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Method and system for unmanned ship path planning based on concave polygon scanning area

A technology of scanning area and concave polygon, applied in the field of unmanned ship path planning, can solve problems such as increasing the difficulty of path planning, increasing the area of ​​the search area, and increasing the search time.

Active Publication Date: 2020-10-30
SHENZHEN ZHENDI INFORMATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] my country's acquisition technology of submarine topography and landform information through unmanned ships is developing in the direction of high precision, high resolution, independent integration, integration and standardization, and path planning is one of the key technologies to ensure safe navigation of unmanned ships. The surveying and mapping work waters of man-ships often have irregularities, such as concave polygonal scanning areas, and the path planning for this irregular scanning area is usually the simplest method in the prior art is to combine irregular scanning areas of arbitrary shape (such as concave Polygon scanning area) is represented by its circumscribed rectangle, which will cause the area of ​​the search area to become larger, resulting in increased search time and reduced search efficiency
Commonly used methods in the prior art include concave-convex-convex decomposition algorithm or ant colony algorithm, etc., and these methods are relatively complicated in operation, which increases the difficulty of path planning

Method used

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  • Method and system for unmanned ship path planning based on concave polygon scanning area
  • Method and system for unmanned ship path planning based on concave polygon scanning area
  • Method and system for unmanned ship path planning based on concave polygon scanning area

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Embodiment 1

[0035] Such as figure 1 As shown, a kind of unmanned ship path planning method based on the concave polygon scanning area provided by the present invention comprises the following steps:

[0036]A. Obtain the APP map and surveying and mapping task information, and add the APP map to the unmanned ship track planning system;

[0037] B. Determine the area to be measured according to the surveying and mapping task information, select multiple points by clicking the corresponding position on the APP map according to the area to be measured, and use each adjacent two points in sequence according to the order of the multiple points. Connect the straight lines to automatically generate a concave polygon scanning area on the XY coordinate axis;

[0038] C. Divide the concave polygon scanning area into a plurality of sub-polygon scanning areas; obtain the scanning line interval set by the user according to the maximum scanning range of the unmanned ship, and generate in each sub-polyg...

Embodiment 2

[0049] Exemplarily, in order to more clearly describe the unmanned ship path planning method based on the concave polygon scanning area provided by the present invention, this embodiment takes a concave polygon scanning area as an example to describe the method of the present invention in detail. Such as figure 2 As shown, there is a surveying and mapping task of a concave polygon area to be measured, and the unmanned ship path planning method based on the concave polygon scanning area in this embodiment adopts the following steps:

[0050] A. Obtain the APP map and surveying and mapping task information, and add the APP map to the unmanned ship track planning system;

[0051] B. Determine the area to be measured according to the surveying and mapping task information, select multiple points by clicking the corresponding position on the APP map according to the area to be measured, and use each adjacent two points in sequence according to the order of the multiple points. Co...

Embodiment 3

[0057] Exemplarily, this embodiment uses another concave polygon scanning area as an example to describe the method of the present invention in detail. Such as image 3 As shown, there is a surveying and mapping task of a concave polygon area to be measured, and the unmanned ship path planning method based on the concave polygon scanning area in this embodiment adopts the following steps:

[0058] A. Obtain the APP map and surveying and mapping task information, and add the APP map to the unmanned ship track planning system;

[0059] B. Determine the area to be measured according to the surveying and mapping task information, select multiple points by clicking on the corresponding position on the APP map according to the area to be measured, and connect each adjacent two points with a straight line in sequence according to the order of multiple points. Up, automatically generate a concave polygon scanning area on the XY coordinate axis, such as image 3 The concave polygon s...

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Abstract

The invention discloses an unmanned ship path planning method based on a concave polygon scanning area. The method comprises the following steps: A, acquiring an APP map and surveying task information; B, determining an area to be surveyed according to the surveying task information, selecting a plurality of points by clicking corresponding positions on the APP map according to the area to be surveyed, and connecting every two adjacent points by a straight line to automatically generate a concave polygon scanning area; C, dividing the concave polygon scanning area into a plurality of sub polygon scanning areas, and generating parallel scanning lines in each sub polygon scanning area; D, setting the scanning sequence of the plurality of sub polygon scanning areas according to a water flow method, and obtaining a scanning path for surveying an unmanned ship according to the scanning sequence of the plurality of sub polygon scanning areas and the scanning lines generated in each sub polygon scanning area. The method reduces the path planning difficulty of the concave polygon scanning area, improves the accuracy of path planning, and further improves the efficiency of surveying the unmanned ship.

Description

technical field [0001] The invention relates to a path planning method and system for an unmanned ship based on a concave polygon scanning area, and belongs to the technical field of path planning for an unmanned ship. Background technique [0002] Seabed topography is the basis of all marine development and utilization activities, and its information acquisition is the most basic work in marine surveying and mapping. In recent years, with the rise of unmanned equipment, the research and application of unmanned ships has gradually attracted people's attention. Unmanned ships are a new type of water monitoring platform, with rivers, lakes, reservoirs, coasts and harbors as the main The object is to use small ships as the carrier, integrate positioning navigation, communication and control equipment, and can carry a variety of monitoring sensors to complete the monitoring of specific hydrological and water environment elements in a remote / autonomous working mode. Due to the c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/203
Inventor 不公告发明人
Owner SHENZHEN ZHENDI INFORMATION TECH CO LTD