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

Abstract

The present application discloses a dredging path planning method, device, dredger, and medium for a trailing suction hopper dredger. The method comprises: determining multiple points to be dredged based on an underwater coordinate map of the area to be dredged; determining the number of scans corresponding to each point to be dredged based on the suction rake width of the dredger and the dredging width of each point to be dredged; constructing a first constraint and a second constraint; constructing an objective function based on the shortest navigation distance of the dredger within the area to be dredged; determining a distance cost matrix for each point to be dredged under the first constraint and the second constraint; solving the distance cost matrix based on the asymmetric traveling salesman problem (ATSP) under the first constraint, the second constraint, and the objective function, so that the solution satisfies the number of scans corresponding to each point to be dredged, thereby obtaining a planned path for the dredger when dredging the area to be dredged. The present application enables the dredger to complete multiple scans of each point in an optimal order, thereby improving construction efficiency.

Description

Technical Field

[0001] The present application relates to the field of integration of a trailing suction hopper dredger and an automation system, and in particular to a dredging path planning method and device for a trailing suction hopper dredger, a dredger, and a medium. Background Art

[0002] Dredgers, as important vessels for dredging operations, are widely used in a variety of fields, including channel widening and deepening, port construction, water conservancy projects, and land reclamation. During dredging operations, rationally planning the dredging path is crucial for improving dredging efficiency, reducing energy consumption, and ensuring construction quality.

[0003] Traditional dredging path planning methods often rely on manual experience, such as traversing the dredged area along a fixed route. This reliance on manual experience often only considers a single factor, such as minimizing sailing distance, while ignoring other constraints in actual dredging (such as heading constraints or dredging point sequence requirements). This makes the planned path difficult to implement in practice or requires frequent adjustments, increasing project costs, wasting resources, and reducing construction efficiency. Summary of the Invention

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

[0005] In a first aspect, the present application provides a dredging path planning method for a trailing suction hopper dredger, comprising: determining a set of points to be dredged based on an underwater coordinate map of an area to be dredged, the set of points to be dredged comprising a plurality of points to be dredged; determining a number of scans corresponding to each point to be dredged based on a suction rake width of the dredger and a dredging width of each point to be dredged; taking as a first constraint a deviation angle between a bow direction of the dredger and a channel direction that does not exceed a preset threshold; and taking as a second constraint a path planning method based on an increasing order of the longitudinal coordinates of each point to be dredged during a dredging process; constructing an objective function based on minimizing the navigation distance of the dredger within the area to be dredged; determining a distance cost matrix for each point to be dredged under the first and second constraints; and solving the distance cost matrix under the first and second constraints and the objective function based on an asymmetric traveling salesman problem (ATSP) so that the solution satisfies the number of scans corresponding to each point to be dredged, thereby obtaining a planned path for the dredger when dredging the area to be dredged.

[0006] Optionally, determining the set of points to be dredged based on 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-points to be dredged; obtaining 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 sets of sub-points to be dredged; and determining the sub-points to be dredged that meet preset conditions in each set of sub-points to be dredged as the points to be dredged.

[0007] Optionally, before determining 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, the method further includes: obtaining the minimum horizontal coordinate and the maximum horizontal coordinate corresponding to the sub-points to be dredged contained in each set of sub-points to be dredged; and determining the dredging width of each point to be dredged according to the minimum horizontal coordinate and the maximum horizontal coordinate.

[0008] Optionally, 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 bow travel direction of the dredger and the channel direction satisfies the first constraint condition;

[0009] The method of performing path planning based on the sequential increase of the vertical coordinate of each of the points to be dredged during a dredging process as the second constraint condition includes: obtaining first coordinate points and second coordinate points corresponding to the first point to be dredged and the second point to be dredged, 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; determining a vertical coordinate progress amount according to the second vertical coordinate and the first vertical coordinate, and determining a horizontal coordinate offset according to the second horizontal coordinate and the first horizontal coordinate; obtaining a slope change value according to the vertical coordinate progress amount and the horizontal coordinate offset; and determining a path planning method for the first point to be dredged and the second point to be dredged according to the slope change value and a preset constraint relationship to satisfy the second constraint condition.

[0010] Optionally, the path planning method for determining the first point to be dredged and the second point to be dredged based on the slope change value and the preset constraint relationship includes: judging whether the slope change value is less than the preset constraint relationship; if not, connecting the first point to be dredged and the second point to be dredged in series on the same path; if less, planning the first point to be dredged and the second point to be dredged on different paths.

[0011] Optionally, the asymmetric traveling salesman problem ATSP solves the distance cost matrix under the first constraint, the second constraint and the objective function, so that the solution 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, including: determining each node to be dredged as a node to be visited, obtaining a set of nodes to be visited according to each node to be visited and the corresponding scanning number, 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 scanning number corresponding to each visited node; for the nodes to be visited that are visited in sequence, when determining that the deviation angle between the bow direction of the ship and the channel direction between adjacent nodes to be visited meets the first constraint, and the next visited node When the relationship between the vertical coordinate of the node and the vertical coordinate of the previous visited node meets the second constraint condition, the current node to be visited is determined to be a visited node, and the visited node set is updated according to the current visited node, the visited node set includes multiple visited nodes, and each visited node is arranged in sequence based on the access order; based on the distance between each node in the visited node set, the objective function is calculated for each of the visited nodes to obtain the shortest sailing distance corresponding to the current visited node set, and the planned path corresponding to the current visited node is obtained according to the shortest sailing 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 planned sequence and connection path corresponding to each visited node are traversed to obtain the node sequence when the dredger dredges the area to be dredged.

[0012] Optionally, before solving the distance cost matrix under the first constraint, the second constraint 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, processing the number of virtual dredging points included in the current point to be dredged to be consistent with the number of scans, and the distance between each virtual dredging point and the other points to be dredged is equal to the distance between the current point to be dredged and the other points to be dredged.

[0013] In a second aspect, the present application provides a dredging path planning device for a trailing suction hopper dredger, the device comprising: a point set determination module for determining a point set to be dredged based on an underwater coordinate map of an area to be dredged, the point set to be dredged comprising a plurality of points to be dredged;

[0014] A number determination module is 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;

[0015] a constraint determination module configured to use as a first constraint condition the deviation angle between the bow direction of the dredger and the channel direction not exceeding a preset threshold; and as a second constraint condition the path planning process in which the longitudinal coordinates of each of the to-be-dredged points are increased in sequence during a dredging process;

[0016] A function construction module, configured to construct an objective function based on the shortest sailing distance of the dredger in the area to be dredged;

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

[0018] 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 satisfies the number of scans corresponding to each point to be dredged, and obtains the planned path of the dredger when dredging the area to be dredged.

[0019] In a 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] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the dredging path planning method for a trailing suction hopper dredger described in any embodiment of the present application.

[0021] In a fourth aspect, the present application further provides a computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a processor to implement the dredging path planning method for a trailing suction hopper dredger described in any embodiment of the present application when executed.

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

[0023] The dredging path planning scheme for a trailing suction hopper dredger provided in an embodiment of the present application first sets the angle limit between the bow direction and the channel as the first constraint condition to ensure that the navigation direction of the dredger remains within a safe range during operation, effectively reducing the equipment operation risk and dredging accuracy error caused by heading deviation; and uses the increasing vertical coordinate of the point to be dredged as the second constraint condition, and scientifically plans the dredging sequence in combination with the underwater topography and dredging needs to avoid repeated operations or missed dredging; this embodiment improves the feasibility of the planned path in complex water environments by integrating dual constraints into path planning; by constructing an objective function with the shortest sailing distance, the global optimal path can be quickly searched under complex constraints; then, the number of scans is accurately calculated based on the dredger suction rake width and the dredging width of the point to be dredged, so as to solve the cost matrix through the asymmetric traveling salesman problem ATSP, and the path optimization is performed by using multiple scans of each point to be dredged as an independent node. The final solution result enables the dredger to complete the multiple scanning tasks of each point in the optimal order, thereby improving construction efficiency. It solves the problems of high construction cost and low construction efficiency existing in traditional solutions, and achieves the beneficial effect of improving the operating efficiency of dredgers and project quality.

[0024] It should be noted that the aforementioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer-readable storage medium may be packaged together with the processor of the dredging path planning device for a trailing suction hopper dredger, or may be packaged separately from the processor of the dredging path planning device for a trailing suction hopper dredger, and this application does not limit this.

[0025] The descriptions of the second, third, fourth and fifth aspects of this application can refer to the detailed description of the first aspect; and the beneficial effects of the descriptions of the second, third, fourth and fifth aspects can refer to the analysis of the beneficial effects of the first aspect, which will not be repeated here.

[0026] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended 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 this application, the type, scope of use, and usage scenarios of the personal information involved in this application should be informed to the user and the user's authorization should be obtained in an appropriate manner 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 following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 This is a flow chart of a dredging path planning method for a trailing suction hopper dredger provided in an embodiment of the present application;

[0030] Figure 2 This is a schematic diagram of a trailing suction hopper dredger provided in an embodiment of the present application performing dredging and steering;

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

[0032] Figure 4 This 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;

[0033] Figure 5 It is a structural schematic diagram of the trailing suction dredger provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the present invention, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this embodiment. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[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 are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present application and are not intended to limit the present application. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions of the present application, not all of the structures.

[0037] Figure 1 This is a flow chart of a method for planning a dredging path for a trailing suction hopper dredger, provided in an embodiment of the present application. This embodiment is applicable to planning a dredging path for a trailing suction hopper dredger during underwater dredging. The method can be executed by a dredging path planning device for the trailing suction hopper dredger, which can be implemented in hardware and / or software and integrated into the trailing suction hopper dredger performing the method.

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

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

[0040] The dredging area represents the area where a dredger needs to conduct underwater dredging operations. The dredging point set is a collection of points within the dredging area that are selected and determined based on engineering design requirements and actual water conditions when a trailing suction hopper dredger is dredging a waterway. Each point in the dredging point set corresponds to specific information about the dredging operation. This information can include location information (such as coordinates) and related attributes (such as dredging depth and number of scans), which can influence subsequent path planning and dredging operations.

[0041] In this embodiment, the dredging point set includes multiple dredging points. Each dredging point represents a location within the dredging area where dredging operations are to be performed by a trailing suction hopper dredger. Each dredging point has specific spatial coordinates (e.g., XYZ coordinates) that are used to accurately locate the specific location in the underwater terrain.

[0042] Generally, the underwater coordinate map can be obtained by scanning the area to be dredged using underwater scanning equipment. Currently, the underwater scanning equipment can be a multi-beam detection system or a sonar system, and the specific method of obtaining the underwater coordinate map is not limited here.

[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 a computer processing function, thereby executing the dredging path planning method of the trailing suction hopper dredger provided in this embodiment based on the computer equipment integrated on the trailing suction hopper dredger, and obtaining a driving path planned for the area to be dredged. The dredger travels based on the planned path, thereby achieving the goal of efficient and high-quality construction.

[0044] Under normal circumstances, underwater terrain is complex, and the deeper the water, the more underwater silt accumulates. The silt accumulated in the area to be dredged can be roughly understood as independent "peaks." As the dredger gradually dredges, each "peak" will gradually become flat. In this embodiment, each "peak" can be understood as a sub-point to be dredged. Because there are many sub-points to be dredged, and sometimes they are close to each other, to facilitate path planning analysis, this embodiment can pre-process each sub-point to be dredged to treat it as multiple points to be dredged.

[0045] In a preferred embodiment, the present embodiment can determine the set of points to be dredged based on the underwater coordinate map of the area to be dredged by the following steps a) to d):

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

[0047] The underwater coordinate map of the area to be dredged is imported 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 the sub-points to be dredged are generated, the precise coordinates of each sub-point are obtained through geographic information processing software or programming tools, and the values of each sub-point to be dredged on the horizontal and vertical axes are directly read as plane coordinates.

[0050] c) 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.

[0051] The purpose of using a clustering algorithm to group all subpoints to be dredged is to reduce the amount of data processing required for subsequent path planning. In this embodiment, subpoints that are densely connected and within a preset coordinate distance are grouped into a cluster. The specific process is as follows: Starting from any unvisited subpoint, all subpoints within its neighborhood (an area with a radius of the preset coordinate distance) are searched. If the number of subpoints in the neighborhood exceeds a set threshold (for example, a minimum number of 5 points), these subpoints and the other subpoints in their neighborhood are combined into a cluster. This process is repeated until all subpoints have been visited and assigned to the corresponding clusters, resulting in multiple sets of subpoints to be dredged. The subpoints within each set are spatially close and share similar terrain characteristics.

[0052] The preset coordinate distance is set based on factors such as the engineering accuracy requirements and the dredger's operating capacity. For example, if the dredger's operating accuracy is ±1 meter, the preset coordinate distance can be set to 2 meters. The specific preset distance is not limited here.

[0053] d) Concentrating all the sub-points to be dredged that meet the preset conditions and determine them as the points to be dredged.

[0054] The preset conditions can be set according to the actual needs of the project. Specifically, they can be set according to the terrain characteristics. For example, sub-points with depth values lower than a certain threshold (such as below the design water depth of the channel) are selected in the sub-point set because these locations are areas that require key dredging. The sub-points corresponding to the geometric center or density center of each sub-point set can also be determined as the points to be dredged. This ensures that the selected points can represent the overall terrain characteristics of the area, reduces redundant points, and improves path planning efficiency. By screening each sub-point set to be dredged under 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] Then, a set of points to be dredged is obtained based on the set of points to be dredged.

[0056] The method for determining the set of dredged points provided in this embodiment uses clustering to group similarly located dredged sub-points into a single category, reducing the amount of data to be processed. Furthermore, by setting preset conditions to filter dredged points, unnecessary sub-points are removed, reducing the computational complexity of the subsequent path planning algorithm. When processing large-scale underwater terrain data, this method can significantly shorten calculation time, improve the efficiency of the entire dredging path planning process, and save engineering time and 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 a dredger can be directly obtained from the dredger's technical manual, equipment files, etc. Before actual operation, the accuracy of the suction rake width can also be further confirmed through on-site measurement or equipment commissioning.

[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 step S120, it is necessary to obtain the minimum and maximum horizontal coordinates corresponding to each sub-point to be dredged contained in each sub-point to be dredged set in advance; and determine the dredging width of each sub-point to be dredged based on the minimum and maximum horizontal coordinates. For example, for the current point to be dredged A, the sub-points to be dredged contained in the corresponding sub-point to be dredged set 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, the dredging width of the current point to be dredged A can be determined based on the difference between the minimum and maximum horizontal coordinates.

[0061] Furthermore, the number of scans 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 it up to an integer. That is, the number of scans represents the number of times the dredger needs to pass each dredged point.

[0062] S130. 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 the path planning is performed in an increasing order of the vertical coordinates of each dredged point during a dredging process.

[0063] Since the dredger's bow should be aligned with the waterway throughout the dredging area, meaning the angle between the bow and the waterway should not exceed a specific angle θ (all angles calculated in this article are in radians, measured in rad), the dredger's turning path is restricted. After scanning a point, only certain points can be selected as the "next target point" in the scanning path. In this embodiment, θ can be 10°, 15°, or 30°, but the specific value is not limited here.

[0064] During actual operations, the dredger's direction may change due to environmental factors such as currents and wind direction. Therefore, the angle between the dredger's bow and the channel direction must be monitored in real time. If the angle approaches a preset threshold, the dredger's automatic control system or manual operation is used to adjust the bow direction to ensure that the first constraint is met. If the required angle cannot be met due to environmental changes, the route must be replanned, prioritizing routes that meet the first constraint.

[0065] To ensure that the coordinate data of each dredged point contains accurate y-value of the ordinate. Before path planning, all dredged points can be pre-sorted in ascending order of ordinates to facilitate judgment and screening in the subsequent path planning process; further, when constructing the dredger's driving path, for each candidate path, check the order of the ordinates of adjacent dredged points: if any two adjacent dredged points in the path are and satisfy , then the path satisfies the second constraint; if If the path does not meet the conditions, it will be eliminated.

[0066] Furthermore, when multiple dredging points have the same ordinate, additional factors (such as distance between their ordinates and proximity to the waterway) can be used to further filter and determine the order of visits to ensure the rationality of the path planning. In some complex situations, it may be impossible to find a path that satisfies both constraints. In this case, the constraints can be appropriately relaxed, for example, allowing a small decrease in the ordinates of a small number of dredging points, but the decrease must be kept within an acceptable range. These exceptions should be recorded for subsequent analysis and optimization. After determining the preliminary path, the entire path should be verified again to ensure that the ordinate order of all dredging points meets the increasing requirement. Simultaneously, the path is optimized based on the first constraint, eliminating path segments that meet the increasing ordinate requirement but violate the angle constraint. Ultimately, the optimal dredger dredging path that satisfies both constraints is obtained.

[0067] In a specific embodiment, taking the case where the points to be dredged include a first point to be dredged and a second point to be dredged as an example, when the dredger travels to the first point to be dredged and the second point to be dredged, respectively, on the basis that the deviation angle between the bow direction of the dredger and the direction of the waterway satisfies the first constraint condition, a specific implementation method of performing path planning with the longitudinal coordinate of each point to be dredged increasing in sequence during a dredging process as the second constraint condition can be achieved through the following steps e) to h):

[0068] e) obtaining a first coordinate point and a second coordinate point corresponding to the first point to be dredged and the second point to be dredged, 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.

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

[0070] f) determining a longitudinal coordinate advancement amount according to the second longitudinal coordinate and the first longitudinal coordinate, and determining a transverse coordinate offset amount according to the second transverse coordinate and the first transverse coordinate.

[0071] Vertical axis progress: (i.e., the net increase in longitudinal movement), which is used to reflect the effective progress of operations along the channel direction (y-axis);

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

[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 degree of inclination of the movement direction relative to the transverse axis, that is, the longitudinal progress obtained per unit of lateral deviation.

[0075] h) determining a path planning method for the first point to be dredged and the second point to be dredged according to the slope change value and a preset constraint relationship to satisfy a 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 performs path planning for a point to be dredged and a second point to be dredged based on a slope change value and a preset constraint relationship.

[0077] For details, please refer to Figure 2 , Figure 2 This is a schematic diagram of the trailing suction dredger provided in the embodiment of the present application when dredging and turning. Figure 2 In the example, if the minimum rotation radius of the trailing suction hopper dredger is r, then Figure 2 The central symmetrical path shown passes through the first dredging point in sequence and the second dredging point The advantage of such a series connection is that when the dredger is at points A and B, the bow is parallel to the direction of the channel, making it easier to connect other points in series.

[0078] Specifically, the dredger steering process includes three stages: arc , line segment and arc , where the arc and The corresponding central angle is , line segment long .and and The coordinates of the two points should satisfy the following relationship:

[0079]

[0080] This leads to the following constraints:

[0081]

[0082] Right now and Two o'clock The distance in the axial direction should be far enough to meet the steering requirements of the dredger, and the points in the figure It is not possible to pass through the point or The single tracks are directly connected in series.

[0083] In addition, it can be calculated from the point Arrive The distance traveled is . On point 、 When two points are far apart, The value will also increase, and The value of will be close to 0. In this case, the point Arrive The path of the meridian is considered as a straight line, and .

[0084] Specifically, in the above embodiment, the path planning method for 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 is as follows:

[0085] Determine whether the slope change value is less than a preset constraint relationship; if not, the first point to be dredged and the second point to be dredged are connected in series on the same path; if less, the first point to be dredged and the second point to be dredged are planned on different paths.

[0086] like , then A and B are allowed to be directly connected in series, and the path cost is the actual distance ;like , then direct series connection is prohibited, and A and B must be placed in different tracks.

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

[0088]

[0089]

[0090] Among the above, Indicates the distance from point A to point B; Indicates the distance from point B to point A.

[0091] In other words, it is artificially stipulated that all paths are planned only along the positive direction of the y-axis. During the series connection process, only points A and B are allowed to be connected in sequence according to the y-axis coordinates, and the reverse is not allowed. When the above conditions are not met, points A and B must be in two trajectories. Therefore, the distance between points A and B is asymmetric.

[0092] S140: Constructing an objective function based on minimizing the sailing distance of the dredger in the area to be dredged.

[0093] This example only considers the shortest and smallest sailing distance within the dredged area, and does not consider the distance consumed by the dredger turning around outside the dredged area. This is because the total distance consumed by the ship turning around on either side of the area is very small compared to the total route length D. In addition, by incorporating D into the cost function, the algorithm will obviously minimize the total number of times the dredger enters and exits the dredged area. The total number of times a dredger enters and exits the dredged area is the key factor affecting the total distance consumed by its turning around. Therefore, this algorithm ignores the cost of turning around outside the dredged 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, It means the shortest distance after visiting all the points in the set S and finally staying at point i. The objective function is to find the minimum when S covers all points. .

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

[0096] The path must cover all points to be dredged and each point must be visited only once.

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

[0098] Before executing the path planning, the solution provided in this embodiment needs to perform the following steps: 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 the other points to be dredged is equal to the distance between the current point to be dredged and the other points to be dredged.

[0099] For the current dredging point P, if it needs to be scanned n times, n virtual dredging points are generated accordingly, P1, P2, ..., Pn, to ensure that each virtual point is visited only once. And 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 recorded as ,If the movement satisfies both the first preset condition and the second constraint, the actual navigation distance is calculated based on the Euclidean distance.

[0101] S160. Based on the asymmetric traveling salesman problem ATSP, a distance cost matrix is solved under the first constraint, the second constraint and the objective function, so that the solution satisfies the number of scans corresponding to each point to be dredged, and a planned path of the dredger when dredging the area to be dredged is obtained.

[0102] Furthermore, this embodiment can completely convert the "point sweeping" path planning into an ATSP problem, defining all the points to be dredged , and the distance matrix ,in . Create a dynamic matrix Indicates starting from the starting point and passing through the subset Arrival point The shortest distance and dynamic result matrix , in order to solve the optimal dredging path under the current solution.

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

[0104] S161. Determine each to-be-dredged point as a to-be-visited node, and obtain a to-be-visited node set based on each to-be-visited node and the corresponding scanning times. The to-be-visited node set includes a scanning order for each to-be-visited node, and the scanning order for each to-be-visited node is related to the scanning times corresponding to each access node.

[0105] For the set of points to be dredged , each point to be dredged The coordinates are , the number of scans is First, for each By number of scans Split into virtual nodes, Used to indicate the kth scan of the node; thereby obtaining the set of nodes to be visited , the total number of nodes to be visited .

[0106] S162. For the nodes to be visited in sequence, when it is determined that the deviation angle between the bow direction and the channel direction between adjacent nodes to be visited meets 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 meets the second constraint condition, the current node to be visited is determined to be a visited node, and the visited node set is updated according to the current visited node. The visited node set includes multiple visited nodes, and each visited node is arranged in sequence based on the access order.

[0107] When representing the actual data structure, the visited node set S can be represented in the form of a set or a bit mask to record the path sequence.

[0108] Specifically, the set of visited nodes is first initialized to S = 0. Second, for each node to be visited, the constraints from the previous node u to the next node v are checked. If the constraints are met, node v is added to the set of visited nodes S, and the updated path after adding node v is calculated.

[0109] S163. 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 based on the shortest navigation distance.

[0110] In this embodiment, after each new visited node is added to the visited node set S, the global shortest path needs to be recalculated based on the nodes to be visited currently contained in the visited node set S, rather than simply calculating the newly added nodes based on the previous shortest path. The purpose of doing this is that, since the order of point selection is complex, it needs to be determined based on the distribution characteristics of the global points, and the problem cannot be broken down into small local problems and then determined locally. Otherwise, the local optimal route will be lost instead of the global optimal route.

[0111] S164. 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, traverse the planning sequence and connection path corresponding to each visited node to obtain the node sequence when the dredger dredges the area to be dredged.

[0112] When the size of the visited node set S is equal to the size of the node set to be visited V, the iteration is stopped and the final total path length is extracted as , current path The corresponding path planning solution is stored in In the case of a trailing suction hopper dredger, The shortest path is the one that is driven by the planned points.

[0113] The dredging path planning method for a trailing suction hopper dredger provided in this embodiment first sets the angle between the bow direction and the channel as a first constraint to ensure that the dredger's navigation direction remains within a safe range during operation, effectively reducing equipment operation risks and dredging accuracy errors caused by heading deviation. The method also uses the increasing vertical coordinates of the dredged points as a second constraint. The method combines underwater topography and dredging requirements to scientifically plan the dredging sequence and avoid duplication or missed dredging operations. This embodiment integrates dual constraints into path planning to improve the feasibility of the planned path in complex water environments. By constructing an objective function with the shortest navigation distance, the method can quickly search for a globally optimal path under complex constraints. The method then accurately calculates the number of scans based on the dredger's suction blade width and the dredged width of the dredged point, solving the cost matrix using an asymmetric traveling salesman problem (ATSP). Multiple scans of each dredged point are used as independent nodes for path optimization. The resulting solution enables the dredger to complete multiple scans of each point in the optimal order, improving construction efficiency. It solves the problems of high construction cost and low construction efficiency existing in traditional solutions, and achieves the beneficial effect of improving the operating efficiency of dredgers and project quality.

[0114] Figure 4 This is a structural diagram of a dredging path planning device for a trailing suction hopper dredger provided in an embodiment of the present application. The device is suitable for executing a dredging path planning method for a trailing suction hopper dredger provided in an embodiment of the present application. Figure 4 As shown, the apparatus 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] The point set determination module 410 is configured to determine a point set to be dredged based on 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;

[0116] The number determination module 420 is 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;

[0117] The constraint determination module 430 is configured to use as a first constraint condition the deviation angle between the bow direction of the dredger and the channel direction not exceeding a preset threshold; and as a second constraint condition the path planning process in which the longitudinal coordinates of each of the dredged points are increased in sequence during a dredging process;

[0118] A function construction module 440 is configured to construct an objective function based on the shortest sailing distance of the dredger in the area to be dredged;

[0119] A matrix determination module 450 is configured to determine a distance cost matrix for each of the points to be dredged under the first constraint condition and the second constraint condition;

[0120] The path planning module 460 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 satisfies the number of scans corresponding to each point to be dredged, and obtains the planned path of the dredger when dredging the area to be dredged.

[0121] The dredging path planning device for a trailing suction hopper dredger provided in an embodiment of the present application first sets the angle between the bow direction and the channel as a first constraint condition to ensure that the dredger's navigation direction remains within a safe range during operation, effectively reducing equipment operation risks and dredging accuracy errors caused by heading deviation. The device also uses the increasing vertical coordinates of the points to be dredged as a second constraint condition, and scientifically plans the dredging sequence in combination with underwater topography and dredging requirements to avoid repeated operations or missed dredging. This embodiment improves the feasibility of the planned path in complex water environments by integrating dual constraints into path planning. By constructing an objective function with the shortest navigation distance, the device can quickly search for the global optimal path under complex constraints. The device then accurately calculates the number of scans based on the dredger's suction rake width and the dredging width of the points to be dredged, solving the cost matrix through an asymmetric traveling salesman problem (ATSP). The device then optimizes the path by using multiple scans of each point to be dredged as an independent node. The final solution enables the dredger to complete the multiple scan tasks of each point in the optimal order, thereby improving construction efficiency. It solves the problems of high construction cost and low construction efficiency existing in traditional solutions, and achieves the beneficial effect of improving the operating efficiency of dredgers and project quality.

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

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

[0124] The coordinate acquisition module is used to obtain 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;

[0125] The width determination module is used to determine the dredging width of each of the points to be dredged according to the minimum horizontal coordinate and the maximum horizontal coordinate.

[0126] In one embodiment, 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, a deviation angle between the bow travel direction of the dredger and the channel direction satisfies the first constraint condition;

[0127] The constraint determination module 430 is specifically used to obtain a first coordinate point and a second coordinate point corresponding to the first point to be dredged and the second point to be dredged, 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 vertical coordinate progress amount according to the second vertical coordinate and the first vertical coordinate, and determine a horizontal coordinate offset according to the second horizontal coordinate and the first horizontal coordinate; obtain a slope change value according to the vertical coordinate progress amount and the horizontal coordinate offset; and determine a path planning method for the first point to be dredged and the second point to be dredged according to the slope change value and a preset constraint relationship to meet the second constraint condition.

[0128] In one embodiment, the constraint determination module 430 is further configured to determine whether the slope change value is less than the preset constraint relationship; if not, the first point to be dredged and the second point to be dredged are connected in series on the same path; if less, the first point to be dredged and the second point to be dredged are planned on different paths.

[0129] In one embodiment, the path planning module 460 is specifically used to determine each of the nodes to be dredged as a node to be visited, and obtain a set of nodes to be visited according to each of the nodes to be visited and the corresponding number of scans, wherein the set of nodes to be visited includes a 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 visited in sequence, when it is determined that the deviation angle between the bow direction of the ship and the channel direction between adjacent nodes to be visited meets 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 meets the second constraint condition, the current node to be visited is determined to be visited. Node, and update the visited node set according to the current visited node, the visited node set includes multiple visited nodes, and each visited node is arranged in sequence based on the access order; based on the distance between each node in the visited node set, the objective function is calculated for each visited node to obtain the shortest sailing distance corresponding to the current visited node set, and the planned path corresponding to the current visited node is obtained according to the shortest sailing distance; until the visited node included in the current visited point set is the same as the to-be-visited node included in the to-be-visited node set, the planned sequence and connection path corresponding to each visited node are traversed to obtain the node sequence when the dredger dredges 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 process the number of virtual dredging points contained in the current point to be dredged to be consistent with the number of scans when the number of scans corresponding to the current point to be dredged is not 1, 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 the other points to be dredged.

[0132] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0133] An embodiment of the present application also provides a trailing suction hopper dredger, comprising: 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 dredging path planning method for the trailing suction hopper dredger described in any embodiment of the present application.

[0134] An embodiment of the present application further provides a computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a processor to implement the dredging path planning method for a trailing suction hopper dredger as described in any embodiment of the present application when executed.

[0135] Reference below Figure 5 , Figure 5 FIG1 is a schematic diagram of the structure of a trailing suction hopper dredger provided in an embodiment of the present application, showing a schematic diagram of the structure of a computer system 500 suitable for implementing the trailing suction hopper dredger provided in an embodiment of the present application. Figure 5 The trailing suction hopper dredger shown is only an example and should not limit the functions and scope of use of the embodiments of the present application.

[0136] like Figure 5 As shown, the computer system 500 includes a central processing unit 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory 502 or a program loaded from a storage unit 508 into a random access memory 503. Various programs and data required for the operation of the computer system 500 are also stored in the random access memory 503. 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. An 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, and the like; an output section 507 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 508 including a hard disk; and a communication section 509 including a network interface card such as a LAN card or a modem. 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 needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 510 as needed, so that computer programs read therefrom can be installed into the storage section 508 as needed.

[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 comprising a computer program carried on a computer-readable medium, the computer program containing program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 509 and / or installed from a removable medium 511. When the computer program is executed by the central processing unit 501, the above-mentioned functions defined in the system of the present application are performed.

[0139] It should be noted that the computer-readable medium described in this application may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device, or component. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, and optical cables, or any suitable combination thereof.

[0140] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of the boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0141] The modules and / or units involved in the embodiments described in this application may be implemented in software or hardware. The modules and / or units described may also be provided in a processor. For example, they may be described as follows: a processor including 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. The names of these modules do not, in some cases, constitute limitations on the modules themselves.

[0142] As another aspect, the present application further provides a computer-readable medium, which may be included in the device described in the above embodiment; or may exist independently without being assembled into the device. The computer-readable medium carries one or more programs. When the one or more programs are executed by a device, the device includes: determining a set of points to be dredged based on an underwater coordinate map of the area to be dredged, the set of points to be dredged including a plurality of points to be dredged; determining a scanning number corresponding to each point to be dredged based on the suction rake width of the dredger and the dredging width of each point to be dredged; taking as a first constraint that the deviation angle between the bow direction of the dredger and the channel direction does not exceed a preset threshold; and taking as a second constraint that the path planning is performed in ascending order of the longitudinal coordinates of each point to be dredged during a dredging process; constructing an objective function based on the shortest navigation distance of the dredger in the area to be dredged; determining a distance cost matrix for each point to be dredged under the first and second constraints; and solving the distance cost matrix under the first and second constraints and the objective function based on an asymmetric traveling salesman problem (ATSP) so that the solution satisfies the scanning number corresponding to each point to be dredged, thereby obtaining a planned path for the dredger to dredge the area to be dredged.

[0143] According to the technical solution of this embodiment, the angle between the bow direction and the channel is set as the first constraint to ensure that the dredger's navigation direction remains within a safe range during operation, effectively reducing equipment operation risks and dredging accuracy errors caused by heading deviation. The increasing vertical coordinates of the dredged points are used as the second constraint. The dredging sequence is scientifically planned based on the underwater topography and dredging requirements to avoid repeated operations or missed dredging. This embodiment integrates dual constraints into path planning, improving the feasibility of the planned path in complex water environments. By constructing an objective function based on the shortest navigation distance, the global optimal path can be quickly searched under complex constraints. The number of scans is then accurately calculated based on the dredger's suction rake width and the dredged point width, solving the cost matrix using an asymmetric traveling salesman problem (ATSP). Multiple scans of each dredged point are used as independent nodes for path optimization. The final solution enables the dredger to complete the multiple scans of each point in the optimal order, improving construction efficiency. This solves the problems of high construction cost and low construction efficiency of traditional solutions, achieving the beneficial effect of improving dredger operation efficiency and project quality.

[0144] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A dredging path planning method for a trailing suction hopper dredger, characterized in that: include: Determining a set of points to be dredged according to an underwater coordinate map of the area to be dredged, wherein the set of points to be dredged includes a plurality of points to be dredged; Determining 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 vertical coordinates of each of the dredged points; Constructing an objective function based on minimizing the 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 number of scans 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 for a trailing suction hopper dredger according to claim 1, characterized in that: The step of determining the set of points to be dredged based on 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 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 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 bow travel direction of the dredger and the channel direction satisfies the first constraint condition; The second constraint condition of performing path planning based on the increasing order of the vertical coordinates of each of the to-be-dredged points during a dredging process includes: Obtaining a first coordinate point and a second coordinate point corresponding to the first point to be dredged and the second point to be dredged, 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; determining a longitudinal coordinate advancement amount according to the second longitudinal coordinate and the first longitudinal coordinate, and determining a transverse coordinate offset amount according to the second transverse coordinate and the first transverse coordinate; Obtaining a slope change value according to the vertical 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 for 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 asymmetric traveling salesman problem (ATSP) is based on solving the distance cost matrix under the first constraint condition, the second constraint condition, and the objective function, so that the solution satisfies the number of scans corresponding to each point to be dredged, and obtaining 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, and obtain a to-be-visited node set according to each of the to-be-visited nodes and the corresponding scanning times, wherein 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 to-be-visited nodes; For the nodes to be visited in sequence, when it is determined that the deviation angle between the bow 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, the visited node set including multiple visited nodes, each visited node being arranged in sequence based on the visit order; Calculating the objective function for each visited node based on the distance between each node in the visited node set, obtaining the shortest navigation distance corresponding to the current visited node set, and obtaining 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 dredges the to-be-dredged area.

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 the 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, configured 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 is 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; a constraint determination module configured to use as a first constraint condition the deviation angle between the bow direction of the dredger and the channel direction not exceeding a preset threshold; and as a second constraint condition the path planning process in which the longitudinal coordinates of each of the to-be-dredged points are increased in sequence during a dredging process; A function construction module, configured to construct an objective function based on the shortest sailing distance of the dredger in the area to be dredged; A matrix determination module, configured to determine a distance cost matrix for 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 satisfies the number of scans 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 hopper dredger, characterized in that: The trailing suction hopper dredger comprises: at least one processor; and a memory in communication 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 to 7.

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

Images