be dredged into multiple waterways according to the region width and the suction rake width, and each waterway includes a corresponding waterway identifier; determining the interval waterway width of a single dredging according to the width between the rakes and the suction rake width, and determining a small-cycle dredging block according to the interval waterway width of the single dredging. The area to be dredged includes n small-cycle dredging blocks, and the small-cycle dredging block includes a small-cycle dredging width; determining the dredging interval width when the dredger completes one rotation according to the minimum rotation diameter of the dredger and the suction rake width; determining a large-cycle dredging block according to the dredging interval width when the dredger completes one rotation, the large-cycle dredging block includes a large-cycle dredging width, and the area to be dredged includes m large-cycle dredging blocks; each large-cycle dredging block includes multiple groups of small-cycle dredging blocks, m < n; where the dredging interval width is controlled to be an integer multiple of the small-cycle dredging width; in the process of planning the dredging path, acquiring the remaining dredging width in the current large-cycle dredging block, and sequentially determining the waterway identifier group when the dredger completes dredging the current large-cycle dredging block according to the relationship between the remaining dredging width and the minimum rotation diameter; completing the path planning of the area to be dredged according to the waterway identifier group corresponding to each large-cycle dredging block, and each waterway identifier group includes a corresponding waterway identifier.

[0131] According to the technical solution of this embodiment, by using the regional width and the suction rake width to divide the area to be dredged into multiple water channels, and determining the width of the interval water channels for single dredging according to the width between rakes and the suction rake width, the dredger can make full use of the working width of the suction rake during single dredging, improving the efficiency of single dredging; then, by determining the dredging interval width according to the minimum rotation diameter of the dredger, unnecessary rotation and turning of the dredger are avoided, reducing equipment wear and energy consumption; at the same time, in this embodiment, the dredging interval width is controlled to be an integer multiple of the small-cycle dredging width, so that when the path planning for the area to be dredged is completed, the two suction rakes of the dredger can work simultaneously, avoiding the waste of energy consumption caused by single entry into the dredging area; furthermore, by determining the water channel identification group when the dredger completes dredging of the current large-cycle dredging block in sequence according to the relationship between the remaining dredging width and the minimum rotation diameter, the method of dredging the planned water channel identification group reduces the round-trip movement and empty driving distance of the dredger between different areas, achieving the beneficial effects of reducing energy consumption and improving work efficiency.

[0132] The above specific implementation manners do not constitute a limitation on the protection scope of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. A method for planning the layered dredging path of a trailing suction hopper dredger, characterized in that: include: Acquiring regional parameters of the area to be dredged and acquiring suction rake parameters of the dredger, wherein the regional parameters at least include the width of the area; The suction rake parameters at least include the suction rake width and the rake width between two suction rakes; Dividing the area to be dredged into a plurality of waterways according to the area width and the suction rake width, each waterway including a corresponding waterway identifier; Determine the interval waterway width of a single dredging according to the rake interval width and the suction rake width, determine a small circulation dredging block according to the interval waterway width of the single dredging, the area to be dredged includes n small circulation dredging blocks, and the small circulation dredging block includes a small circulation dredging width; Determine the dredging interval width when the dredger completes one rotation according to the minimum rotation diameter of the dredger and the suction rake width; determine the large-circulation dredging block according to the dredging interval width when the dredger completes one rotation, the large-circulation dredging block includes the large-circulation dredging width, and the area to be dredged includes m large-circulation dredging blocks; each of the large-circulation dredging blocks includes multiple groups of small-circulation dredging blocks, m<n; wherein the dredging interval width is controlled to be an integer multiple of the small-circulation dredging width; In the process of planning the dredging path, the remaining dredging width in the current large-circulation dredging block is obtained, and the waterway identification groups when the dredger completes dredging of the current large-circulation dredging block are determined in sequence according to the relationship between the remaining dredging width and the minimum rotation diameter; the path planning of the area to be dredged is completed according to the waterway identification groups corresponding to each of the large-circulation dredging blocks, and each of the waterway identification groups includes a corresponding waterway identification.

2. The method for planning the layered dredging path of a trailing suction hopper dredger according to claim 1, characterized in that: Determining a small cycle dredging block according to the width of the interval waterway of the single dredging includes: After dredging once according to the interval waterway width of the single dredging, marking the waterway mark of the dredged waterway to obtain the dredged waterway mark; After the dredger is controlled to complete a U-turn, sequential dredging is performed according to the previous dredged waterway mark. When the next undredged waterway mark overlaps with the dredged waterway mark, a small cycle dredging block is obtained according to the continuous area corresponding to the dredged waterway mark.

3. The method for planning the layered dredging path of a trailing suction hopper dredger according to claim 1, characterized in that: Before determining the dredging interval width when the dredger completes one rotation according to the minimum rotation diameter of the dredger and the suction rake width, the method further includes: Obtaining a minimum rotation radius of the dredger, and determining a theoretical rotation diameter according to the minimum rotation radius; When the dredger makes a U-turn, the dredger is controlled to take the shortest travel path into a waterway adjacent to a previously dredged waterway as the goal, and the minimum rotation diameter is determined according to the theoretical rotation diameter.

4. The method for planning the layered dredging path of a trailing suction hopper dredger according to claim 1, characterized in that: After determining in sequence according to the relationship between the remaining dredging width and the minimum rotation diameter the waterway identification group when the dredger completes dredging the current large-cycle dredging block, the method further includes: For the remaining waterways to be dredged in the area to be dredged, the operation of determining the interval waterway width for a single dredging according to the rake interval width and the suction rake width is repeated until a waterway identification group for dredging the last large cycle dredging block in the area to be dredged is obtained.

5. The method for planning the layered dredging path of a trailing suction hopper dredger according to claim 1, characterized in that: The regional parameters also include regional water depth; the suction rake parameters also include suction rake depth; the method also includes: Determine the number of rake suction times corresponding to each waterway mark according to the water depth of the area, the target excavation depth and the rake suction depth; Accordingly, after determining in sequence the waterway identification group corresponding to the dredger when completing one rotation according to the relationship between the remaining dredging width and the minimum rotation diameter, the method further includes: Determining the dredging mode of the dredger according to the number of raking suctions corresponding to each of the waterway markers; The corresponding waterway identification group when the dredger dredges the area to be dredged is displayed according to the dredging method.

6. The method for planning the layered dredging path of a trailing suction hopper dredger according to claim 1, characterized in that: In the process of planning the dredging path, the remaining dredging width in the current large-circulation dredging block is obtained, and the waterway identification group when the dredger completes dredging the current large-circulation dredging block is determined in sequence according to the relationship between the remaining dredging width and the minimum rotation diameter, including: After the dredger completes each rotation in the large-cycle dredging block, determining whether the remaining dredging width is not less than the minimum rotation diameter; If the remaining dredging width is not less than the minimum rotation diameter, it is determined that the next waterway identification group includes two waterway identification groups, each of which includes two waterway identifications; and the waterway interval between the two waterway identification groups is the minimum rotation diameter; If the remaining dredging width is smaller than the minimum rotation diameter, it is determined that the next waterway identification group includes a waterway identification group, and the waterway interval in one of the waterway identification groups is the suction rake width.

7. The method for planning layered dredging paths for a trailing suction hopper dredger according to claim 6, characterized in that: The method further comprises: Determine the first midpoint coordinate of the dredger turning according to the two waterway identification groups; Determining a travel path of the dredger according to the first midpoint coordinate, wherein the travel path is a semicircular path; Or, determining the second midpoint coordinates of the dredger turning according to two waterway markers in one of the waterway markers; The driving path of the dredger is determined according to the second midpoint coordinates, and the driving path is a whistle-shaped path.

8. A layered dredging path planning device for a trailing suction hopper dredger, characterized in that: include: A parameter acquisition module, used to acquire regional parameters of the area to be dredged and to acquire suction rake parameters of the dredger, wherein the regional parameters at least include the width of the area; The suction rake parameters at least include the suction rake width and the rake width between two suction rakes; An area division module, used for dividing the area to be dredged into a plurality of waterways according to the area width and the suction rake width, each of the waterways comprising a corresponding waterway identifier; A first block determination module is used to determine the interval waterway width of a single dredging according to the rake interval width and the suction rake width, and determine a small cycle dredging block according to the interval waterway width of the single dredging, the area to be dredged includes n small cycle dredging blocks, and the small cycle dredging block includes a small cycle dredging width; A second block determination module is used to determine the dredging interval width when the dredger completes one rotation according to the minimum rotation diameter of the dredger and the suction rake width; Determine a large-circulation dredging block according to the dredging interval width when the dredger completes one rotation, the large-circulation dredging block includes a large-circulation dredging width, and the area to be dredged includes m large-circulation dredging blocks; each of the large-circulation dredging blocks includes multiple groups of small-circulation dredging blocks, m<n, wherein the dredging interval width is controlled to be an integer multiple of the small-circulation dredging width; A path planning module is used to obtain the remaining dredging width in the current large-circulation dredging block during the process of planning the dredging path, and determine the waterway identification group when the dredger completes dredging the current large-circulation dredging block according to the relationship between the remaining dredging width and the minimum rotation diameter; and complete the path planning of the area to be dredged according to the waterway identification group corresponding to each of the large-circulation dredging blocks, each of the waterway identification groups including a corresponding waterway identification.

9. A trailing suction dredger, characterized in that: The trailing suction dredger comprises: at least one processor; and a memory in communication connection with the at least one processor; The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the layered dredging path planning method for a trailing suction hopper dredger according to any one of claims 1-7.

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

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