Dredging path planning method and device of trailing suction dredger, dredger and medium

Abstract

The invention discloses a dredging path planning method and device of a trailing suction dredger, the dredger and a medium. The method comprises the steps that multiple to-be-dredged points are determined according to an underwater coordinate graph of a to-be-dredged area; according to the suction rake width of the dredger and the dredging width of each to-be-dredged point, the scanning frequency corresponding to each to-be-dredged point is determined; constructing a first constraint condition and a second constraint condition; a target function is constructed with the shortest sailing distance of the dredger in the to-be-dredged area; determining a distance cost matrix of each point to be dredged under a first constraint condition and a second constraint condition; and solving the distance cost matrix under a first constraint condition, a second constraint condition and a target function based on an asymmetric traveling salesman problem ATSP, so that a solving result meets the scanning times corresponding to each to-be-dredged point, and obtaining a planned path when the dredger dredges the to-be-dredged area. According to the method, the dredger can complete multiple scanning tasks of all points in the optimal sequence, and the construction efficiency is improved.

Description

Technical Field

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

[0002] As an important vessel for water dredging engineering operations, trailing suction hopper dredgers are widely used in many fields such as channel widening and deepening, port construction, water conservancy projects, and land reclamation. During the dredging operation, reasonable planning of the dredging path has a crucial impact on improving dredging efficiency, reducing energy consumption, and ensuring construction quality.

[0003] Traditional dredging path planning methods mostly rely on manual experience to achieve, such as traversing the area to be dredged along a fixed route. When relying on manual experience, only a single factor is often considered, such as only focusing on the shortest navigation distance, ignoring other constraints during actual dredging (such as course constraints or requirements for the order of dredging points, etc.), resulting in the planned path being difficult to implement during actual execution, or requiring frequent adjustments, increasing project costs and resource waste, and reducing construction efficiency. Summary of the Invention

[0004] This application provides a dredging path planning method, device, dredger and medium for a trailing suction hopper dredger, which can plan the optimal dredging path under the given underwater topographic map.

[0005] In a first aspect, this application provides a dredging path planning method for a trailing suction hopper dredger, including: determining a set of dredging points to be dredged according to the underwater coordinate map of the area to be dredged, where the set of dredging points to be dredged includes a plurality of dredging points to be dredged; determining the corresponding number of scans for each dredging point according to the suction rake width of the dredger and the dredging width of each dredging point; taking the deviation angle between the bow traveling direction of the dredger and the channel direction not exceeding a preset threshold as a first constraint condition; and taking the vertical coordinate order of each dredging point increasing during one dredging process as a second constraint condition for path planning; constructing an objective function with the shortest navigation distance of the dredger in the area to be dredged; determining the distance cost matrix of each dredging point under the first constraint condition and the second constraint condition; solving the distance cost matrix under the first constraint condition, the second constraint condition and the objective function based on the Asymmetric Traveling Salesman Problem (ATSP) so that the solution result satisfies the corresponding number of scans for each dredging point, and obtaining the planned path when the dredger dredges the area to be dredged.

[0006] Optionally, determining the set of dredging points according to the underwater coordinate map of the area to be dredged includes: processing the underwater coordinate map of the area to be dredged to obtain a plurality of sub-dredging points; obtaining the sub-point coordinates corresponding to each of the sub-dredging points; clustering the plurality of sub-dredging points at intervals of a preset coordinate distance to obtain a plurality of sub-dredging point sets; and determining the dredging points that meet the preset conditions in each of the sub-dredging point sets as the dredging points.

[0007] Optionally, before determining the number of scans corresponding to each of the dredging points according to the suction rake width of the dredger and the dredging width of each of the dredging points, it further includes: obtaining the minimum abscissa and the maximum abscissa corresponding to the dredging points included in each of the sub-dredging point sets respectively; and determining the dredging width of each of the dredging points according to the minimum abscissa and the maximum abscissa respectively.

[0008] Optionally, the dredging points include a first dredging point and a second dredging point. When the dredger travels to the first dredging point and the second dredging point respectively, the deviation angle formed by the traveling direction of the bow of the dredger and the channel direction satisfies the first constraint condition.

[0009] Taking the path planning with the ordinates of each of the dredging points increasing in sequence during one dredging process as the second constraint condition includes: obtaining the first coordinate point and the second coordinate point corresponding to the first dredging point and the second dredging point respectively, where the first coordinate point includes a first abscissa and a first ordinate, and the second coordinate point includes a second abscissa and a second ordinate; and the second abscissa is greater than the first abscissa, and the second ordinate is greater than the first ordinate; determining the ordinate progress amount according to the second ordinate and the first ordinate, and determining the abscissa offset amount according to the second abscissa and the first abscissa; obtaining a slope change value according to the ordinate progress amount and the abscissa offset amount; and determining the path planning mode of the first dredging point and the second dredging point according to the slope change value and a preset constraint relationship to meet the second constraint condition.

[0010] Optionally, determining the path planning mode of the first dredging point and the second dredging point according to the slope change value and a preset constraint relationship includes: determining whether the slope change value is less than the preset constraint relationship; if not less than, then connecting the first dredging point and the second dredging point in the same path; if less than, then planning the first dredging point and the second dredging point in different paths.

[0011] Optionally, solving the distance cost matrix based on the Asymmetric Traveling Salesman Problem (ATSP) under the first constraint condition, the second constraint condition, and the objective function, so that the solution result satisfies the number of scans corresponding to each dredging point, and obtaining the planned path when the dredger dredges the dredging area, includes: determining each dredging node as a node to be visited, obtaining a set of nodes to be visited according to each node to be visited and the corresponding number of scans, the set of nodes to be visited including the scan order of each node to be visited, and the scan order of each node to be visited being related to the number of scans corresponding to each visited node; for the nodes to be visited that are accessed in sequence, when it is determined that the deviation angle generated by the bow traveling direction between adjacent nodes to be visited and the channel direction satisfies the first constraint condition, and the relationship between the ordinate of the latter visited node and the ordinate of the former visited node satisfies the second constraint condition, determining the current node to be visited as a visited node, and updating the set of visited nodes according to the current visited node, the set of visited nodes including multiple visited nodes, and each visited node being arranged in sequence based on the access order; calculating the objective function for each visited node based on the distances between the nodes in the set of visited nodes, obtaining the shortest sailing distance corresponding to the current set of visited nodes, and obtaining the planned path corresponding to the current visited node according to the shortest sailing distance; until the visited nodes included in the current set of visited points are the same as the nodes to be visited included in the set of nodes to be visited, traversing the planned order and connection path corresponding to each visited node, and obtaining the node order when the dredger dredges the dredging area.

[0012] Optionally, before solving the distance cost matrix based on the Asymmetric Traveling Salesman Problem (ATSP) under the first constraint condition, the second constraint condition, and the objective function, it further includes: when the number of scans corresponding to the current dredging point is not 1, processing the number of virtual dredging points included in the current dredging point to be consistent with the number of scans, and the distance between each virtual dredging point and other dredging points being equal to the distance between the current dredging point and the other dredging points.

[0013] In a second aspect, the present application provides a dredging path planning device for a trailing suction dredger, the device including: a point set determination module, configured to determine a set of dredging points according to an underwater coordinate map of a dredging area, the set of dredging points including multiple dredging points;

[0014] a number determination module, configured to determine the number of scans corresponding to each dredging point according to the suction rake width of the dredger and the dredging width of each dredging point;

[0015] A constraint determination module, configured to use that the deviation angle between the bow traveling direction of the dredger and the waterway direction does not exceed a preset threshold as a first constraint condition; and use that in one dredging process, the vertical coordinates of each dredging point to be dredged increase in sequence for path planning as a second constraint condition;

[0016] A function construction module, configured to construct an objective function with the shortest navigation distance of the dredger in the dredging area to be dredged;

[0017] A matrix determination module, configured to determine the distance cost matrix of each dredging point to be dredged under the first constraint condition and the second constraint condition;

[0018] A path planning module, configured to solve the distance cost matrix based on the asymmetric traveling salesman problem (ATSP) under the first constraint condition, the second constraint condition and the objective function, so that the solution result satisfies the number of scanning times corresponding to each dredging point to be dredged, and obtain the planned path when the dredger dredges the dredging area to be dredged.

[0019] In a third aspect, the present application further provides a trailing suction hopper dredger, including: 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 dredging path planning method of the trailing suction hopper dredger according to any embodiment of the present application.

[0021] In a fourth aspect, the present application further provides a computer-readable storage medium, which stores computer instructions for causing a processor to implement the dredging path planning method of the trailing suction hopper dredger according to any embodiment of the present application when executed.

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

[0023] The dredging path planning scheme of the trailing suction hopper dredger provided by the embodiment of the present application first sets the included angle limit between the bow traveling direction and the waterway as the first constraint condition to ensure that the dredger stays within a safe range in the navigation direction during the operation process, effectively reducing the equipment operation risk and dredging accuracy error caused by the course deviation; and takes the increasing ordinate of the points to be dredged as the second constraint condition, combines the underwater terrain and the dredging requirements, and scientifically plans the dredging sequence to avoid repeated operations or missed dredging phenomena; in this embodiment, by integrating the dual constraint conditions into the path planning, the feasibility of the planned path in a complex water area environment is improved; by constructing an objective function with the shortest navigation distance, the global optimal path can be quickly searched under complex constraint conditions; then, based on the suction rake width of the dredger and the dredging width of the points to be dredged, the number of scans is accurately calculated, and the cost matrix is solved through the asymmetric traveling salesman problem (ATSP), and the path is optimized by taking multiple scans of each point to be dredged as independent nodes. The final solution result enables the dredger to complete the multiple scan tasks of each point in the optimal order, improving the construction efficiency. It solves the problems of high construction cost and low construction efficiency existing in the traditional scheme, and achieves the beneficial effect of improving the operation efficiency and engineering quality of the dredger.

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

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

[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 can be understood 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 in an appropriate manner in accordance with relevant laws and regulations. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0030] Figure 2 It is a schematic diagram when the trailing suction hopper dredger provided by an embodiment of the present application performs dredging turning;

[0031] Figure 3 It is another schematic flowchart of a dredging path planning method for a trailing suction hopper dredger provided by an embodiment of the present application;

[0032] Figure 4 It is a schematic structural diagram of a dredging path planning device for a trailing suction hopper dredger provided by an embodiment of the present application;

[0033] Figure 5 It is a schematic structural diagram of a trailing suction hopper dredger provided by an embodiment of the present application. Detailed implementation manners

[0034] In order to enable those skilled in the art of the present technology to better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the present application in combination with the accompanying drawings in this embodiment. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the protection scope of the present application.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned 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 such used data can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0036] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. Additionally, it should be noted that for ease of description, only parts related to the present application rather than all structures are shown in the drawings.

[0037] Figure 1 FIG. 4 is a schematic flowchart of a dredging path planning method for a trailing suction hopper dredger provided in an embodiment of the present application. This embodiment is applicable to the situation of planning the dredging path of a trailing suction hopper dredger during underwater dredging. This method can be executed by a dredging path planning device of the trailing suction hopper dredger. The device can be implemented in the form of hardware and / or software and integrated in the trailing suction hopper dredger that executes this method.

[0038] Reference Figure 1 , the dredging path planning method of the trailing suction hopper dredger in this embodiment can be implemented through the following steps S110 to S160.

[0039] S110. Determine a set of points to be dredged according to the underwater coordinate map of the area to be dredged.

[0040] The area to be dredged refers to the area where the dredger needs to perform underwater dredging operations. The set of points to be dredged is a set of a series of points with dredging requirements selected and determined from the area to be dredged according to the engineering design requirements and the actual situation of the water area during the channel dredging by the trailing suction hopper dredger. Each point in the set of points to be dredged corresponds to specific information required for dredging operations. The current information may include position information (such as coordinates) and related attributes (such as dredging depth, number of scans, etc.), which can affect subsequent path planning and dredging operation processes.

[0041] In this embodiment, the set of points to be dredged includes multiple points to be dredged, and each point to be dredged is used to represent the position point in the area to be dredged that needs to be dredged by the trailing suction hopper dredger. Each point to be dredged has clear spatial coordinates (such as XYZ coordinates) for accurately positioning the specific position in the underwater terrain.

[0042] Generally, the underwater coordinate map can be obtained by scanning the area to be dredged with an underwater scanning device. The current underwater scanning device can be a multi-beam detection system or a sonar system, etc. The specific method for obtaining the underwater coordinate map is not limited herein.

[0043] In this embodiment, after obtaining the underwater coordinate map of the area to be dredged, the underwater coordinate map can be directly imported into a trailing suction hopper dredger integrated with computer processing functions, so as to execute the dredging path planning method for the trailing suction hopper dredger provided in this embodiment based on the computer device integrated on the trailing suction hopper dredger, and then the driving path planned for the area to be dredged can be obtained. The dredger travels based on the planned path, and the purpose of efficient and high-quality construction can be achieved.

[0044] Generally, the underwater terrain is relatively complex. In the deeper waters, there is more underwater silt accumulation. The silt accumulated in the area to be dredged can be approximately understood as individual "isolated peaks" existing independently. As the dredger gradually performs dredging operations, each "isolated peak" will gradually become flat. In this embodiment, an "isolated peak" can be understood as a sub-point to be dredged. Since the number of sub-points to be dredged is large and the distances between the sub-points to be dredged are relatively close, for the convenience of path planning analysis, this embodiment can preprocess each sub-point to be dredged to obtain multiple dredging points.

[0045] In a preferred embodiment, the set of dredging points to be determined according to the underwater coordinate map of the area to be dredged can be realized through the following steps a) to d):

[0046] a) Process the underwater coordinate map of the area to be dredged to obtain multiple sub-points to be dredged.

[0047] Import the underwater coordinate map of the area to be dredged into a computer device integrated with professional geographic information processing software to obtain discrete sub-points to be dredged from the underwater coordinate map.

[0048] b) Obtain the sub-point coordinates corresponding to each sub-point to be dredged.

[0049] After generating the sub-points to be dredged, obtain the precise coordinates of each sub-point through geographic information processing software or programming tools, and directly read the values of each sub-point to be dredged on the horizontal and vertical coordinate axes as plane coordinates.

[0050] c) Cluster multiple sub-points to be dredged at intervals of a preset coordinate distance to obtain multiple sets of sub-points to be dredged.

[0051] The purpose of clustering all the sub - points to be dredged using the clustering algorithm is to reduce the amount of data processing during subsequent path planning. In this embodiment, sub - points that are within a preset coordinate distance and density - connected are divided into one cluster. The specific process is as follows: Starting from any unvisited sub - point, find all the sub - points within its neighborhood (a region with a preset coordinate distance as the radius). If the number of sub - points in the neighborhood exceeds a set threshold (for example, the minimum number of points is 5), then these sub - points and other sub - points within their neighborhoods are grouped into one cluster. Repeat this process until all sub - points are visited and divided into corresponding clusters, thus obtaining multiple sets of sub - points to be dredged. The sub - points within each set of sub - points are relatively close in spatial position and have similar terrain features.

[0052] The above - mentioned preset coordinate distance is set according to factors such as engineering accuracy requirements and the operation ability of the dredger. For example, if the operation accuracy of the dredger is ±1 meter, the preset coordinate distance can be set to 2 meters. The determination of the specific preset distance is not limited here.

[0053] d) Determine the sub - points to be dredged that meet the preset conditions in each set of sub - points to be dredged as the points to be dredged.

[0054] The preset conditions can be set according to the actual engineering requirements. Specifically, they can be set according to terrain feature conditions. For example, select the sub - points in the set of sub - points whose depth values are lower than a certain threshold (such as below the designed water depth of the waterway), because these positions are the areas that need to be key - dredged; it can also be to determine the sub - points corresponding to the geometric center or density center of each set of sub - points as the points to be dredged. This can ensure that the selected points can represent the overall terrain features of the area, reduce redundant points, and improve the efficiency of path planning. By screening each set of sub - points to be dredged according to the above conditions, the points to be dredged that meet the requirements are finally determined, and these points will be used for subsequent dredging path planning.

[0055] Furthermore, obtain the set of points to be dredged based on the set composed of each point to be dredged.

[0056] The method for determining the set of points to be dredged provided in this embodiment classifies the sub - points to be dredged with similar spatial positions into one category through clustering operations, reducing the amount of data to be processed. At the same time, by setting preset conditions to screen the points to be dredged, unnecessary sub - points are removed, reducing the computational complexity of the subsequent path planning algorithm; when dealing with large - scale underwater terrain data, it can significantly shorten the calculation time, improve the efficiency of the entire dredging path planning process, and save engineering time costs.

[0057] S120. Determine the number of scans corresponding to each point to be dredged according to the suction rake width of the dredger and the dredging width of each point to be dredged.

[0058] The suction rake width of the dredger can be directly obtained from the technical manual of the dredger, equipment files, etc. Before actual operation, the accuracy of the suction rake width can also be further confirmed through on-site measurement or equipment debugging.

[0059] The dredging width of the point to be dredged can be obtained according to the coordinate values ​​corresponding to each sub-point to be dredged contained in each point to be dredged.

[0060] Specifically, before executing the above step S120, it is necessary to obtain in advance the minimum horizontal coordinate and the maximum horizontal coordinate corresponding to each sub-point to be dredged contained in each sub-point to be dredged set; determine the dredging width of each point to be dredged according to the minimum horizontal coordinate and the maximum horizontal coordinate. For example, for the current point to be dredged A, the sub-points to be dredged contained in the sub-point to be dredged set corresponding to it are a1, a2, a3 and a4 respectively; by obtaining the horizontal coordinates corresponding to each sub-point to be dredged a1, a2, a3 and a4 respectively, the dredging width of the current point to be dredged A is determined by the difference between the minimum horizontal coordinate and the maximum horizontal coordinate.

[0061] Furthermore, the scanning number corresponding to each dredged point is obtained by taking the quotient of the dredging width of each dredged point and the suction rake width of the dredger and rounding up to an integer. That is, the scanning number represents the number of times the dredger needs to pass each dredged point.

[0062] S130, taking the deviation angle between the bow direction of the dredger and the channel direction not exceeding a preset threshold as the first constraint condition; and taking the path planning in increasing order of the ordinate of each to-be-dredged point during a dredging process as the second constraint condition.

[0063] Since the bow of the dredger should try to keep the direction of the channel consistent with the direction of the channel in the entire dredging area, that is, the angle between the bow and the channel does not exceed a specific arc θ (all angle calculations in this article are based on the radian system, unit rad), the turning path of the dredger will be limited. After scanning a certain point, only certain points can be selected as the "next target point" of the scanning path. In this embodiment, the value of θ can be 10°, 15° or 30°, and the specific value is not limited here.

[0064] In actual operation, the direction of the dredger may change due to environmental factors such as water flow and wind direction. Therefore, it is necessary to monitor the angle between the bow direction and the channel direction in real time. For example, when the angle is close to the preset threshold, the bow direction is adjusted through the dredger's automatic control system or manual operation to ensure that the first constraint condition is met; if the angle requirement cannot be met due to environmental changes, the path needs to be replanned, and the route that meets the first constraint condition is given priority.

[0065] To ensure that the coordinate data of each dredging point to be dredged contains the accurate ordinate y value. Before path planning, all dredging points to be dredged can be pre-sorted in ascending order of the ordinate, which is convenient for judgment and screening in the subsequent path planning process; further, when constructing the travel path of the dredger, for each candidate path, check the ordinate order of adjacent dredging points to be dredged: If any two adjacent dredging points in the path and meet , then this path meets the second constraint condition; if then this path does not meet the condition and is excluded.

[0066] Furthermore, when the ordinates of multiple dredging points to be dredged are the same, they can be further screened according to other factors (such as the horizontal coordinate distance, the proximity to the waterway, etc.) to determine the access order and ensure the rationality of path planning; in some complex situations, it may be impossible to find a path that meets both constraint conditions. At this time, the constraint conditions can be appropriately relaxed. For example, a slight decrease in the ordinate of a small number of dredging points to be dredged is allowed, but the decrease amplitude needs to be controlled within an acceptable range, and these special situations are recorded for subsequent analysis and optimization. And after determining the preliminary path, the path is verified as a whole again to ensure that the ordinate order of all dredging points to be dredged meets the increasing requirement. At the same time, the path is optimized in combination with the first constraint condition, and the path segments that meet the increasing ordinate but violate the angle limit are excluded, and finally the optimal dredging path of the dredger that meets both constraint conditions is obtained.

[0067] In a specific embodiment, taking the dredging points to be dredged including the first dredging point and the second dredging point as an example, when the dredger travels to the first dredging point and the second dredging point respectively, on the basis that the deviation angle between the bow travel direction of the dredger and the waterway direction meets the first constraint condition, taking the ordinate order of each dredging point to be dredged increasing during one dredging process as the specific implementation manner of the second constraint condition can be realized through the following steps e)~h):

[0068] e) Obtain the first coordinate point and the second coordinate point corresponding to the first dredging point and the second dredging point respectively, where the first coordinate point includes the first abscissa and the first ordinate, and the second coordinate point includes the second abscissa and the second ordinate; and the second abscissa is greater than the first abscissa, and the second ordinate is greater than the first ordinate.

[0069] For the first dredging point and the second dredging point meet , and .

[0070] f) Determine the ordinate progress amount according to the second ordinate and the first ordinate, and determine the abscissa offset amount according to the second abscissa and the first abscissa.

[0071] Vertical coordinate progress: (i.e., the net increase in vertical movement), which is used to reflect the effective operation progress along the waterway direction (y-axis);

[0072] Horizontal coordinate offset: (i.e., the net offset of horizontal movement), which is used to reflect the degree of path offset in the horizontal direction (x-axis).

[0073] g) Obtain the slope change value according to the vertical coordinate progress and the horizontal coordinate offset.

[0074] Slope change value , which represents the inclination degree of the moving direction relative to the horizontal axis, that is, the vertical progress obtained per unit of horizontal deviation.

[0075] h) Determine the path planning methods of the first dredging point and the second dredging point according to the slope change value and the preset constraint relationship to meet the second constraint condition.

[0076] In this embodiment, the preset constraint relationship is set based on the direction deviation angle threshold θ, and the critical slope is set ; this embodiment is based on the slope change value and the preset constraint relationship to perform path planning for the first dredging point and the second dredging point.

[0077] Specifically, please refer to Figure 2 , Figure 2 which is a schematic diagram of the trailing suction hopper dredger during dredging turning provided by the embodiment of the present application. In Figure 2 , assuming that the minimum turning radius of the trailing suction hopper dredger is r, then the central symmetry path shown in Figure 2 can pass through the first dredging point and the second dredging point in sequence. The advantage of such a series connection is that when the dredger is at points A and B, the bow is parallel to the waterway direction, which is convenient for subsequent connection of other points.

[0078] Specifically, the dredger turning includes 3 processes, arc , line segment and arc , where the central angle corresponding to arc and is , the length of line segment is . And the coordinates of points and should satisfy the following relationship:

[0079]

[0080] Thus, the following limiting conditions can be obtained:

[0081]

[0082] That is and The axial distance between the two points should be far enough to meet the turning requirements of the dredger, while the points in the figure cannot be directly connected in series by a single track passing through point or .

[0083] In addition, the distance traveled from point to point can be calculated as . When the distance between points and is far, the value of will also increase, while the value of will approach 0. In this case, the path from point to point can be approximately regarded as a straight line, and .

[0084] Specifically, in the above embodiment, the path planning method for determining the first dredging point and the second dredging point according to the slope change value and the preset constraint relationship is as follows:

[0085] Judge whether the slope change value is less than the preset constraint relationship; if not less, connect the first dredging point and the second dredging point in the same path; if less, plan the first dredging point and the second dredging point in different paths.

[0086] If , directly connecting A and B is allowed, and the path cost is the actual distance ; if , direct connection is prohibited, and A and B need to be in different trajectories.

[0087] Specifically, assuming that the total length of the shipping route in the dredging area is D, for the first dredging point and the second dredging point that satisfy , the asymmetric distance function for connecting points A and B is defined as:

[0088]

[0089]

[0090] In the above represents the distance from point A to point B; represents the distance from point B to point A.

[0091] That is to say, it is artificially stipulated that all paths are planned only along the positive y-axis direction during planning. During the series connection process, only points A and B are allowed to be connected in sequence according to the y-axis coordinates, and it is not allowed to connect them in reverse; in the case where the above conditions are not met, points A and B must be on two trajectories. Therefore, the distance between points A and B is asymmetric.

[0092] S140. Construct an objective function based on the shortest navigation distance of the dredger in the area to be dredged.

[0093] In this embodiment, only the shortest navigation distance within the area to be dredged is considered, and the navigation distance consumed by the dredger for turning around outside the area to be dredged is not considered. This is because compared with the total route length D, the total navigation distance consumed by the ship for turning around on both sides of the area is very small; in addition, by including D in the cost function, the algorithm will obviously try to minimize the total number of times the dredger enters and exits the dredging area, and the total number of times the dredger enters and exits the dredging area is the key factor affecting the total navigation distance consumed by its turning around. Therefore, this algorithm ignores the turning-around consumption outside the dredging area.

[0094] Specifically, in this embodiment, the shortest path is obtained by iterative calculation based on the dynamic programming method. Assume that the state S in the dynamic programming represents the set of visited points. represents the shortest distance when finally staying at point i after visiting all the points included in the visited set S. The objective function is to find the minimum .

[0095] The objective function can be expressed by the following formula , that is, it is used to represent the shortest distance after selecting all the points in the set V of points to be visited.

[0096] Among them, the path needs to cover all the points to be dredged and each point is visited only once.

[0097] S150. Determine the distance cost matrix of each point to be dredged under the first constraint condition and the second constraint condition.

[0098] Before performing path planning in the solution provided in this embodiment, the following steps also need to be performed: when the number of scans corresponding to the current point to be dredged is not 1 time, the number of virtual dredging points included in the current point to be dredged is consistent with the number of scans, and the distance between each virtual dredging point and other points to be dredged is equal to the distance between the current point to be dredged and other points to be dredged.

[0099] For the current point to be dredged P, if it needs to be scanned n times, n virtual dredging points, P1, P2,..., Pn, are correspondingly generated to ensure that each virtual point is visited only once. And it satisfies that the distances between these points are , and the distances from these points to other points are equal to the distances from point P to these points.

[0100] In this embodiment, the distance cost matrix is denoted as . If the movement simultaneously satisfies the first preset condition and the second constraint condition, the actual sailing distance is calculated based on the Euclidean distance.

[0101] S160. Solve the distance cost matrix under the first constraint condition, the second constraint condition and the objective function based on the Asymmetric Traveling Salesman Problem (ATSP) so that the solution result satisfies the number of scans corresponding to each dredging point, and obtain the planned path when the dredger dredges the area to be dredged.

[0102] Furthermore, in this embodiment, the "point scanning" path planning can be completely converted into an ATSP problem. Define all the dredging points , and the distance matrix , where . Establish the dynamic matrix representing the shortest distance from the starting point through the subset and reaching the point , and the dynamic result matrix , so as to solve the best dredging path under the current scheme.

[0103] Preferably, please refer to Figure 3 . Figure 3 is another flowchart of the dredging path planning method for the trailing suction hopper dredger provided by the embodiment of the present application. The above step S160 can be specifically implemented through the following steps S161 to S164.

[0104] S161. Determine each dredging point as a node to be visited, and obtain the set of nodes to be visited according to each node to be visited and the corresponding number of scans. The set of nodes to be visited includes the scanning order of each node to be visited, and the scanning order of each node to be visited is related to the number of scans corresponding to each visited node.

[0105] For the dredging point set , the coordinates of each dredging point are , and the number of scans is . First, each is split into virtual nodes according to the number of scans for representing the k-th scan of this node; then obtain the set of nodes to be visited , and the total number of nodes to be visited is .

[0106] S162. For the to-be-visited nodes visited in sequence, when it is determined that the deviation angle between the bow traveling direction and the channel direction between adjacent to-be-visited nodes satisfies the first constraint condition, and the relationship between the ordinate of the latter visited node and the ordinate of the former visited node satisfies the second constraint condition, determine the current to-be-visited node as a visited node, and update the set of visited nodes according to the current visited node. The set of visited nodes includes multiple visited nodes, and each visited node is arranged in sequence based on the access order.

[0107] When actually represented in a data structure, the set of visited nodes S can be represented in the form of a set or a bitmask to record the path order.

[0108] Specifically. First, initialize the set of visited nodes, that is, S = 0; second, for each to-be-visited node, check the constraint conditions from the previous node u to the next node v, that is, if the constraint conditions are met, add the node v to the set of visited nodes S, and calculate the updated path after adding the v node.

[0109] S163. Calculate the objective function for each node in the set of visited nodes based on the distances between the nodes, obtain the shortest navigation distance corresponding to the current set of visited nodes, and obtain the planned path corresponding to the current visited nodes according to the shortest navigation distance.

[0110] In this embodiment, after each new visited node is added to the set of visited nodes S, it is necessary to recalculate the global shortest path based on the to-be-visited nodes currently included in the set of visited nodes S, rather than simply calculating the new added nodes based on the previous shortest path. The purpose of doing this is that since the order selection of points is complex and needs to be determined according to the distribution characteristics of global points, and the problem cannot be reduced to small local problems and determined locally, otherwise it will fall into the local optimal route rather than the global optimal route.

[0111] S164. Until the visited nodes included in the current set of visited points are the same as the to-be-visited nodes included in the set of to-be-visited nodes, traverse the planned order and connection paths corresponding to each visited node to obtain the node order when the trailing suction hopper dredger performs dredging on the to-be-dredged area.

[0112] When the size of the set of visited nodes S is equal to the size of the set of to-be-visited nodes V, stop the iteration, and extract the final total path length as , the current path The corresponding path planning scheme is stored in In, the trailing suction hopper dredger travels according to the planned point positions, which is the shortest path.

[0113] The dredging path planning method for the trailing suction hopper dredger provided in this embodiment first sets the included angle between the bow traveling direction and the waterway as the first constraint condition to ensure that the dredger stays within a safe range in the navigation direction during the operation process, effectively reducing the equipment operation risk and dredging precision error caused by course deviation; and takes the increasing ordinate of the points to be dredged as the second constraint condition, combines the underwater terrain and dredging requirements, and scientifically plans the dredging sequence to avoid repeated operations or missed dredging; this embodiment incorporates the dual constraint conditions into the path planning to improve the feasibility of the planned path in a complex water area environment; constructs an objective function with the shortest navigation distance, and can quickly search for the global optimal path under complex constraint conditions; then accurately calculates the number of scans based on the suction rake width of the dredger and the dredging width of each point to be dredged, solves the cost matrix through the Asymmetric Traveling Salesman Problem (ATSP), optimizes the path with multiple scans of each point to be dredged as independent nodes, and the final solution result enables the dredger to complete the multiple scan tasks of each point in the optimal order, improving the construction efficiency. It solves the problems of high construction cost and low construction efficiency existing in the traditional scheme, and achieves the beneficial effect of improving the operation efficiency and engineering quality of the dredger.

[0114] Figure 4 It is a structural schematic diagram of a dredging path planning device for a trailing suction hopper dredger provided in an embodiment of the present application. This device is applicable to execute the dredging path planning method for the trailing suction hopper dredger provided in the embodiment of the present application. As Figure 4 shown, this device may specifically include: a point set determination module 410, a number determination module 420, a constraint determination module 430, a function construction module 440, a matrix determination module 450, and a path planning module 460.

[0115] Among them, the point set determination module 410 is used to determine the point set to be dredged according to the underwater coordinate map of the area to be dredged, and the point set to be dredged includes multiple points to be dredged;

[0116] The number determination module 420 is used to determine the number of scans corresponding to each point to be dredged according to the suction rake width of the dredger and the dredging width of each point to be dredged;

[0117] The constraint determination module 430 is used to take that the deviation angle between the bow traveling direction of the dredger and the waterway direction does not exceed a preset threshold as the first constraint condition; and takes that in one dredging process, the ordinate of each point to be dredged increases sequentially for path planning as the second constraint condition;

[0118] The function construction module 440 is used to construct an objective function with the shortest navigation distance of the dredger in the area to be dredged;

[0119] A matrix determination module 450, configured to determine a distance cost matrix for each dredging point under the first constraint condition and the second constraint condition;

[0120] A path planning module 460, configured to solve the distance cost matrix based on the asymmetric traveling salesman problem (ATSP) under the first constraint condition, the second constraint condition, and the objective function, so that the solution result satisfies the number of scanning times corresponding to each dredging point, and obtain a planned path when the dredger dredges the to-be-dredged area.

[0121] The dredging path planning device for a trailing suction hopper dredger provided by an embodiment of the present application first sets the included angle between the bow traveling direction and the waterway as the first constraint condition to ensure that the dredger maintains within a safe range in the navigation direction during the operation process, effectively reducing the equipment operation risk and dredging accuracy error caused by the course deviation; and takes the increasing ordinate of the to-be-dredged point as the second constraint condition, combines the underwater terrain and the dredging requirements, and scientifically plans the dredging sequence to avoid repeated operations or missed dredging phenomena; this embodiment improves the feasibility of the planned path in a complex water area environment by integrating double constraint conditions into the path planning; constructs an objective function with the shortest navigation distance, and can quickly search for the global optimal path under complex constraint conditions; then accurately calculates the number of scanning times based on the suction rake width of the dredger and the dredging width of the to-be-dredged point, solves the cost matrix through the asymmetric traveling salesman problem (ATSP), optimizes the path with multiple scans of each to-be-dredged point as independent nodes, and the final solution result enables the dredger to complete the multiple scanning tasks of each point in the optimal order, improving the construction efficiency. It solves the problems such as high construction cost and low construction efficiency existing in the traditional scheme, and achieves the beneficial effect of improving the operation efficiency and engineering quality of the dredger.

[0122] In one embodiment, the point set determination module 410 is specifically configured to process the underwater coordinate map of the to-be-dredged area to obtain multiple to-be-dredged sub-points; obtain the sub-point coordinates corresponding to each to-be-dredged sub-point; cluster the multiple to-be-dredged sub-points at intervals of a preset coordinate distance to obtain multiple to-be-dredged sub-point sets; and determine the to-be-dredged points that meet the preset conditions in each to-be-dredged sub-point set as the to-be-dredged points.

[0123] In one embodiment, the device further includes a coordinate acquisition module and a width determination module.

[0124] Among them, the coordinate acquisition module is configured to acquire the minimum abscissa and the maximum abscissa corresponding to the to-be-dredged sub-points included in each to-be-dredged sub-point set respectively;

[0125] The width determination module is configured to determine the dredging width of each to-be-dredged point according to the minimum abscissa and the maximum abscissa respectively.

[0126] In one embodiment, the dredging points to be dredged include a first dredging point and a second dredging point. When the dredger travels to the first dredging point and the second dredging point respectively, the deviation angle formed by the traveling direction of the bow of the dredger and the channel direction satisfies the first constraint condition;

[0127] The constraint determination module 430 is specifically configured to obtain a first coordinate point and a second coordinate point corresponding to the first dredging point and the second dredging point respectively, where the first coordinate point includes a first abscissa and a first ordinate, and the second coordinate point includes a second abscissa and a second ordinate; and the second abscissa is greater than the first abscissa, and the second ordinate is greater than the first ordinate; determine the ordinate progress amount according to the second ordinate and the first ordinate, and determine the abscissa offset amount according to the second abscissa and the first abscissa; obtain a slope change value according to the ordinate progress amount and the abscissa offset amount; determine the path planning method for the first dredging point and the second dredging point according to the slope change value and a preset constraint relationship to satisfy the second constraint condition.

[0128] In one embodiment, the constraint determination module 430 is specifically further configured to determine whether the slope change value is less than the preset constraint relationship; if not less, connect the first dredging point and the second dredging point in the same path; if less, plan the first dredging point and the second dredging point in different paths.

[0129] In one embodiment, the path planning module 460 is specifically configured to determine each of the nodes to be dredged as a node to be visited, obtain a set of nodes to be visited according to each of the nodes to be visited and the corresponding number of scans, where the set of nodes to be visited includes the scan order of each of the nodes to be visited, and the scan order of each of the nodes to be visited is related to the number of scans corresponding to each of the visited nodes; for the nodes to be visited that are accessed in sequence, when it is determined that the deviation angle generated by the bow traveling direction between adjacent nodes to be visited and the channel direction satisfies the first constraint condition, and the relationship between the ordinate of the latter visited node and the ordinate of the former visited node satisfies the second constraint condition, determine the current node to be visited as a visited node, and update the set of visited nodes according to the current visited node, where the set of visited nodes includes multiple visited nodes, and each visited node is arranged in sequence based on the access order; calculate the objective function for each of the visited nodes based on the distances between the nodes in the set of visited nodes, obtain the shortest navigation distance corresponding to the current set of visited nodes, and obtain the planned path corresponding to the current visited node according to the shortest navigation distance; until the visited nodes included in the current set of visited nodes are the same as the nodes to be visited included in the set of nodes to be visited, traverse the planned order and connection path corresponding to each visited node, and obtain the node order when the dredger performs dredging on the area to be dredged.

[0130] In one embodiment, the device further includes a dredging point processing module.

[0131] Among them, the dredging point processing module is used to, when the number of scans corresponding to the current dredging point is not 1, process the number of virtual dredging points included in the current dredging point to be consistent with the number of scans, and the distance between each virtual dredging point and other dredging points is equal to the distance between the current dredging point and the other dredging points.

[0132] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the above division of each functional module is used as an example. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the above-described functional modules can refer to the corresponding process in the foregoing method embodiments, and will not be elaborated herein.

[0133] An 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 to enable the at least one processor to execute the dredging path planning method of the trailing suction hopper dredger according to any embodiment of the present application.

[0134] An embodiment of the present application also provides a computer-readable medium, and the computer-readable storage medium stores computer instructions for enabling a processor to implement the dredging path planning method of the trailing suction hopper dredger according to any embodiment of the present application when executed.

[0135] The following reference Figure 5 , Figure 5 is a schematic structural diagram of the 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 5 The shown trailing suction hopper dredger is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0136] As Figure 5 shown, the computer system 500 includes a central processing unit 501, which can perform various appropriate actions and processes according to the program stored in the read-only memory 502 or the program loaded from the storage section 508 into the random access memory 503. 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.

[0137] 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 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 the computer program read from it can be installed into the storage section 508 as required.

[0138] In particular, 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 that includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 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.

[0139] It should be noted that the computer-readable medium shown in the present application can be a computer-readable signal medium or 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 the 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 the present application, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or combined with an instruction execution system, apparatus, or device. And in the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the 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 the computer-readable medium can send, propagate, or transmit a program for use by or combined with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wireless, wire, and optical cable, etc., or any suitable combination of the above.

[0140] 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 the present application. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code that 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 may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, as well as combinations of blocks in the block diagram or flowchart, may be implemented by a dedicated hardware-based system that performs the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0141] The modules and / or units involved in the embodiments described in the present application may be implemented in software or in hardware. The described modules and / or units may also be provided in a processor. For example, it may be described as: a processor includes a point set determination module, a number determination module, a constraint determination module, a function construction module, a matrix determination module, and a path planning module. Among them, the names of these modules do not constitute a limitation on the module itself in some cases.

[0142] As another aspect, the present application also provides a computer-readable medium, which may be included in the device described in the above embodiments; or may exist separately 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: determining a set of dredging points according to the underwater coordinate map of the area to be dredged, where the set of dredging points includes a plurality of dredging points; determining the scanning times corresponding to each dredging point according to the suction rake width of the dredger and the dredging width of each dredging point; using the deviation angle between the bow traveling direction of the dredger and the channel direction not exceeding a preset threshold as a first constraint condition; and using the path planning that the ordinate of each dredging point increases sequentially during a dredging process as a second constraint condition; constructing an objective function with the shortest navigation distance of the dredger in the area to be dredged; determining the distance cost matrix of each dredging point under the first constraint condition and the second constraint condition; and solving the distance cost matrix under the first constraint condition, the second constraint condition, and the objective function based on the Asymmetric Traveling Salesman Problem (ATSP) so that the solution result satisfies the scanning times corresponding to each dredging point, and obtaining the planned path when the dredger dredges the area to be dredged.

[0143] According to the technical solution of this embodiment, first, the included angle between the bow traveling direction and the waterway is set as the first constraint condition to ensure that the dredger stays within a safe range in the navigation direction during the operation process, effectively reducing the equipment operation risk and dredging accuracy error caused by the course deviation; and the increasing of the ordinate of the point to be dredged is used as the second constraint condition. Combining with the underwater terrain and dredging requirements, the dredging sequence is scientifically planned to avoid repeated operations or missed dredging; in this embodiment, by integrating double constraint conditions into the path planning, the feasibility of the planned path in a complex water area environment is improved; by constructing an objective function with the shortest navigation distance, the global optimal path can be quickly searched under complex constraint conditions; then, based on the suction rake width of the dredger and the dredging width of the point to be dredged, the number of scans is accurately calculated, and the cost matrix is solved through the Asymmetric Traveling Salesman Problem (ATSP). The path is optimized by taking multiple scans of each point to be dredged as independent nodes. The final solution result enables the dredger to complete the multiple scan tasks of each point in the optimal order, improving the construction efficiency. It solves the problems of high construction cost and low construction efficiency existing in the traditional solution, and achieves the beneficial effect of improving the operation efficiency and engineering quality of the dredger.

[0144] The above specific implementation manners do not constitute a limitation on the protection scope of the present 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 the present application shall be included within the protection scope of the present application.

Claims

1. A dredging path planning method for a trailing suction hopper dredger, characterized in that: include: Determine a set of points to be dredged according to an underwater coordinate diagram of the area to be dredged, wherein the set of points to be dredged includes a plurality of points to be dredged; Determine the number of scans corresponding to each of the points to be dredged according to the suction rake width of the dredger and the dredging width of each of the points to be dredged; The first constraint condition is that the deviation angle between the bow direction of the dredger and the channel direction does not exceed a preset threshold; and the second constraint condition is that during a dredging process, the path planning is performed in an increasing order of the ordinates of each of the to-be-dredged points; Constructing an objective function with the shortest sailing distance of the dredger in the area to be dredged; Determine a distance cost matrix for each of the points to be dredged under the first constraint condition and the second constraint condition; Based on the asymmetric traveling salesman problem ATSP, the distance cost matrix is ​​solved under the first constraint condition, the second constraint condition and the objective function, so that the solution result satisfies the scanning number corresponding to each point to be dredged, and the planned path of the dredger when dredging the area to be dredged is obtained.

2. The dredging path planning method of a trailing suction hopper dredger according to claim 1, characterized in that: The step of determining the set of points to be dredged according to the underwater coordinate map of the area to be dredged comprises: Processing the underwater coordinate map of the area to be dredged to obtain a plurality of sub-points to be dredged; Obtaining the sub-point coordinates corresponding to each of the sub-points to be dredged; Clustering the plurality of sub-points to be dredged at intervals of preset coordinate distances to obtain a plurality of sub-point sets to be dredged; The sub-points to be dredged that meet preset conditions in each of the sub-points to be dredged are determined as the points to be dredged.

3. The dredging path planning method for a trailing suction hopper dredger according to claim 2, characterized in that: Before determining the scanning number corresponding to each of the points to be dredged according to the suction rake width of the dredger and the dredging width of each of the points to be dredged, the method further includes: Obtaining the minimum horizontal coordinate and the maximum horizontal coordinate corresponding to each of the sub-points to be dredged included in the sub-point set to be dredged; The dredging width of each of the points to be dredged is determined according to the minimum horizontal coordinate and the maximum horizontal coordinate.

4. The dredging path planning method for a trailing suction hopper dredger according to claim 1, characterized in that: The points to be dredged include a first point to be dredged and a second point to be dredged, and when the dredger travels to the first point to be dredged and the second point to be dredged respectively, the deviation angle between the travel direction of the bow of the dredger and the direction of the waterway satisfies the first constraint condition; The second constraint condition of performing path planning with the longitudinal coordinates of each of the to-be-dredged points increasing in sequence during a dredging process includes: Acquire a first coordinate point and a second coordinate point corresponding to the first to-be-dredged point and the second to-be-dredged point, respectively, wherein the first coordinate point includes a first horizontal coordinate and a first vertical coordinate, and the second coordinate point includes a second horizontal coordinate and a second vertical coordinate; and the second horizontal coordinate is greater than the first horizontal coordinate, and the second vertical coordinate is greater than the first vertical coordinate; Determine a longitudinal coordinate progress amount according to the second longitudinal coordinate and the first longitudinal coordinate, and determine a transverse coordinate offset amount according to the second transverse coordinate and the first transverse coordinate; Obtaining a slope change value according to the longitudinal coordinate progress amount and the horizontal coordinate offset amount; A path planning method for the first point to be dredged and the second point to be dredged is determined according to the slope change value and a preset constraint relationship to meet the second constraint condition.

5. The dredging path planning method for a trailing suction hopper dredger according to claim 4, characterized in that: The path planning method of determining the first point to be dredged and the second point to be dredged according to the slope change value and the preset constraint relationship includes: Determining whether the slope change value is less than the preset constraint relationship; If it is not less than, the first point to be dredged and the second point to be dredged are connected in series on the same path; If it is less than, the first point to be dredged and the second point to be dredged are planned on different paths.

6. The dredging path planning method for a trailing suction hopper dredger according to claim 1, characterized in that: The method based on the asymmetric traveling salesman problem ATSP solves the distance cost matrix under the first constraint condition, the second constraint condition and the objective function so that the solution satisfies the scanning number corresponding to each of the points to be dredged, and obtains the planned path of the dredger when dredging the area to be dredged, including: Determine each of the to-be-dredged points as a to-be-visited node, obtain a to-be-visited node set according to each of the to-be-visited nodes and the corresponding scanning times, the to-be-visited node set includes a scanning order of each of the to-be-visited nodes, and the scanning order of each of the to-be-visited nodes is related to the scanning times corresponding to each of the access nodes; For the nodes to be visited in sequence, when it is determined that the deviation angle between the bow travel direction and the channel direction between adjacent nodes to be visited satisfies the first constraint condition, and the relationship between the longitudinal coordinate of the latter visited node and the longitudinal coordinate of the previous visited node satisfies the second constraint condition, the current node to be visited is determined to be a visited node, and a visited node set is updated according to the current visited node, wherein the visited node set includes multiple visited nodes, and each visited node is arranged in sequence based on the access order; Calculate the objective function for each visited node based on the distance between each node in the visited node set, obtain the shortest navigation distance corresponding to the current visited node set, and obtain the planned path corresponding to the current visited node according to the shortest navigation distance; Until the visited nodes included in the current visited point set are the same as the to-be-visited nodes included in the to-be-visited node set, the planning sequence and connection path corresponding to each visited node are traversed to obtain the node sequence when the dredger is dredging the area to be dredged.

7. The dredging path planning method for a trailing suction hopper dredger according to claim 1, characterized in that: Before solving the distance cost matrix under the first constraint condition, the second constraint condition and the objective function based on the asymmetric traveling salesman problem ATSP, the method further includes: When the number of scans corresponding to the current point to be dredged is not 1, the number of virtual dredging points included in the current point to be dredged is consistent with the number of scans, and the distance between each virtual dredging point and other points to be dredged is equal to the distance between the current point to be dredged and other points to be dredged.

8. A dredging path planning device for a trailing suction hopper dredger, characterized in that: include: A point set determination module, used to determine a point set to be dredged according to an underwater coordinate map of the area to be dredged, wherein the point set to be dredged includes a plurality of points to be dredged; A number determination module, used to determine the number of scans corresponding to each of the points to be dredged according to the suction rake width of the dredger and the dredging width of each of the points to be dredged; The constraint determination module is used to take the deviation angle between the bow direction of the dredger and the channel direction not exceeding a preset threshold as a first constraint condition; and to take the path planning in increasing order of the ordinate of each of the to-be-dredged points in a dredging process as a second constraint condition; A function construction module, used for constructing an objective function with the dredger sailing the shortest distance in the area to be dredged; A matrix determination module, used for determining a distance cost matrix of each of the points to be dredged under the first constraint condition and the second constraint condition; The path planning module is used to solve the distance cost matrix based on the asymmetric traveling salesman problem ATSP under the first constraint condition, the second constraint condition and the objective function, so that the solution result satisfies the scanning number corresponding to each point to be dredged, and obtains the planned path of the dredger when dredging the area to be dredged.

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 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 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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