Integrated dredging method and system for underwater intelligent excavation of navigation obstructing riverway

Abstract

The invention provides an underwater intelligent excavation integrated dredging method and system for a navigation obstructing river channel. The dredging method comprises the steps that S1, a channel excavation operation three-dimensional map is established according to channel topographic surveying and mapping information; s2, dividing the channel excavation operation area into a plurality of subareas according to the channel excavation operation three-dimensional map, the maximum ship moving distance of single ship moving and the channel curvature ratio; s3, according to the operation coverage range of the non-explosive excavation ship, operation path planning of each subarea of the non-explosive excavation ship is conducted; and S4, excavation operation is carried out according to the operation path of each subarea. Partition arrangement is flexibly adjusted according to the channel width, curvature and rock stratum hardness, and the method is suitable for various complex channel conditions. The non-explosive excavation ship carries out construction in the maximum operation range, path planning is combined, ship moving and pile inserting time is minimized, the construction efficiency is remarkably improved, and the labor cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of waterway dredging technology, specifically to an integrated underwater intelligent excavation dredging method and system for obstructing waterways. Background Technology

[0002] Inland waterways are shallow and narrow, making underwater blasting excavation, while efficient, problematic due to ecological damage, vibration pollution, and noise pollution. This contradicts the principles of green and low-carbon development, and blasting is subject to strict environmental policies. Mechanical excavation, while relatively environmentally friendly, often relies on manual experience for operation planning, resulting in low efficiency and poor construction precision. Especially for navigable waterways with significant variations in curvature and rock hardness, traditional methods cannot adaptively optimize operation paths and zones, leading to frequent vessel relocation for non-blasting excavation, increased time spent on pile driving, longer construction cycles, and higher costs. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing an integrated intelligent underwater dredging method and system for dredging obstructing waterways. This system allows for flexible adjustment of zoning layouts based on channel width, curvature, and rock hardness, making it suitable for various complex waterway conditions. The non-explosive dredging vessel operates within its maximum working range, and combined with path planning, minimizes vessel relocation and pile driving time, significantly improving construction efficiency and reducing labor costs.

[0004] To address the aforementioned technical problems, this invention provides an integrated underwater intelligent dredging method for obstructing navigation channels, comprising: S1. Establish a three-dimensional map of the waterway excavation operation based on the waterway topographic mapping information; S2. Based on the three-dimensional map of the channel excavation operation, the maximum distance of a single vessel movement, and the channel curvature ratio, the channel excavation operation area is divided into multiple zones. S3. Plan the operation path for each zone of the non-explosive dredging vessel based on its operational coverage area. S4. Perform excavation operations according to the work path of each zone.

[0005] In some embodiments, step S2 includes: The projection of the excavation area on the horizontal plane is obtained from the three-dimensional map of the waterway excavation operation, and the projection is divided into multiple excavation areas along the width of the waterway. The excavation areas are divided into multiple zones: Calculate the centerline P of the current excavation area; The starting point M of the centerline P is taken as the starting point of the first section of the current excavation area; The endpoint N of the first section is determined on the centerline P based on the maximum ship movement distance in a single move and the channel curvature ratio K. Draw perpendicular lines from points M and N to the center line P. The perpendicular lines from points M and N, together with the two boundary lines of this zone, form the first zone of the current excavation area. Using point N as the starting point of the second partition, the second partition is divided until the current excavation area is completely divided.

[0006] In some embodiments, step S22, determining the endpoint N of the first section on the centerline P based on the maximum single ship movement distance and the channel curvature ratio K, includes: Draw a circle with the starting point M as the center and a radius of 0.8 times the maximum single ship movement distance. The intersection of this circle and the center line P is N. Calculate the length of the curve between points M and N on the centerline P. Calculate the length of the straight line between point M and point N. , ; Determine if it satisfies and If the condition is met, then point N is taken as the endpoint of the first partition; otherwise, point N is moved along the center line P towards point M, and the calculation is repeated. and Does it satisfy the condition again? and If the condition is met, then the N points after the movement are taken as the endpoint of the first partition; otherwise, continue moving until the condition is met. and ; in, This indicates the maximum distance a ship can be moved in a single operation. The curvature ratio of the waterway.

[0007] In some embodiments, step S3 includes: For any partition, perform the following steps: The boundary line on the right side of the partition is offset and copied to the boundary line on the left side multiple times with an offset distance of w / 2, forming multiple first offset lines until the copied first offset lines have no intersection with the partition; where w is a preset value, w≤W, and W is the working width of the non-explosive excavation vessel. Delete the first offset line an even number of times; Multiple first sub-partitions are generated based on the first offset line of an odd number of orders. Each first sub-partition is rectangular and has a length of [missing information]. l The width is w, where, l The value is a preset value, l≤L, where L is the working length of the non-explosive dredging vessel; The boundary line on the left side of the partition is offset from the boundary line on the right side by w / 2 multiple times to form multiple second offset lines, until the copied second offset lines have no intersection with the partition. Delete the second offset line an even number of times; Multiple second sub-partitions are generated based on the odd-numbered second offset line. Each second sub-partition is rectangular and has a length of [missing information]. l Width is w; Delete the first sub-partition that intersects with the left boundary line, delete the second sub-partition that intersects with the right boundary line, calculate the overlap of each second sub-partition, delete the second sub-partition with an overlap of ≥95%, and use the remaining first and second sub-partitions as the final sub-partitions of the partition. The method for calculating overlap includes: for any second sub-partition, calculate the sum of the overlapping areas of the second sub-partition and each first sub-partition, calculate the area of ​​the second sub-partition, and the overlap ratio = the sum of the overlapping areas of the second sub-partition and each first sub-partition / the area of ​​the second sub-partition. Each sub-zone is considered as the area that the non-explosive dredging vessel needs to complete in one operation. The operation path of the non-explosive dredging vessel in that sub-zone is planned according to the final sub-zone.

[0008] In some embodiments, step S3, generating multiple first sub-partitions based on the odd-numbered first offset lines, includes: Draw a perpendicular line to the first offset line, with the starting point E as the midpoint. The length of the perpendicular line is w. Using this perpendicular line as the width, generate a line with a length of w towards the endpoint of the first offset line. l The first sub-partition; The first sub-partition intersects with the first offset line at points E and F respectively. Obtain the coordinates of the midpoint G of the edge where point F is located, calculate the angle between line segment EF and line segment EG, and rotate the first sub-partition with point E as the rotation center so that line segment EF and line segment EG are parallel. With point G as the midpoint, draw a perpendicular line to the first offset line. Generate the second sub-partition according to the method for generating the first sub-partition, until all sub-partitions on the first offset line are generated. Draw a perpendicular line from the starting point of the second first offset line to the midpoint of the second first offset line. Generate the sub-partitions of the second first offset line according to the method for generating the sub-partitions corresponding to the first first offset line, until the sub-partitions of all first offset lines are generated.

[0009] In some embodiments, planning the operation path of the non-explosive dredging vessel in a given sub-partition based on the final sub-partition includes: The starting point of the first offset line is taken as the starting point of the non-explosive dredging vessel; The line vector connecting the midpoints of the two sides corresponding to the width of each sub-section on the first offset line is used as the movement path of the non-explosive dredging vessel within each sub-section on the first offset line. The direction of the line vector connecting the midpoints of the two sides corresponding to the width of each sub-section on the first offset line forms an acute angle or the included angle is zero with the direction from the starting point to the ending point of the first offset line. The ending point of the first offset line is used as the ending point of the non-explosive dredging vessel on the first offset line, thus forming the first movement path of the non-explosive dredging vessel. The vector pointing from the end of the first offset line to the start of the second offset line is used as the first transition path for the non-explosive dredging vessel to move from the first offset line to the second offset line. The line vector connecting the midpoints of the two sides corresponding to the width of each sub-section on the second offset line is used as the movement path of the non-explosive dredging vessel within each sub-section on the second offset line. The direction of the line vector connecting the midpoints of the two sides corresponding to the width of each sub-section on the second offset line forms an acute angle or the included angle is zero with the direction from the starting point to the ending point of the second offset line. The starting point of the second offset line is used as the starting point of the non-explosive dredging vessel on the second offset line, and the ending point of the second offset line is used as the ending point of the non-explosive dredging vessel on the second offset line, thus forming the second movement path of the non-explosive dredging vessel. The vector pointing from the end of the second offset line to the start of the third offset line is used as the second transition path for the non-explosive dredging vessel to move from the second offset line to the third offset line. Repeat the above steps until all move paths and transition paths for the partition have been calculated; The first moving path, the first transition path, the second moving path, the second transition path, and so on are connected in sequence to form the operating path of the non-explosive dredging vessel in this zone.

[0010] In some embodiments, w is determined based on the uniaxial compressive strength of the excavated rock stratum. If the uniaxial compressive strength of the excavated rock stratum is <15MPa, then w=W. l =L.

[0011] In some embodiments, step S4 includes: The non-explosive excavation vessel moves to the first sub-section of the first section of the first excavation area, completes the pile driving, and then begins excavation. The excavation area is based on the maximum operating range of the non-explosive excavation vessel.

[0012] On the other hand, the present invention provides a system for realizing an integrated intelligent underwater dredging method for obstructing navigation channels, comprising: The surveying system is used for surveying the riverbed topography before channel dredging. The task management system is used to calculate the excavation depth information and excavation volume at each coordinate based on the input digital excavation requirements and the riverbed topography data obtained by the surveying system, and to autonomously generate excavation operation tasks and plan the operation trajectory of the non-blasting excavation vessel. The equipment cluster control system is used to receive excavation operation tasks from the task management system, break down the specific excavation operation tasks into process-level equipment control instructions, and distribute them to each equipment cluster.

[0013] In some embodiments, the task management system includes: The modeling module is used to create a 3D map of the channel dredging operation based on riverbed topography data; The partitioning module is used to divide the channel excavation operation area into multiple partitions based on the three-dimensional map of the channel excavation operation, the maximum distance of a single vessel movement, and the channel curvature ratio. The path planning module is used to plan the operation path for each zone of the non-explosive dredging vessel based on the operation coverage of the non-explosive dredging vessel. The calculation module is used to calculate the excavation depth information at each coordinate and to calculate the excavation volume. The excavation task generation module is used to automatically generate excavation tasks based on the work path and the excavation depth information at each coordinate.

[0014] The beneficial effects of this invention are as follows: 1. This invention allows for flexible adjustment of zoning layout based on channel width, curvature, and rock hardness, making it suitable for various complex channel conditions. The non-explosive dredging vessel operates within its maximum working range, and combined with path planning, minimizes vessel relocation and pile driving time, significantly improving construction efficiency and reducing labor costs.

[0015] 2. This invention divides the channel excavation operation area into multiple zones based on a three-dimensional map of the channel excavation operation, the maximum distance a single vessel can be moved, and the channel curvature ratio. By considering the vessel movement distance and channel curvature, the size of the zones is reasonably controlled, ensuring that the non-blasting excavation vessel can be quickly moved to any position within each zone using a vessel-moving winch, reducing vessel movement time and energy consumption, and improving operational continuity.

[0016] 3. This invention, based on the operational coverage of a non-explosive dredging vessel, employs a reciprocating operation method to plan the operational path for each zone. By generating a first offset line and a second offset line and deleting overlapping portions, the sub-zone layout is optimized, reducing the frequency of vessel heading adjustments and avoiding operational blind spots.

[0017] 4. This invention integrates a surveying and mapping system, a task management system, an equipment cluster control system, and a video monitoring system, achieving intelligent and automated operation throughout the entire process from topographic surveying, task generation, path planning to excavation. The task management system automatically calculates the excavation depth and volume, generating excavation tasks; the equipment cluster control system coordinates winches, pile legs, rotary drilling rigs, etc., avoiding equipment interference and improving overall operational efficiency; the video monitoring system monitors equipment status in real time, ensuring construction safety. Attached Figure Description

[0018] Figure 1 This is a flowchart of the dredging method of the present invention.

[0019] Figure 2 This is a schematic diagram of the partitioning method of the present invention.

[0020] Figure 3 This is a schematic diagram of an excavated area after it has been divided into sections according to the present invention.

[0021] Figure 4 This is a schematic diagram showing the multiple offsets and replications of the channel centerline towards the riverbank in one section of the present invention.

[0022] Figure 5 This is a schematic diagram of the first offset line after deleting an even number of times according to the present invention.

[0023] Figure 6 This is a schematic diagram illustrating the generation of multiple first sub-partitions in this invention.

[0024] Figure 7 This is a schematic diagram illustrating the adjustment of the first sub-partition of the present invention.

[0025] Figure 8 This is a schematic diagram showing the riverbank line shifted and copied multiple times towards the channel centerline according to the present invention.

[0026] Figure 9 This is a schematic diagram of the second offset line after deleting an even number of times according to the present invention.

[0027] Figure 10 This is a schematic diagram illustrating the generation of multiple second sub-partitions in this invention.

[0028] Figure 11 This is a schematic diagram showing the overlap of multiple first sub-partitions and multiple second sub-partitions of the present invention.

[0029] Figure 12 This is a sub-partition layout diagram of one partition of the present invention.

[0030] Figure 13 This is a schematic diagram of the non-explosive dredging vessel operation path of the present invention.

[0031] Figure 14 This is a block diagram of the dredging system of the present invention.

[0032] Figure 15 This is a block diagram of the control system of the dredging system of the present invention.

[0033] Figure 16 This is a block diagram of the centralized control room of the dredging system of the present invention. Detailed Implementation

[0034] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0035] like Figure 1 As shown, this invention provides an integrated underwater intelligent excavation dredging method for obstructing navigation waterways, comprising: S1. Establish a three-dimensional map of the waterway excavation operation based on the waterway topographic mapping information; Step S1 includes: an unmanned survey vessel carrying a multibeam or underwater laser surveying system to conduct underwater topographic mapping of the waterway, obtain waterway topographic point cloud information, use point cloud automatic stitching technology to form a three-dimensional map of the waterway, establish a digital model of waterway excavation information, and combine the three-dimensional map of the waterway to form a three-dimensional map of waterway excavation operation.

[0036] S2. Based on the three-dimensional map of the channel excavation operation, the maximum distance of a single vessel movement, and the channel curvature ratio, the channel excavation operation area is divided into multiple zones. Step S2 includes: S21. Obtain the projection of the excavation area onto the horizontal plane based on the three-dimensional map of the channel excavation operation. Divide the projection into multiple excavation areas along the width of the channel. The width of each excavation area is equal, meaning that the width of each excavation area at any point along the channel is equal. The two boundary lines of each excavation area can be calculated based on the curve equations of the two riverbanks. Figure 2 As shown in this embodiment, the waterway is divided into two excavation areas on the left and right sides of the waterway centerline along the waterway width, with one side being excavated and the other side ensuring navigation.

[0037] S22. Divide each excavation area into multiple zones.

[0038] Step S22 includes: S221, such as Figure 2 As shown, the two boundary lines of the excavation area are obtained based on the projection of the excavation area on the horizontal plane, and the center line P of the current excavation area is calculated. In this embodiment, the two boundary lines of the excavation area to the left of the channel center line are the channel center line and the riverbank line, and the center line P is the channel center line P.

[0039] S222. Take the starting point M of the centerline P as the starting point of the first section of the current excavation area. Figure 2 The current excavation area shown in the diagram is the excavation area to the left of the channel centerline P; where the starting point is the point near the upstream. S223. Determine the endpoint N of the first section on the centerline P based on the maximum single ship movement distance and the channel curvature ratio K: like Figure 2 As shown, draw a circle with the starting point M as the center and 0.8 times the maximum single ship movement distance as the radius. The intersection point of this circle with the center line P is N. It should be noted that if the circle intersects the center line P at two points, the point closer to the end point of the center line is taken as point N. Calculate the length of the curve between points M and N on the centerline P. Calculate the length of the straight line between point M and point N. ; Determine if it satisfies and If the condition is met, then point N is taken as the endpoint of the first partition; otherwise, point N is moved along the center line P towards point M, and the calculation is repeated. and Does it satisfy the condition again? and If the condition is met, then the N points after the movement are taken as the endpoint of the first partition; otherwise, continue moving until the condition is met. and ; in, This indicates the maximum distance a ship can be moved in a single operation. As the channel curvature ratio, K is set to 1.1 in this embodiment.

[0040] The instruction manual states that when moving point N along the center line P towards point M, you can subtract a fixed value (such as 0.5m, 1m, or others) from the x-coordinate or y-coordinate of point N and then substitute it into the curve equation of the center line P to calculate the coordinates of point N after the movement.

[0041] Understandably, by limiting the length of the section by the maximum single ship movement distance and the channel curvature ratio K, the non-explosive dredging vessel can quickly move to any position in a section using a ship movement winch, which is beneficial for rapid operation in that section.

[0042] S224, such as Figure 2 As shown, perpendicular lines are drawn from points M and N to the center line P. The perpendicular lines from points M and N, along with the two boundary lines of this section (i.e., the channel center line and the riverbank line), together form the first section of the current excavation area. S225. Using point N as the starting point of the second partition, divide the area into second partitions until the current excavation area is completely divided, such as... Figure 3 The diagram shown is a schematic of the excavation area on the left side of the channel centerline after completion.

[0043] S226. Repeat steps S221 to S225 to divide the other excavation areas into multiple zones using the same division method.

[0044] S3. Plan the operation path for each zone of the non-explosive dredging vessel based on its operational coverage area. Step S3 includes: S31. Perform the following steps for any partition: S311. The boundary line on the right side of the partition is offset and copied multiple times to the boundary line on the left side by an offset distance of w / 2, forming multiple first offset lines, until the copied first offset lines have no intersection with the partition; where w is a preset value, w≤W, and W is the operating width of the non-explosive excavation vessel; for example Figure 4 As shown, in this embodiment, the channel centerline is offset and copied to one side of the riverbank to form multiple first offset lines. The first offset lines that intersect with the partition are retained, while those that do not intersect are deleted. The left and right sides of the partition are determined based on vector MN. The left side of vector MN is the left side of the partition, and the right side of vector MN is the right side of the partition. That is, the left and right sides are determined with the downstream facing as the reference.

[0045] S312, Delete the first offset line if the number of offsets is even, such as Figure 5 As shown; S313. Generate multiple first sub-partitions based on the first offset line of odd order, such as... Figure 6 As shown, the first sub-partition is rectangular, and the length of the first sub-partition is... l The width is w, where, l The value is a preset value, l≤L, where L is the working length of the non-explosive dredging vessel; Multiple first sub-partitions are generated based on the first offset line of odd degree, including: like Figure 6 As shown, a perpendicular line is drawn from the starting point E of the first offset line, with a length of w. This perpendicular line is used as the width, and a line of length w is generated towards the endpoint of the first offset line. l The first sub-partition; like Figure 7 As shown, the intersection points of the first sub-partition and the first offset line are point E and point F, respectively. Obtain the coordinates of the midpoint G of the side where point F is located, calculate the angle between line segment EF and line segment EG, and rotate the first sub-partition with point E as the rotation center so that line segment EF and line segment EG are parallel. With point G as the midpoint, draw a perpendicular line to the first offset line. Generate the second sub-partition according to the method for generating the first sub-partition, until all sub-partitions on the first offset line are generated. S314. With the starting point of the second first offset line as the midpoint, draw a perpendicular line to the second first offset line. Generate the sub-partitions of the second first offset line according to the method for generating the sub-partitions corresponding to the first first offset line, until the sub-partitions of all first offset lines are generated. S315. The left boundary line of the partition is offset from the right boundary line by a distance of w / 2, and the offset is repeated multiple times to form multiple second offset lines, until the copied second offset lines have no intersection with the partition; For example... Figure 8 As shown, in this embodiment, the riverbank is offset and copied to one side of the channel centerline to form multiple second offset lines. Second offset lines that intersect with the partition are retained, while those that do not intersect are deleted.

[0046] S316, Delete the second offset line if the number of offsets is even; S317. Using the odd-numbered second offset line as a reference, generate multiple second sub-partitions. Each second sub-partition is rectangular, and its length is... l Width is w; S318. Delete the first sub-partition that intersects with the left boundary line, delete the second sub-partition that intersects with the right boundary line, calculate the overlap of each second sub-partition, delete the second sub-partition with an overlap of ≥95%, and take the remaining first and second sub-partitions as the final sub-partitions of the partition. The method for calculating overlap includes: for any second sub-partition, calculate the sum of the overlapping areas of the second sub-partition and each first sub-partition, and calculate the area of ​​the second sub-partition. Overlap degree = sum of the overlapping areas of the second sub-partition and each first sub-partition / area of ​​the second sub-partition.

[0047] In this embodiment, as Figure 11 As shown, some first sub-zones intersect with the riverbank, so these first sub-zones are deleted. Similarly, some second sub-zones intersect with the channel centerline, so these second sub-zones are also deleted. The overlap of each second sub-zone is calculated. In this embodiment, the overlap of the remaining undeleted second sub-zones that are not adjacent to the riverbank is ≥95%. There are a total of 8 remaining undeleted second sub-zones adjacent to the riverbank, of which 7 have an overlap of <95%. Therefore, these 7 second sub-zones are retained and, together with the remaining first sub-zones, form the sub-zones of this partition, as shown below. Figure 12 As shown, the seven second sub-partitions are represented by bold solid lines.

[0048] The operational path of the non-explosive dredging vessel in the final sub-zone is planned.

[0049] It should be noted that w is determined based on the uniaxial compressive strength of the excavated rock stratum. If the uniaxial compressive strength of the excavated rock stratum is <15MPa, then w=W. l =L; otherwise, take w=0.9W, l =0.9L, the specific value can be selected according to the actual situation. w and l The maximum value should be selected as much as possible to reduce the number of sub-zones in each zone, thereby reducing the time spent on moving the non-explosive excavation vessel and driving piles, which is conducive to improving construction efficiency.

[0050] It is understandable that when w=W, l When the angle is equal to L, due to the angle adjustment of each sub-section in step S313, there will inevitably be a gap between two adjacent sub-sections. This gap is a place that the non-explosive dredging vessel cannot reach. If the rock stratum to be excavated is soft rock, after the excavation of two adjacent sub-sections is completed, the rock stratum between the two adjacent sub-sections will automatically collapse under the impact of water flow or other external forces, and no further excavation is required. If the rock stratum to be excavated is hard rock, w should be appropriately reduced so that the excavation range of the non-explosive dredging vessel can cover the gap between two adjacent sub-sections, thus ensuring the complete excavation of that section.

[0051] In step S318, there are various methods for planning the work path, but to avoid frequent adjustments to the ship's heading during operations, this embodiment uses a round-trip operation method to plan the work path: like Figure 13 As shown, the starting point of the first offset line is taken as the starting point of the non-explosive dredging vessel; The midpoints of the two sides corresponding to the width of each sub-partition on the first offset line (i.e. Figure 13 The vector connecting the black dots (in the diagram) serves as the movement path of the non-explosive dredging vessel within each sub-section of the first offset line. The direction of the vector connecting the midpoints of the two sides corresponding to the width of each sub-section on the first offset line forms an acute angle or an angle of zero with the direction from the starting point to the ending point of the first offset line. The ending point of the first offset line is taken as the ending point of the non-explosive dredging vessel on the first offset line, thus forming the first movement path of the non-explosive dredging vessel. Figure 13 In the diagram, the arrows on the first movement path indicate the direction of movement; The vector pointing from the end point of the first offset line to the start point of the second offset line is used as the first transition path for the non-explosive dredging vessel to move from the first offset line to the second offset line. Figure 13 The dotted lines in the text represent transition paths; The line vector connecting the midpoints of the two sides corresponding to the width of each sub-section on the second offset line is used as the movement path of the non-explosive dredging vessel within each sub-section on the second offset line. The direction of the line vector connecting the midpoints of the two sides corresponding to the width of each sub-section on the second offset line forms an acute angle or the included angle is zero with the direction from the starting point to the ending point of the second offset line. The starting point of the second offset line is used as the starting point of the non-explosive dredging vessel on the second offset line, and the ending point of the second offset line is used as the ending point of the non-explosive dredging vessel on the second offset line, thus forming the second movement path of the non-explosive dredging vessel. The vector pointing from the end of the second offset line to the start of the third offset line is used as the second transition path for the non-explosive dredging vessel to move from the second offset line to the third offset line. Repeat the above steps until all move paths and transition paths for the partition have been calculated; The first moving path, the first transition path, the second moving path, the second transition path, and so on are connected in sequence to form the operating path of the non-explosive dredging vessel in this zone.

[0052] In addition, other forms of operational paths can be adopted. For example, after the vessel moves to the end of the first operational path, it can move directly to the end of the second operational path, and from the end of the second operational path back to the starting point. Figure 13 Construction proceeds from right to left. At this point, the direction of construction is opposite to the first movement path, but the length of the transition path is shortened.

[0053] S4. Perform excavation operations according to the work path of each zone: The non-explosive excavation vessel moves to the first sub-section of the first section of the first excavation area, completes the pile driving, and then carries out excavation operations. The excavation operation range is based on the maximum operating range of the non-explosive excavation vessel, that is, the non-explosive excavation vessel carries out construction within its maximum operating range.

[0054] On the other hand, such as Figure 14 , 15 As shown, the present invention provides a system for realizing an integrated intelligent underwater dredging method for obstructing navigation channels, comprising: The surveying system is used for surveying the riverbed topography before channel dredging. The task management system is used to calculate the excavation depth information and excavation volume at each coordinate based on the input digital excavation requirements and the riverbed topography data obtained by the surveying system, and to autonomously generate excavation operation tasks and plan the operation trajectory of the non-blasting excavation vessel. The task management system includes: The modeling module is used to create a 3D map of the channel dredging operation based on riverbed topography data; The partitioning module is used to divide the channel excavation operation area into multiple partitions based on the three-dimensional map of the channel excavation operation, the maximum distance of a single vessel movement, and the channel curvature ratio. The path planning module is used to plan the operation path for each zone of the non-explosive dredging vessel based on the operation coverage of the non-explosive dredging vessel. The calculation module is used to calculate the excavation depth information at each coordinate and to calculate the excavation volume. The excavation task generation module is used to automatically generate excavation tasks based on the work path and the excavation depth information at each coordinate.

[0055] The equipment cluster control system receives excavation operation tasks from the task management system, breaks down the specific excavation operation tasks into process-level equipment control instructions, and distributes them to each equipment group; such as... Figure 16 As shown, the equipment cluster control system includes a winch centralized control console, a grab excavator centralized control console, a rotary drilling rig centralized control console, a task management system control console, a surveying system centralized control console, a pile leg centralized control console, and a crushing and transportation equipment centralized control console. Among them, Centralized control console for winches: Controls four complex winches, which can operate individually or in conjunction, for automated ship movement operations on integrated vessels. Centralized control console for pile legs: Used for controlling the driving and pulling of piles for the four pile legs. The pile legs can move individually or in conjunction with each other, and are used to stabilize the integrated vessel and prevent the vessel from swaying during operation.

[0056] Centralized control console for rotary drilling equipment: Used to control 10 drilling rigs, which can operate individually or in conjunction with each other. Based on the excavation volume information of the work points issued by the task management system, it matches the drilling points of the drilling rigs and coordinates the working efficiency of the 10 drilling rigs.

[0057] The grab bucket device of the grab excavator's centralized control console overlaps with the excavator's operating area. The control system is used to coordinate the operating positions of the two grab buckets and one excavator to avoid equipment interference while ensuring operational efficiency.

[0058] Centralized control console for crushing and transporting equipment: The integrated vessel uses transport trolleys for transportation, and the crushing and transporting equipment is used to further crush the excavated rock.

[0059] The video surveillance system is used to acquire video information from various equipment groups in real time.

[0060] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for integrated intelligent underwater excavation and dredging of navigation-obstructing waterways, characterized in that, include: S1. Establish a three-dimensional map of the waterway excavation operation based on the waterway topographic mapping information; S2. Based on the three-dimensional map of the channel excavation operation, the maximum distance of a single vessel movement, and the channel curvature ratio, the channel excavation operation area is divided into multiple zones. S3. Plan the operation path for each zone of the non-explosive dredging vessel based on its operational coverage area. S4. Perform excavation operations according to the work path of each zone.

2. The integrated intelligent underwater excavation and dredging method for obstructing navigation channels according to claim 1, characterized in that, Step S2 includes: The projection of the excavation area on the horizontal plane is obtained from the three-dimensional map of the waterway excavation operation, and the projection is divided into multiple excavation areas along the width of the waterway. The excavation areas are divided into multiple zones: Calculate the centerline P of the current excavation area; The starting point M of the centerline P is taken as the starting point of the first section of the current excavation area; The endpoint N of the first section is determined on the centerline P based on the maximum ship movement distance in a single move and the channel curvature ratio K. Draw perpendicular lines from points M and N to the center line P. The perpendicular lines from points M and N, together with the two boundary lines of this zone, form the first zone of the current excavation area. Using point N as the starting point of the second partition, the second partition is divided until the current excavation area is completely divided.

3. The integrated intelligent underwater excavation and dredging method for obstructing navigation channels according to claim 2, characterized in that, In step S22, determining the endpoint N of the first section on the centerline P based on the maximum single ship movement distance and the channel curvature ratio K includes: Draw a circle with the starting point M as the center and a radius of 0.8 times the maximum single ship movement distance. The intersection of this circle and the center line P is N. Calculate the length of the curve between points M and N on the centerline P. Calculate the length of the straight line between point M and point N. , ; Determine if it satisfies and If the condition is met, then point N is taken as the endpoint of the first partition; otherwise, point N is moved along the center line P towards point M, and the calculation is repeated. and Does it satisfy the condition again? and If the condition is met, then the N points after the movement are taken as the endpoint of the first partition; otherwise, continue moving until the condition is met. and ; in, This indicates the maximum distance a ship can be moved in a single operation. The curvature ratio of the waterway.

4. The integrated intelligent underwater excavation and dredging method for obstructing navigation channels according to claim 1, characterized in that, Step S3 includes: For any partition, perform the following steps: The boundary line on the right side of the partition is offset and copied to the boundary line on the left side multiple times with an offset distance of w / 2, forming multiple first offset lines until the copied first offset lines have no intersection with the partition; where w is a preset value, w≤W, and W is the working width of the non-explosive excavation vessel. Delete the first offset line an even number of times; Multiple first sub-partitions are generated based on the first offset line of an odd number of orders. Each first sub-partition is rectangular and has a length of [missing information]. l The width is w, where, l The value is a preset value, l≤L, where L is the working length of the non-explosive dredging vessel; The boundary line on the left side of the partition is offset from the boundary line on the right side by w / 2 multiple times to form multiple second offset lines, until the copied second offset lines have no intersection with the partition. Delete the second offset line an even number of times; Multiple second sub-partitions are generated based on the odd-numbered second offset line. Each second sub-partition is rectangular and has a length of [missing information]. l Width is w; Delete the first sub-partition that intersects with the left boundary line, delete the second sub-partition that intersects with the right boundary line, calculate the overlap of each second sub-partition, delete the second sub-partition with an overlap of ≥95%, and use the remaining first and second sub-partitions as the final sub-partitions of the partition. The method for calculating overlap includes: for any second sub-partition, calculate the sum of the overlapping areas of the second sub-partition and each first sub-partition, calculate the area of ​​the second sub-partition, and the overlap ratio = the sum of the overlapping areas of the second sub-partition and each first sub-partition / the area of ​​the second sub-partition. Each sub-zone is considered as the area that the non-explosive dredging vessel needs to complete in one operation. The operation path of the non-explosive dredging vessel in that sub-zone is planned according to the final sub-zone.

5. The integrated intelligent underwater excavation and dredging method for obstructing navigation channels according to claim 4, characterized in that, In step S3, generating multiple first sub-partitions based on the odd-numbered first offset lines includes: Draw a perpendicular line to the first offset line, with the starting point E as the midpoint. The length of the perpendicular line is w. Using this perpendicular line as the width, generate a line with a length of w towards the endpoint of the first offset line. l The first sub-partition; The first sub-partition intersects with the first offset line at points E and F respectively. Obtain the coordinates of the midpoint G of the edge where point F is located, calculate the angle between line segment EF and line segment EG, and rotate the first sub-partition with point E as the rotation center so that line segment EF and line segment EG are parallel. With point G as the midpoint, draw a perpendicular line to the first offset line. Generate the second sub-partition according to the method for generating the first sub-partition, until all sub-partitions on the first offset line are generated. Draw a perpendicular line from the starting point of the second first offset line to the midpoint of the second first offset line. Generate the sub-partitions of the second first offset line according to the method for generating the sub-partitions corresponding to the first first offset line, until the sub-partitions of all first offset lines are generated.

6. The integrated intelligent underwater excavation and dredging method for obstructing navigation channels according to claim 4, characterized in that, The planning of the non-explosive dredging vessel's operational path within the final sub-zone includes: The starting point of the first offset line is taken as the starting point of the non-explosive dredging vessel; The line vector connecting the midpoints of the two sides corresponding to the width of each sub-section on the first offset line is used as the movement path of the non-explosive dredging vessel within each sub-section on the first offset line. The direction of the line vector connecting the midpoints of the two sides corresponding to the width of each sub-section on the first offset line forms an acute angle or the included angle is zero with the direction from the starting point to the ending point of the first offset line. The ending point of the first offset line is used as the ending point of the non-explosive dredging vessel on the first offset line, thus forming the first movement path of the non-explosive dredging vessel. The vector pointing from the end of the first offset line to the start of the second offset line is used as the first transition path for the non-explosive dredging vessel to move from the first offset line to the second offset line. The line vector connecting the midpoints of the two sides corresponding to the width of each sub-section on the second offset line is used as the movement path of the non-explosive dredging vessel within each sub-section on the second offset line. The direction of the line vector connecting the midpoints of the two sides corresponding to the width of each sub-section on the second offset line forms an acute angle or the included angle is zero with the direction from the starting point to the ending point of the second offset line. The starting point of the second offset line is used as the starting point of the non-explosive dredging vessel on the second offset line, and the ending point of the second offset line is used as the ending point of the non-explosive dredging vessel on the second offset line, thus forming the second movement path of the non-explosive dredging vessel. The vector pointing from the end of the second offset line to the start of the third offset line is used as the second transition path for the non-explosive dredging vessel to move from the second offset line to the third offset line. Repeat the above steps until all move paths and transition paths for the partition have been calculated; The first moving path, the first transition path, the second moving path, the second transition path, and so on are connected in sequence to form the operating path of the non-explosive dredging vessel in this zone.

7. The integrated intelligent underwater excavation and dredging method for obstructing navigation channels according to claim 4, characterized in that, w is determined based on the uniaxial compressive strength of the excavated rock stratum. If the uniaxial compressive strength of the excavated rock stratum is <15MPa, then w=W. l =L.

8. The integrated intelligent underwater excavation and dredging method for obstructing navigation channels according to any one of claims 1 to 7, characterized in that, Step S4 includes: The non-explosive excavation vessel moves to the first sub-section of the first section of the first excavation area, completes the pile driving, and then begins excavation. The excavation area is based on the maximum operating range of the non-explosive excavation vessel.

9. A system for realizing an integrated intelligent underwater dredging method for obstructing navigation channels, characterized in that, include: The surveying system is used for surveying the riverbed topography before channel dredging. The task management system is used to calculate the excavation depth information and excavation volume at each coordinate based on the input digital excavation requirements and the riverbed topography data obtained by the surveying system, and to autonomously generate excavation operation tasks and plan the operation trajectory of the non-blasting excavation vessel. The equipment cluster control system is used to receive excavation operation tasks from the task management system, break down the specific excavation operation tasks into process-level equipment control instructions, and distribute them to each equipment cluster.

10. The system according to claim 9, characterized in that, The task management system includes: The modeling module is used to create a 3D map of the channel dredging operation based on riverbed topography data; The partitioning module is used to divide the channel excavation operation area into multiple partitions based on the three-dimensional map of the channel excavation operation, the maximum distance of a single vessel movement, and the channel curvature ratio. The path planning module is used to plan the operation path for each zone of the non-explosive dredging vessel based on the operation coverage of the non-explosive dredging vessel. The calculation module is used to calculate the excavation depth information at each coordinate and to calculate the excavation volume. The excavation task generation module is used to automatically generate excavation tasks based on the work path and the excavation depth information at each coordinate.

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