Dredging and driving integrated control method for trailing suction hopper dredger

Abstract

The invention discloses a dredging and driving integrated control method for a trailing suction hopper dredger, and relates to the technical field of ship automation and intelligent control, and the method comprises the following steps: obtaining centimeter-level ship position data through a differential GPS, measuring underwater topography through a digital depth finder, collecting data through a mud concentration and mud cabin loading capacity sensor, generating a progress diagram through HYPACK software, and obtaining a dredger position data through the HYPACK software; an optimal dredging strategy is formulated based on a model predictive control algorithm, quick self-inspection is performed after construction, the quality is ensured to reach the standard, a meteorological station and ocean equipment monitor the environment in real time, an alarm is automatically given when a threshold value is exceeded, and a pre-arranged plan is started. According to the dredging and driving integrated control method for the trailing suction hopper dredger, the operation precision and efficiency are remarkably improved, and precise construction is ensured through centimeter-level positioning and real-time terrain monitoring. The construction quality is guaranteed through intelligent strategy making and a rapid self-checking mechanism, meanwhile, the construction safety is enhanced through an environment real-time monitoring and early warning system, and the automation level, the intelligent level and the complex environment coping capacity of dredging operation are overall improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ship automation and intelligent control, and particularly relates to a combined dredging and navigation control method for a trailing suction hopper dredger. Background Art

[0002] A trailing suction hopper dredger is a large self-propelled, hopper-type dredger equipped with a draghead excavator and a hydraulic suction device, belonging to a type of hydraulic dredger. It sucks mud through dragheads placed on both sides or at the tail of the hull and works in the way of sucking mud while sailing. During the dredging process, the trailing suction hopper dredger uses a mud rake to loosen the soil, and through the vacuum action of the mud pump, sucks the mud at the bottom of the river into the mud hold of the dredger through the draghead and the suction pipe. When the mud hold is full, the dredger will sail to the spoil area, open the mud door to discharge the mud, or directly discharge the excavated soil outside the ship. Some trailing suction hopper dredgers also have the function of self- sucking the soil unloaded in the mud hold for reclamation. The trailing suction hopper dredger has good navigation performance, can self-navigate, self-load, and self-unload, and is in a sailing state during work without the need for a positioning device. This makes it very suitable for the excavation and maintenance of unprotected and narrow coastal approach channels, especially the most efficient when excavating silt. In addition, the trailing suction hopper dredger also has wide application value in the fields of river dredging, port construction and maintenance, and coastal engineering.

[0003] In order to solve the challenges still existing in the trailing suction hopper dredger in improving the dredging operation accuracy and efficiency, as well as ensuring construction safety and coping with environmental changes, the existing technology mainly relies on the traditional segmented control system, that is, separately controlling the dredging operation and the navigation control. However, in dealing with complex and changeable working environments, this method often has situations of lagging operation response and inaccurate parameter adjustment, which in turn leads to low dredging efficiency, insufficient operation accuracy, and even may cause safety accidents due to improper operation.

[0004] Especially when facing environmental factors such as water depth changes, soil quality differences, and water flow effects, the traditional control method is difficult to adjust the working state of the dredger in real time and accurately to adapt to environmental changes. This not only limits the operation ability of the dredger but also increases the construction risk. Therefore, in order to overcome these limitations, a combined dredging and navigation control method for a trailing suction hopper dredger is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a combined dredging and navigation control method for a trailing suction hopper dredger to solve the problems raised in the above background art.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is: a combined dredging and navigation control method for a trailing suction hopper dredger, including the following steps: S1. Collect centimeter-level position coordinate data of the trailing suction hopper dredger through a differential global positioning system; S2. Collect the depth data of the underwater terrain through a digital depth sounder; S3. Collect the mud concentration data and the mud tank loading data through a mud concentration sensor and a mud tank loading sensor; S4. Generate a construction progress chart through HYPACK software; S5. Based on the adaptive control algorithm of model predictive control, calculate the optimal combination of the ship speed, the excavation angle and the overflow time parameters, and formulate the best dredging strategy; S6. Through a quick self-check program, regularly check whether the dredging quality reaches the design elevation after the construction is completed, and arrange remedial measures for the unqualified areas; S7. Through a weather station, ocean observation equipment and a threshold alarm mechanism, monitor the weather and seawater conditions in real time, collect environmental data, and automatically alarm and start an emergency plan when it exceeds the safe range.

[0007] A further improvement of the technical solution of the present invention lies in that: in the above S1, the process of collecting the centimeter-level position data of the trailing suction hopper dredger through the differential global positioning system includes: Deploy differential global positioning system receiving devices on the trailing suction hopper dredger and a land reference station. The differential global positioning system jointly observes satellite signals through the land reference station and the receiving device on the trailing suction hopper dredger. The land reference station calculates the observation value correction number and transmits it to the receiving device on the trailing suction hopper dredger through a radio station. The receiving device on the trailing suction hopper dredger uses the received correction number to correct its own observation value, thereby collecting the position coordinate data of the trailing suction hopper dredger; The land reference station observes satellite signals in real time and records the original data, calculates the error components in the original data, packs the error correction information into a data packet, and sends it to the receiving device on the trailing suction hopper dredger. The receiving device on the trailing suction hopper dredger analyzes and extracts the key features of the data from the corrected data. The key features include longitude, latitude and timestamp. Apply the correction number to the satellite observation value of the trailing suction hopper dredger to generate centimeter-level position coordinate data.

[0008] A further improvement of the technical solution of the present invention lies in that: in the above S2, the process of collecting the depth data of the underwater terrain through a digital depth sounder includes: Deploy a digital depth sounder, a data processing unit and a display terminal on the trailing suction hopper dredger. The digital depth sounder emits acoustic pulses vertically downward to the bottom of the water, receives the acoustic signals reflected from the bottom of the water, calculates the water depth according to the round-trip time of the acoustic wave, and further collects the depth data of the underwater terrain; The digital depth sounder emits acoustic waves in real time and records the time difference of the reflected echo. Preprocess the original time difference data to remove noise, and extract the key features from the preprocessed data. The key features include the water depth value, the corresponding longitude and latitude, and the timestamp.

[0009] A further improvement of the technical solution of the present invention lies in: in step S3, the process of collecting the slurry concentration data and the mud tank loading data by the slurry concentration sensor and the mud tank loading sensor includes: Deploy a slurry concentration sensor at the outlet of the mud pump and the pipeline through which the slurry flows, and deploy a mud tank loading sensor inside the mud tank. The slurry concentration sensor detects the content of solid particles in the slurry by the optical transmission method and the ultrasonic reflection method. The mud tank loading sensor detects the mud tank loading according to the weight change of the slurry in the mud tank, and converts the collected weight change data into an electrical signal; The slurry concentration sensor real-time collects the data of the content of solid particles during the slurry flow, removes the noise caused by bubbles. The mud tank loading sensor records the process of the weight change of the slurry in the mud tank, filters and smooths the original weight change data collected to eliminate the influence of short-term fluctuations. Extract key features from the preprocessed solid particle content data and weight change data. The key features include the proportion of solid content in the slurry, the total weight of the substances in the mud tank and the time stamp. Transmit the data after feature extraction to the on-board data processing unit for data integration, align the time stamps, and synchronously display the generated position coordinate data, depth data, slurry concentration data and mud tank loading data on the terminal screen.

[0010] A further improvement of the technical solution of the present invention lies in: in step S4, the process of generating the construction progress chart by the HYPACK software includes: Utilize the synchronous data, introduce the HYPACK software to construct a geographic information system. This geographic information system integrates the position coordinates and the underwater terrain depth data to form an electronic map, showing the travel path of the dredger and the completed and uncompleted construction areas; Based on the constructed geographic information system, the HYPACK software analyzes the position coordinates, water depth, slurry concentration and mud tank loading of the construction points, and generates a construction progress chart showing the current excavation status and marking the specific positions of the remaining tasks according to the construction plan and the actual progress. The dredging operation continues. The HYPACK software real-time receives the collected data, and the software automatically updates the construction progress chart to reflect the latest construction status. The operator can view the updated construction progress chart on the terminal screen in real time and adjust the construction strategy.

[0011] A further improvement of the technical solution of the present invention lies in: in step S5, the process of constructing a mathematical model based on the adaptive control algorithm of model predictive control includes: Introduce a model predictive control system to construct a mathematical model for analyzing the dynamic behavior of the trailing suction hopper dredger and its working environment. The mathematical model takes the position coordinates of the trailing suction hopper dredger, the underwater terrain depth, the slurry concentration, and the mud tank loading as the model input data, and takes the ship speed, excavation angle and overflow time in the construction plan as the constraint conditions; Using a mathematical model to calculate the deviation of the current position of the vessel relative to the predetermined path, compare the actual dredging depth with the designed depth, check whether the mud concentration is within the expected range, and whether the mud tank loading is close to full load to predict the dredging process. The calculation process is as follows: ; wherein, represents the position deviation vector, which is used to evaluate the deviation of the current position of the vessel relative to the predetermined path, represents the current position coordinates of the vessel, represents the target position coordinates of the predetermined path; ; wherein, represents the depth deviation value, which is used to compare the difference between the actual dredging depth and the designed depth, represents the actually measured dredging depth, represents the dredging depth specified in the design drawing; ; wherein, represents the relative mud concentration ratio, which is used to monitor whether the solid particle content in the mud is within the expected range, represents the actually measured solid particle content in the mud, represents the target set solid particle content in the mud; 00% ; wherein, represents the mud tank loading percentage, which is used to detect the change in the weight of the mud in the mud tank and determine whether it is close to full load, represents the total weight of the mud in the current mud tank, represents the maximum loading capacity of the mud tank.

[0012] A further improvement of the technical solution of the present invention lies in that: in the step S5, the process of generating operation instructions, exploring the optimal combination of the sailing speed, dredging angle and overflow time parameters, and formulating the best dredging strategy includes: The model predictive control system generates a set of operation instructions. The set of operation instructions includes speed adjustment, dredging angle change and overflow time setting at different levels, simulates the expected results after executing the operation instructions, and evaluates whether the expected results meet the construction requirements and will not cause overloading; The model predictive control system comprehensively considers the dredging efficiency, path tracking accuracy, mud concentration control and mud tank loading status, calculates the performance index values of the set of operation instruction sequences, and selects the operation instruction sequence with the optimal performance index as the actual operation command at the current moment. The calculation process is as follows: ; wherein, represents the comprehensive performance index, 、 、 、 respectively represent the weight coefficients of dredging efficiency, path tracking accuracy, slurry concentration control, and hopper loading status, represents the dredging efficiency score, represents the path tracking accuracy score, represents the slurry concentration control score, represents the hopper loading status score; ; wherein, represents the optimal operation instruction sequence, represents the set of candidate operation instruction sequences, represents the given operation instruction sequence of the comprehensive performance index value.

[0013] A further improvement of the technical solution of the present invention lies in: in the S5, the process of implementing the adjustment plan to ensure that the trailing suction hopper dredger operates according to the optimal parameters includes: Applying the selected operation instruction sequence to the operation control system of the dredger to guide the ship to adjust the speed, set the angle of the dredging equipment, and control the overflow time; The operator can view the updated construction progress chart on the terminal screen in real time and flexibly adjust the construction strategy according to the latest construction conditions.

[0014] A further improvement of the technical solution of the present invention lies in: in the S6, the process of regularly checking whether the dredging quality meets the design elevation and arranging remedial measures for unqualified areas through a quick self-check program includes: The quick self-check program performs secondary measurement on the completed construction area, transmits the newly collected data to the on-board data processing unit and conducts comparative analysis with the stored historical data, compares the original design depth and the actual dredged depth at the same position point to determine whether the dredging quality at this point meets the design requirements; Mark the areas that do not meet the design elevation clearly in the geographic information system, record the location information, and based on the marking results in the geographic information system, the operator formulates targeted remedial measures. The targeted remedial measures include, if the dredging depth is insufficient, planning to dispatch the trailing suction hopper dredger again for supplementary dredging, if there is over-dredging, taking filling methods, and incorporating the remedial activities into the updated construction progress chart.

[0015] A further improvement of the technical solution of the present invention is that in S7, the process of real-time monitoring of weather and seawater conditions, collecting environmental data and automatically giving an alarm and initiating an emergency plan when the environmental data exceeds the safety range includes: Deploy meteorological stations and ocean observation equipment on the hopper dredger and on land to form an integrated control system, use the integrated control system to collect environmental data, the environmental data includes wind speed, wind direction, temperature, air pressure, current speed, wave height and sea water temperature, transmit the collected environmental data to the onboard data processing unit, perform quality control and pre-processing, extract key features, and attach timestamps to track change trends; Integrate environmental data into the geographic information system to synchronize location coordinates, depth, mud concentration, mud tank loading and the latest environmental data on the terminal screen; The integrated control system analyzes environmental data in real time and sets safety thresholds for comparison. If the monitored environmental parameters exceed the safety range, the alarm mechanism is triggered, a warning is displayed on the terminal screen and the operator is notified, the emergency plan is automatically activated, and the emergency response activities are recorded and incorporated into the updated construction schedule. The emergency plan includes stopping excavation operations, adjusting the position of the vessel and reinforcing the dredging equipment.

[0016] Due to the adoption of the above technical solution, the present invention has the following technical advances compared with the prior art: 1. The present invention provides a dredging and driving integrated control method for a trailing suction hopper dredger, which provides centimeter-level precision position data for dredging operations. By applying a differential global positioning system, the precise positioning of the dredger during the construction process can be ensured, thereby greatly improving the accuracy of dredging operations, reducing errors, and making the construction results more in line with design requirements.

[0017] 2. The present invention provides a dredging and driving integrated control method for a bucket-suction dredger, which realizes real-time perception of underwater terrain. The data collected by the digital depth sounder provides the dredger with accurate underwater terrain information, which helps to formulate a more reasonable dredging strategy, avoid over-dredging or missing areas, and improve construction efficiency.

[0018] 3. The present invention provides a dredging and driving integrated control method for a trailing suction hopper dredger, which optimizes the loading efficiency of the dredger through real-time monitoring of mud concentration and mud tank loading capacity, helps the dredger to maintain an optimal loading state during operation, reduces energy consumption when empty and fully loaded, and improves overall operating efficiency.

[0019] 4. The present invention provides a dredging and driving integrated control method for a trailing suction hopper dredger, which generates a construction progress chart through HYPACK software, realizes visual monitoring of the construction process, and helps construction personnel to understand the construction progress in real time, discover and solve problems in time, and ensure that the construction proceeds smoothly as planned.

[0020] 5. The present invention provides a control method for integrating dredging and navigation of a trailing suction hopper dredger. By real-time monitoring of weather and seawater conditions, the construction safety is improved. The application of a meteorological station, marine observation equipment and a threshold alarm mechanism can issue an alarm in time when the environmental conditions exceed the safe range and initiate an emergency plan to ensure the safety of construction personnel and the stable operation of the dredger. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0022] Figure 1 It is a flowchart of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0024] Embodiment, as Figure 1 shown, the present invention provides a control method for integrating dredging and navigation of a trailing suction hopper dredger, including the following steps: S1. Through a differential global positioning system, centimeter-level position coordinate data of the trailing suction hopper dredger is collected. Differential global positioning system receiving devices are deployed on the trailing suction hopper dredger and a land reference station. The differential global positioning system jointly observes satellite signals through the land reference station and the receiving device on the trailing suction hopper dredger. The land reference station calculates the correction values of the observed values and transmits them to the receiving device on the trailing suction hopper dredger through a radio station. The receiving device on the trailing suction hopper dredger uses the received correction values to correct its own observed values, thereby collecting the position coordinate data of the trailing suction hopper dredger. The land reference station observes satellite signals in real time and records the original data, calculates the error components in the original data, packs the error correction information into a data packet, and sends it to the receiving device on the trailing suction hopper dredger. The receiving device on the trailing suction hopper dredger analyzes and extracts the key features of the data from the corrected data. The key features include longitude, latitude and timestamp. The correction values are applied to the satellite observed values of the trailing suction hopper dredger to generate centimeter-level position coordinate data; S2. Use a digital depth sounder to collect the depth data of the underwater terrain. Deploy a digital depth sounder, a data processing unit, and a display terminal on a trailing suction hopper dredger. The digital depth sounder emits acoustic pulses vertically downward to the bottom of the water, receives the acoustic signals reflected from the bottom, calculates the water depth based on the round-trip time of the acoustic waves, and then collects the depth data of the underwater terrain. The digital depth sounder emits acoustic waves in real time and records the time difference of the reflected echoes, preprocesses the original time difference data to remove noise, and extracts key features from the preprocessed data. The key features include the water depth value, the corresponding longitude and latitude, and the timestamp; S3. Use a mud concentration sensor and a hold loading sensor to collect mud concentration data and hold loading data. Deploy a mud concentration sensor at the outlet of the mud pump and in the pipeline through which the mud flows, and deploy a hold loading sensor inside the hold. The mud concentration sensor detects the solid particle content in the mud through the optical transmission method and the ultrasonic reflection method. The hold loading sensor detects the hold loading based on the weight change of the mud in the hold and converts the collected weight change data into an electrical signal. The mud concentration sensor collects the solid particle content data during the flow of the mud in real time and removes the noise caused by bubbles. The hold loading sensor records the process of the weight change of the mud in the hold, filters and smooths the original weight change data collected to eliminate the influence of short-term fluctuations, and extracts key features from the preprocessed solid particle content data and weight change data. The key features include the proportion of solid content in the mud, the total weight of the substances in the hold, and the timestamp. Transmit the data after feature extraction to the on-board data processing unit for data integration, align the timestamps, and synchronously display the generated position coordinate data, depth data, mud concentration data, and hold loading data on the terminal screen; S4. Use HYPACK software to generate a construction progress map. Introduce HYPACK software using the synchronized data to build a geographic information system. This geographic information system integrates the position coordinates and the underwater terrain depth data to form an electronic map, showing the travel path of the dredger and the completed and uncompleted construction areas. Based on the built geographic information system, HYPACK software analyzes the position coordinates, water depth, mud concentration, and hold loading of the construction points, and generates a construction progress map showing the current excavation status and marking the specific positions of the remaining tasks according to the construction plan and the actual progress. The dredging operation continues, and HYPACK software receives the collected data in real time, and the software automatically updates the construction progress map to reflect the latest construction situation. The operator can view the updated construction progress map on the terminal screen in real time and adjust the construction strategy; S5. An adaptive control algorithm based on model predictive control calculates the optimal combination of the sailing speed, the excavation angle, and the overflow time parameters, formulates the best dredging strategy, introduces a model predictive control system, and constructs a mathematical model for analyzing the dynamic behavior of a trailing suction hopper dredger and its working environment. The mathematical model takes the position coordinates of the trailing suction hopper dredger, the underwater terrain depth, the mud concentration, and the loading volume of the mud tank as the model input data, takes the sailing speed, the excavation angle, and the overflow time in the construction plan as the constraint conditions, and uses the mathematical model to calculate the deviation of the current position of the vessel relative to the predetermined path, the comparison between the actual excavation depth and the designed depth, whether the mud concentration is within the expected range, and whether the loading volume of the mud tank is close to full load to predict the dredging process. The calculation process is as follows: ; Among them, represents the position deviation vector, which is used to evaluate the deviation of the current position of the vessel relative to the predetermined path, represents the current position coordinates of the vessel, represents the target position coordinates of the predetermined path, ; Among them, represents the depth deviation value, which is used to compare the difference between the actual excavation depth and the designed depth, represents the actually measured excavation depth, represents the excavation depth specified in the design drawing, ; Among them, represents the relative mud concentration ratio, which is used to monitor whether the solid particle content in the mud is within the expected range, represents the actually measured solid particle content in the mud, represents the target set solid particle content in the mud, 00% ; Among them, represents the loading percentage of the mud tank, which is used to detect the change in the mud weight in the mud tank and judge whether it is close to full load, represents the total weight of the mud in the current mud tank, represents the maximum loading capacity of the mud tank. The model predictive control system generates a set of operation instructions. The set of operation instructions includes speed adjustment, excavation angle change, and overflow time setting at different levels, simulates the expected results after executing the operation instructions, evaluates whether the expected results meet the construction requirements and will not cause overloading. The model predictive control system comprehensively considers the excavation efficiency, path tracking accuracy, mud concentration control, and mud tank loading status, calculates the performance index values of the set of operation instruction sequences, and selects the operation instruction sequence with the optimal performance index as the actual operation command at the current moment. The calculation process is as follows: ; wherein, represents the comprehensive performance index, 、 、 、 respectively represent the weight coefficients of the dredging efficiency, path tracking accuracy, mud concentration control, and mud tank loading status, represents the dredging efficiency score, represents the path tracking accuracy score, represents the mud concentration control score, represents the mud tank loading status score, ; wherein, represents the optimal operation instruction sequence, represents the set of candidate operation instruction sequences, represents the given operation instruction sequence of the comprehensive performance index value. The selected operation instruction sequence is applied to the operation control system of the dredger to guide the vessel to adjust the speed, set the angle of the dredging equipment, and control the overflow time. The operator can view the updated construction progress chart in real time through the terminal screen and flexibly adjust the construction strategy according to the latest construction conditions; S6. Through a quick self - inspection program, regularly check whether the dredging quality reaches the design elevation after the construction is completed, and arrange remedial measures for unqualified areas. The quick self - inspection program conducts a secondary measurement on the completed construction area, transmits the newly collected data to the on - board data processing unit and compares and analyzes it with the stored historical data. Compare the original design depth and the actual dredged depth at the same location point to determine whether the dredging quality at this point meets the design requirements. Clearly mark the areas that do not meet the design elevation in the geographic information system and record the location information. Based on the marking results in the geographic information system, the operator formulates targeted remedial measures. The targeted remedial measures include, if the dredging depth is insufficient, planning to dispatch a trailing suction hopper dredger again for supplementary dredging; if there is over - dredging, taking a filling method, and incorporating the remedial activities into the updated construction progress chart; S7. Through weather stations, ocean observation equipment and a threshold alarm mechanism, the weather and seawater conditions are monitored in real time, environmental data is collected, and an automatic alarm is triggered and an emergency plan is activated when the safety range is exceeded. Meteorological stations and ocean observation equipment are deployed on the trailing suction hopper dredger and on land to form an integrated control system. The integrated control system is used to collect environmental data. The environmental data includes wind speed, wind direction, air temperature, air pressure, sea current speed, wave height and seawater temperature. The collected environmental data is transmitted to the on-board data processing unit, where key features are extracted after quality control and preprocessing, with time stamps attached to track the change trend. The environmental data is integrated into a geographic information system, and the position coordinates, depth, mud concentration, hopper loading volume and the latest environmental data are synchronized on the terminal screen. The integrated control system analyzes the environmental data in real time and sets safety thresholds for comparison. If it is monitored that the environmental parameters exceed the safety range, the alarm mechanism is triggered, a warning is displayed on the terminal screen and the operator is notified, the emergency plan is automatically activated, and the emergency response activities are recorded and incorporated into the updated construction progress chart. The emergency plan includes stopping the excavation operation, adjusting the vessel's position and strengthening the dredging equipment.

[0025] As described above, this is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A dredging and driving integrated control method for a trailing suction hopper dredger, characterized in that: The following steps are involved: S1. Collect centimeter-level position coordinate data of the trailing suction hopper dredger through a differential global positioning system; S2, collect the depth data of underwater terrain through digital depth sounder; S3, collecting mud concentration data and mud tank loading data through a mud concentration sensor and a mud tank loading sensor; S4. Generate construction progress chart through HYPACK software; S5, adaptive control algorithm based on model predictive control, calculates the optimal speed, dredging angle and overflow time parameter combination, and formulates the best dredging strategy; S6. Through the rapid self-checking procedure, regularly check whether the dredging quality reaches the design elevation after the construction is completed, and arrange remedial measures for unqualified areas; S7. Through meteorological stations, ocean observation equipment and threshold alarm mechanisms, weather and sea conditions are monitored in real time, environmental data is collected, and automatic alarms and emergency plans are activated when they exceed the safety range.

2. The dredging and driving integrated control method of a trailing suction hopper dredger according to claim 1, characterized in that: In S1, the process of collecting centimeter-level position data of the trailing suction dredger through the differential global positioning system includes: Deploy differential global positioning system receiving equipment on the trailing suction hopper dredger and the land base station. The differential global positioning system observes satellite signals through the land base station and the receiving equipment on the trailing suction hopper dredger. The land base station calculates the correction number of the observation value and transmits it to the receiving equipment on the trailing suction hopper dredger through the radio station. The receiving equipment on the trailing suction hopper dredger corrects its own observation value using the received correction number, thereby collecting the position coordinate data of the trailing suction hopper dredger. The land base station observes the satellite signal in real time and records the original data, calculates the error components in the original data, packages the error correction information into a data packet, and sends it to the receiving equipment on the trailing suction hopper dredger. The receiving equipment on the trailing suction hopper dredger parses and extracts the key features of the data from the corrected data, the key features including longitude, latitude and timestamp, applies the correction number to the satellite observation value of the trailing suction hopper dredger, and generates centimeter-level position coordinate data.

3. The dredging and driving integrated control method of a trailing suction hopper dredger according to claim 2, characterized in that: In S2, the process of collecting the depth data of the underwater terrain by means of a digital depth sounder includes: A digital echo sounder, data processing unit and display terminal are deployed on the trailing suction hopper dredger. The digital echo sounder transmits sound wave pulses vertically downward to the water bottom, receives the sound wave signals reflected from the water bottom, calculates the water depth based on the round-trip time of the sound waves, and then collects the depth data of the underwater terrain; The digital echo sounder emits sound waves in real time and records the time difference of reflected echoes, preprocesses the original time difference data, removes noise, and extracts key features from the preprocessed data, the key features including water depth value, corresponding longitude and latitude, and timestamp.

4. The dredging and driving integrated control method of a trailing suction hopper dredger according to claim 3, characterized in that: In S3, the process of collecting mud concentration data and mud tank loading data by using the mud concentration sensor and the mud tank loading sensor includes: Mud concentration sensors are deployed at the mud pump outlet and in the mud flow pipeline, and mud tank loading sensors are deployed inside the mud tank. The mud concentration sensor detects the solid particle content in the mud by optical transmission and ultrasonic reflection methods, and the mud tank loading sensor detects the mud tank loading according to the weight change of the mud in the mud tank, and converts the collected weight change data into electrical signals. The mud concentration sensor collects the solid particle content data of the mud flowing in real time and removes the noise caused by bubbles. The mud tank loading sensor records the process of the mud weight change in the mud tank, filters and smoothes the collected raw weight change data to eliminate the impact of short-term fluctuations, and extracts key features from the pre-processed solid particle content data and weight change data. The key features include the solid content ratio in the mud, the total weight of the material in the mud tank and the timestamp. The data after feature extraction is transmitted to the onboard data processing unit for data integration and time stamp alignment, and the generated position coordinate data, depth data, mud concentration data and mud tank loading data are synchronously displayed on the terminal screen.

5. The dredging and driving integrated control method of a trailing suction hopper dredger according to claim 4, characterized in that: In S4, the process of generating the construction progress diagram by HYPACK software includes: Using synchronized data, HYPACK software was introduced to build a geographic information system that integrates location coordinates with underwater terrain depth data to form an electronic map showing the dredger's path and completed and unfinished construction areas; Based on the constructed geographic information system, HYPACK software analyzes the location coordinates, water depth, mud concentration and mud tank loading of the construction point, and generates a construction progress map showing the current excavation status and marking the specific location of the remaining tasks according to the construction plan and actual progress. The dredging operation continues, and HYPACK software receives the collected data in real time. The software automatically updates the construction progress map to reflect the latest construction status. The operator can view the updated construction progress map in real time through the terminal screen and adjust the construction strategy.

6. The dredging and driving integrated control method of a trailing suction hopper dredger according to claim 5, characterized in that: In S5, the process of constructing a mathematical model based on the adaptive control algorithm of model predictive control includes: A model predictive control system is introduced to construct a mathematical model for analyzing the dynamic behavior of a trailing suction hopper dredger and its working environment. The mathematical model takes the position coordinates of the trailing suction hopper dredger, the depth of the underwater terrain, the mud concentration, and the mud tank loading as model input data, and takes the speed, digging angle, and overflow time in the construction plan as constraint conditions; The mathematical model is used to calculate the deviation of the vessel's current position relative to the planned path, the actual dredging depth compared to the designed depth, whether the mud concentration is within the expected range, and whether the mud tank loading is close to full load to predict the dredging process. The calculation process is as follows: ； in, represents the position deviation vector, Indicates the current ship position coordinates, The coordinates of the target location representing the predetermined path; ； in, Indicates the depth deviation value, Indicates the actual measured excavation depth, Indicates the excavation depth specified in the design drawings; ； in, Represents the relative mud concentration ratio, Indicates the actual measured solid particle content in the mud. Indicates the solid particle content in the target mud; 00% ； in, Indicates the percentage of mud tank filling, Indicates the total weight of mud in the current mud tank. Indicates the maximum loading capacity of the mud tank.

7. The dredging and driving integrated control method of a trailing suction hopper dredger according to claim 6, characterized in that: In S5, the process of generating operation instructions, exploring the optimal speed, digging angle and overflow time parameter combination, and formulating the best dredging strategy includes: The model predictive control system generates a set of operation instructions, including speed adjustment, digging angle change and overflow time setting at different levels, simulates the expected results after executing the operation instructions, and evaluates whether the expected results meet the construction requirements and will not cause overload; The model predictive control system comprehensively considers excavation efficiency, path tracking accuracy, mud concentration control and mud tank loading status, calculates the performance index value of the operation instruction sequence set, and selects the operation instruction sequence with the best performance index as the actual operation command at the current moment. The calculation process is as follows: ； in, Represents comprehensive performance indicators, 、 、 、 They represent the weight coefficients of excavation efficiency, path tracking accuracy, mud concentration control and mud tank loading status, respectively. represents the mining efficiency score, represents the path tracking accuracy score, represents the mud concentration control score, Indicates the mud tank loading status score; ； in, represents the optimal operation instruction sequence, represents a set of candidate operation instruction sequences, Represents a given sequence of operation instructions The comprehensive performance index value.

8. The dredging and driving integrated control method of a trailing suction hopper dredger according to claim 7, characterized in that: In S5, the process of implementing the adjustment plan to ensure that the trailing suction hopper dredger operates according to the optimal parameters includes: Apply the selected sequence of operating instructions to the dredger's operating control system to direct the vessel to adjust speed, set the angle of the dredging equipment, and control the overflow time; Operators can view the updated construction progress chart in real time through the terminal screen and flexibly adjust the construction strategy according to the latest construction status.

9. The dredging and driving integrated control method of a trailing suction hopper dredger according to claim 8, characterized in that: In S6, the process of regularly checking whether the dredging quality reaches the design elevation after the construction is completed through the rapid self-checking procedure and arranging remedial measures for unqualified areas includes: The rapid self-checking program conducts secondary measurement of the completed construction area, transmits the newly collected data to the onboard data processing unit and compares and analyzes the stored historical data, and compares the original design depth and the actual depth after excavation at the same location to determine whether the dredging quality at that point meets the design requirements; The areas that do not meet the design elevation are clearly marked in the geographic information system and the location information is recorded. Based on the marking results in the geographic information system, the operators formulate targeted remedial measures. The targeted remedial measures include planning to dispatch a trailing suction dredger for additional excavation if the excavation depth is insufficient, taking a filling method if there is over-excavation, and incorporating the remedial activities into the updated construction schedule.

10. The dredging and driving integrated control method of a trailing suction hopper dredger according to claim 9, characterized in that: In S7, the process of real-time monitoring of weather and seawater conditions, collecting environmental data, automatically giving an alarm and initiating an emergency plan when the safety range is exceeded by using a meteorological station, ocean observation equipment and a threshold alarm mechanism includes: Deploy meteorological stations and ocean observation equipment on the hopper dredger and on land to form an integrated control system, use the integrated control system to collect environmental data, the environmental data includes wind speed, wind direction, temperature, air pressure, current speed, wave height and sea water temperature, transmit the collected environmental data to the onboard data processing unit, perform quality control and pre-processing, extract key features, and attach timestamps to track change trends; Integrate environmental data into the geographic information system to synchronize location coordinates, depth, mud concentration, mud tank loading and the latest environmental data on the terminal screen; The integrated control system analyzes environmental data in real time and sets safety thresholds for comparison. If the monitored environmental parameters exceed the safety range, the alarm mechanism is triggered, a warning is displayed on the terminal screen and the operator is notified, the emergency plan is automatically activated, and the emergency response activities are recorded and incorporated into the updated construction schedule. The emergency plan includes stopping excavation operations, adjusting the position of the vessel and reinforcing the dredging equipment.

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