Modeling method and device for lake type environment-friendly unmanned ship system based on MBSE

Abstract

The invention discloses a modeling method and device for a lake type environment-friendly unmanned ship system based on MBSE, and relates to the technical field of unmanned ship system modeling, and the method comprises the steps: obtaining system related information, obtained based on a MagicGrid methodology, of the environment-friendly unmanned ship system; analyzing system requirements by using a requirement table and a requirement diagram in a SysML modeling language, and constructing a requirement model, a system function model and an architecture model; and utilizing a SysML modeling language to construct traceability relationships between the architecture model and the demand model and between the functional model and the demand model, and determining that modeling of the environment-friendly unmanned ship system is completed under the condition that the traceability relationships represent that the architecture model and the functional model can meet the demand model. The method is used for solving a series of problems occurring when modeling design of the lake type environment-friendly unmanned ship system is carried out through documents in the prior art, and the purpose of efficiently and rapidly completing modeling design of the lake type environment-friendly unmanned ship system is achieved.

Description

Technical Field

[0001] This application relates to the technical field of unmanned boat system modeling, and in particular to a modeling method and device for a lake-type environmental protection unmanned boat system based on MBSE. Background Art

[0002] Unmanned boats play an important role in the maritime field due to their advantages of low cost, strong mobility, and strong environmental adaptability. For example, mine warfare, anti-submarine warfare, maritime patrol, water quality monitoring, and maritime search and rescue. Among them, lake-type environmental protection unmanned boats are mainly used for lake water quality monitoring, facing the problem of lake water eutrophication, and serving the supervision of the lake water ecological environment.

[0003] The existing system design of lake-type environmental protection unmanned boats (hereinafter referred to as the system) mainly uses documents, design drawings, etc. for design. It uses natural language description to form a series of design document drawings such as specifications, system design reports, and product test reports.

[0004] The existing system design has a series of problems. For example, first, due to the ambiguity of natural language, users with different professional backgrounds may have different understandings of the same requirement; second, the document-centered design method makes each copy or modification of the document introduce an increase and duplication of data. As the complexity of the system increases, the data volume grows exponentially, making it difficult to maintain data consistency; third, when the requirement changes and causes a change in the design process, it is difficult to follow the analysis, and it is difficult to modify the problem found later. When a design change occurs, it is difficult to evaluate from the overall perspective of the system; fourth, using documents as the storage form of system requirements, functions, architectures, and behaviors, it is difficult to utilize the existing design information when there are similar tasks, reducing the optimization efficiency of the system, etc. Summary of the Invention

[0005] The applicant of this application proposes a modeling method and device for a lake-type environmental protection unmanned boat system based on MBSE to solve a series of problems that occur when using documents for the modeling design of lake-type environmental protection unmanned boat systems in the prior art, and to achieve the purpose of efficiently and quickly completing the modeling design of lake-type environmental protection unmanned boat systems.

[0006] The application embodiment provides a modeling method for a lake-type environmental protection unmanned boat system based on MBSE, and the method includes:

[0007] Obtain the system-related information of the environmental protection unmanned boat system obtained based on the MagicGrid methodology, where the system-related information includes: the system requirements, system functions, and system architectures of the environmental protection unmanned boat;

[0008] Analyze the system requirements using the requirement table and requirement diagram in the SysML modeling language, and construct a requirement model;

[0009] Analyze the system functions using the use case diagram, module definition diagram, and activity diagram in the SysML modeling language, sort out the system use cases, describe the system functions and the behaviors of the system functions using the activity diagram, and construct a system function model based on the requirement model, where the system use cases include: multi-condition electromechanical operation use case, autonomous navigation use case, target recognition use case, and water quality monitoring use case;

[0010] Analyze the system architecture using the module definition diagram, activity diagram, and internal module diagram in the SysML modeling language, describe the composition architecture of the environmental protection unmanned boat system and the interaction information between multiple subsystems, and construct an architecture model based on the system function model, where the composition architecture includes: electrical subsystem, propulsion subsystem, intelligent control subsystem, communication and navigation subsystem, integrated perception subsystem, mission payload subsystem, and auxiliary support subsystem;

[0011] Use the SysML modeling language to construct the traceability relationships between the architecture model and the function model and the requirement model respectively, and determine that the modeling of the environmental protection unmanned boat system is completed when it is determined that the traceability relationships indicate that the architecture model and the function model can meet the requirement model.

[0012] According to the modeling method of the lake-type environmental protection unmanned boat system based on MBSE provided in the embodiments of the present application, analyze the system requirements using the requirement table and requirement diagram in the SysML modeling language, and construct a requirement model, including:

[0013] Use the SysML modeling language to divide the system requirements into functional requirements, performance requirements, and reliability requirements, where the functional requirements include: autonomous navigation function, water quality monitoring function, integrated perception function, and communication function, the performance requirements include: the maximum speed of the lake-type environmental protection unmanned boat, and the reliability requirements include: fault detection function;

[0014] Use the SysML modeling language to respond to the requirement table selected by the user, and describe the divided system requirements through the requirement table, where the requirement table includes: requirement level field, requirement name field, and requirement content field;

[0015] Use the SysML modeling language to respond to the requirement diagram selected by the user, and refine the described requirement table through the requirement diagram to generate the requirement model.

[0016] According to the modeling method of the lake - type environmental protection unmanned boat system based on MBSE provided by the embodiments of the present application, the use - case diagram, module - definition diagram, and activity diagram in the SysML modeling language are used to analyze the system functions, sort out the system use - cases, describe the system functions and the behaviors of the system functions by using the activity diagram, and construct a system function model based on the requirement model, including:

[0017] Based on the system functions, use the SysML modeling language to analyze the system context of the environmental protection unmanned boat system, where the system context includes: a command and control center, a shore - based control station, lake obstacles, lake water samples, and the lake - type environmental protection unmanned boat;

[0018] Use the SysML modeling language to construct the system context in response to the module - definition diagram selected by the user;

[0019] Use the SysML modeling language to construct system use - cases in response to the use - case diagram selected by the user;

[0020] Use the association tool in the SysML modeling language to inter - relate the system context and the system use - cases;

[0021] Use the SysML modeling language to describe the system functions and the behaviors of the system functions based on the system use - cases in response to the activity diagram selected by the user, and construct a function model through the described system use - cases and the requirement model to analyze the behavioral logic of the environmental protection unmanned boat.

[0022] According to the modeling method of the lake - type environmental protection unmanned boat system based on MBSE provided by the embodiments of the present application, the activity diagram includes: activity nodes and activity relationships. The activity nodes are used to characterize the behaviors of the system, and a swimlane is assigned to each behavior. The activity relationships are used to characterize the execution order between the activity nodes and the flow of data between the activity nodes;

[0023] Analyze the behavioral logic of the environmental protection unmanned boat, including:

[0024] For the multi - condition electromechanical operation use - case, send an electromechanical control instruction through the shore - based control station. The environmental protection unmanned boat system receives the electromechanical control instruction and performs multi - condition electromechanical control;

[0025] For the autonomous navigation use - case, send an autonomous navigation control instruction through the command and control center. The shore - based control station receives and analyzes the autonomous navigation control instruction, and sends the autonomous navigation information corresponding to the autonomous navigation control instruction to the environmental protection unmanned boat system. The environmental protection unmanned boat system receives the autonomous navigation information and performs comprehensive perception operations; and during the autonomous navigation process, if an obstacle is encountered, receive the position information of the obstacle and execute an obstacle - avoidance program, otherwise execute the autonomous navigation program;

[0026] For the target recognition use case, the command and control center sends a target recognition control instruction, and the shore-based control station receives and analyzes the target recognition control instruction, and sends the target recognition information corresponding to the target recognition control instruction to the environmental protection unmanned boat system. The environmental protection unmanned boat system starts a target recognition program based on the target recognition information to identify the target position;

[0027] For the water quality monitoring use case, the command and control center sends a water quality monitoring control instruction. The shore-based control station receives and analyzes the water quality monitoring control instruction, and sends the monitoring parameters and monitoring area corresponding to the water quality monitoring control instruction to the environmental protection unmanned boat system. The environmental protection unmanned boat system executes an autonomous navigation program based on the monitoring parameters and the monitoring area to monitor the monitoring parameters and collect water samples from the monitoring area, and sends the obtained water quality parameter information to the shore-based control station.

[0028] According to the modeling method of the lake-type environmental protection unmanned boat system based on MBSE provided by the embodiments of the present application, after sending the obtained water quality parameter information to the shore-based control station, it further includes:

[0029] Judging whether the entire monitoring area has been monitored; in the case of determining that the entire monitoring area has been monitored, controlling the environmental protection unmanned boat to return to a preset starting point.

[0030] According to the modeling method of the lake-type environmental protection unmanned boat system based on MBSE provided by the embodiments of the present application, the SysML modeling language is used to analyze the system architecture with the module definition diagram, activity diagram and internal block diagram in the SysML modeling language, describe the composition architecture of the environmental protection unmanned boat system and the interaction information between multiple subsystems, and build an architecture model based on the system function model, including:

[0031] Using the SysML modeling language to determine the composition architecture of the environmental protection unmanned boat system based on system use cases;

[0032] Using the SysML modeling language to describe the composition architecture in response to the module definition diagram selected by the user;

[0033] Using the SysML modeling language to analyze the behavior in the system use cases in response to the activity diagram selected by the user to determine the interaction information between the activity process and each subsystem, and allocate various activities to the system architecture to obtain each activity swimlane diagram, where the activity process is used to characterize the linkage behavior between each subsystem;

[0034] Using the SysML modeling language to describe the interfaces and interaction items between each subsystem in response to the internal block diagram selected by the user to implement the construction of the architecture model.

[0035] According to the modeling method of the lake - type environmental protection unmanned boat system based on MBSE provided by the embodiments of the present application, analyze the behaviors in the system use cases to determine the interaction information between the activity processes and each subsystem, including:

[0036] For the multi - condition electromechanical operation use case, analyze the multi - condition electromechanical control behavior in the multi - condition electromechanical operation use case. Receive the electromechanical control instruction through the intelligent control subsystem for electromechanical control, and send the electromechanical control instruction to the electrical subsystem, propulsion subsystem, communication and navigation subsystem, integrated perception subsystem, mission payload subsystem, and auxiliary support subsystem; the electrical subsystem, propulsion subsystem, communication and navigation subsystem, integrated perception subsystem, mission payload subsystem, and auxiliary support subsystem respectively send their own operating states to the intelligent control subsystem; perform a health status assessment through the intelligent control subsystem to complete the multi - condition electromechanical control;

[0037] For the water quality monitoring use case, analyze the monitoring behavior in the water quality monitoring use case. The mission payload subsystem starts the on - line water quality parameter analyzer and water quality detector, and outputs the numerical values corresponding to the water quality parameters;

[0038] For the autonomous navigation use case, analyze the behaviors of receiving the autonomous navigation information from the shore - based control station, integrated perception, executing the obstacle avoidance program, and executing the autonomous navigation program in the autonomous navigation use case.

[0039] According to the modeling method of the lake - type environmental protection unmanned boat system based on MBSE provided by the embodiments of the present application, use the SysML modeling language to describe the interfaces and interaction items between each subsystem in response to the selected internal block diagram by the user, including:

[0040] Use the SysML modeling language to define a motion control interface between the intelligent control subsystem and the propulsion subsystem to transmit the rudder angle and rotational speed interaction information from the intelligent control subsystem to the propulsion subsystem; define a status receiving interface between the integrated perception subsystem, communication and navigation subsystem, and intelligent control subsystem to transmit the position and speed of the obstacle, the position information of the unmanned boat, and the heading and speed of the unmanned boat to the intelligent control subsystem through the integrated perception subsystem and the communication and navigation subsystem; define a power transmission interface between each subsystem to transmit electrical energy from the electrical subsystem to other subsystems.

[0041] According to the modeling method of the lake - type environmental protection unmanned boat system based on MBSE provided by the embodiments of the present application, use the SysML modeling language to construct the traceability relationships between the architecture model and the function model and the requirement model respectively, and when it is determined that the traceability relationships indicate that the architecture model and the function model can meet the requirement model, determine that the modeling of the environmental protection unmanned boat system is completed, including:

[0042] Verify the requirements of the target model using the traceability matrix that responds to the user's selection with the SysML modeling language. Use the stakeholder requirements as the columns of the traceability matrix and the functions of the target model as the rows of the traceability matrix. Among them, the target model is a completed architecture model, and the stakeholders are the target users corresponding to the system requirements.

[0043] Draw arrows in the traceability matrix. Each arrow represents that the current function of the target model can meet the stakeholder requirements represented by the column.

[0044] Based on the traceability matrix with arrows drawn, when it is determined that the system requirements of all stakeholders are met, it is determined that the modeling of the environmental protection unmanned boat system is completed.

[0045] The embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the steps of the modeling method of the lake-type environmental protection unmanned boat system based on MBSE as described in any one of the above.

[0046] The modeling method and device of the lake-type environmental protection unmanned boat system based on MBSE provided by the embodiment of the present application obtain the system requirements, system functions, and system architecture of the environmental protection unmanned boat system based on the MagicGrid methodology; use the preset diagrams in the SysML modeling language to construct a requirements model, a function model, and an architecture model, and use the system requirements to verify the constructed function model and architecture model. When the verification is passed, it is determined that the modeling of the environmental protection unmanned boat system is completed. The whole process is automatically completed, and a model that matches the requirements can be obtained only based on the requirements, solving a series of problems that occur when modeling and designing the lake-type environmental protection unmanned boat system in the prior art with documents, and achieving the purpose of efficiently and quickly completing the modeling and design of the lake-type environmental protection unmanned boat system. Description of the Drawings

[0047] 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 description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0048] Figure 1 It is a schematic flowchart of the modeling method of the lake-type environmental protection unmanned boat system based on MBSE provided by the embodiment of the present application;

[0049] Figure 2 It is a requirements table of the lake-type environmental protection unmanned boat system provided by the embodiment of the present application;

[0050] Figure 3 is the requirement diagram of the lake - type environmental protection unmanned boat system provided by the embodiment of the present application;

[0051] Figure 4 is the system context of the lake - type environmental protection unmanned boat system provided by the embodiment of the present application;

[0052] Figure 5 is the system use case of the lake - type environmental protection unmanned boat system provided by the embodiment of the present application;

[0053] Figure 6 is the activity diagram of the multi - condition electromechanical operation use case provided by the embodiment of the present application;

[0054] Figure 7 is the activity diagram of the autonomous navigation use case provided by the embodiment of the present application;

[0055] Figure 8 is the activity diagram of the target recognition example provided by the embodiment of the present application;

[0056] Figure 9 is the activity diagram of the water quality monitoring use case provided by the embodiment of the present application;

[0057] Figure 10 is the internal module diagram of the system context provided by the embodiment of the present application;

[0058] Figure 11 is the composition diagram of the lake - type environmental protection unmanned boat subsystem provided by the embodiment of the present application;

[0059] Figure 12 is the activity diagram of the autonomous navigation behavior provided by the embodiment of the present application;

[0060] Figure 13 is the activity diagram of the comprehensive perception behavior provided by the embodiment of the present application;

[0061] Figure 14 is the activity diagram of the behavior of executing the obstacle avoidance program provided by the embodiment of the present application;

[0062] Figure 15 is the schematic diagram of the requirement - function traceability matrix provided by the embodiment of the present application;

[0063] Figure 16 is the schematic diagram of the structure of the electronic device provided by the embodiment of the present application. Specific implementation manners

[0064] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts belong to the scope of protection of the present invention.

[0065] The embodiments of this application provide a modeling method for a lake-type environmental protection unmanned boat system based on MBSE. This method can be applied to intelligent terminals, servers, or the controller of a lake-type environmental protection unmanned boat. This application takes the example of applying this method to the controller of an environmental protection unmanned boat for illustration, and some other descriptions in the embodiments are for example purposes and are not used to limit the protection scope of this application. Such descriptions will not be repeated hereinafter. The specific implementation of this method is as Figure 1 shown:

[0066] Step 101: Obtain the system-related information of the environmental protection unmanned boat system obtained based on the MagicGrid methodology.

[0067] Among them, the system-related information includes the system requirements, system functions, and system architecture of the environmental protection unmanned boat.

[0068] Step 102: Analyze the system requirements using the requirement table and requirement diagram in the SysML modeling language, and construct a requirement model.

[0069] Step 103: Analyze the system functions using the use case diagram, module definition diagram, and activity diagram in the SysML modeling language, sort out the system use cases, describe the system functions and the behaviors of the system functions using the activity diagram, and construct a system function model based on the requirement model.

[0070] Among them, the system use cases include: multi-condition electromechanical operation use case, autonomous navigation use case, target recognition use case, and water quality monitoring use case.

[0071] Step 104: Analyze the system architecture using the module definition diagram, activity diagram, and internal module diagram in the SysML modeling language, describe the composition architecture of the environmental protection unmanned boat system and the interaction information between multiple subsystems, and construct an architecture model based on the system function model.

[0072] Among them, the composition architecture includes: electrical subsystem, propulsion subsystem, intelligent control subsystem, communication and navigation subsystem, integrated perception subsystem, mission payload subsystem, and auxiliary support subsystem.

[0073] Step 105: Use the SysML modeling language to build the traceability relationships between the architecture model and the function model and the requirements model respectively. When it is determined that the traceability relationships indicate that the architecture model and the function model can meet the requirements model, it is determined that the modeling of the environmental protection unmanned boat system is completed.

[0074] The modeling method of the lake-type environmental protection unmanned boat system provided by the embodiment of the present application obtains the system requirements, system functions, and system architecture of the environmental protection unmanned boat system based on the MagicGrid methodology; uses the preset diagrams in the SysML modeling language to build the requirements model, function model, and architecture model, and uses the system requirements to verify the built function model and architecture model. When the verification is passed, it is determined that the modeling of the environmental protection unmanned boat system is completed. The whole process is automatically completed, and a model matching the requirements can be obtained only based on the requirements, which solves a series of problems that occur when modeling and designing the lake-type environmental protection unmanned boat system in the prior art with documents, and realizes the purpose of efficiently and quickly completing the modeling and design of the lake-type environmental protection unmanned boat system.

[0075] Specifically, in view of the characteristics of the lake-type environmental protection unmanned boat system, the present application proposes a design process of requirements analysis modeling, function analysis modeling, architecture analysis modeling, and requirements traceability based on the MagicGrid methodology, which can effectively improve the efficiency of system function and architecture design.

[0076] In a specific embodiment, the specific implementation of using the requirements table and requirements diagram in the SysML modeling language to analyze the system requirements and build the requirements model includes:

[0077] Use the SysML modeling language to divide the system requirements into functional requirements, performance requirements, and reliability requirements.

[0078] Use the SysML modeling language to respond to the requirements table selected by the user, and describe the divided system requirements through the requirements table.

[0079] Use the SysML modeling language to respond to the requirements diagram selected by the user, and refine the described requirements table through the requirements diagram to generate the requirements model.

[0080] Among them, the functional requirements include: autonomous navigation function, water quality monitoring function, comprehensive perception function, and communication function; the performance requirements include: the maximum speed of the lake-type environmental protection unmanned boat; the reliability requirements include: fault detection function.

[0081] Among them, the requirements table includes: requirement hierarchy field, requirement name field, and requirement content field.

[0082] Specifically, the present application clarifies the design tasks of the lake-type environmental protection unmanned boat and analyzes the stakeholders involved in the lake-type environmental protection unmanned boat system. Among them, the stakeholders include at least environmental protection organizations and unmanned boat developers.

[0083] Obtain the system requirements of the lake-type environmental protection unmanned boat from stakeholders including environmental protection organizations and unmanned boat developers.

[0084] Classify the requirements into functional requirements, performance requirements, reliability requirements, etc.

[0085] Use a requirements table to describe and manage the collected system requirements. The requirements table consists of the Id, Name, and Text of the requirements. The Id represents the level of the requirement, the Name represents the name of the requirement, and the Text represents the content of the requirement.

[0086] As Figure 2 shown, number the requirements according to the level of the requirements. The Ids of the autonomous navigation function, water quality monitoring function, comprehensive perception function, and communication system function are SN_1, SN_2, SN_3, and SN_4 respectively.

[0087] Refine the "autonomous navigation function" from three aspects: "track tracking function", "path planning function", and "autonomous obstacle avoidance function", with Ids SN_1.1, SN_1.2, and SN_1.3 respectively; refine the "water quality monitoring function" from two aspects: "water sample collection function" and "online monitoring function", with Ids SN_2.1 and SN_2.2 respectively; refine the "comprehensive perception function" from three aspects: "external environment perception function", "self-state perception function", and "target recognition function", with Ids SN_3.1, SN_3.2, and SN_3.3 respectively; refine the "communication system function" from three aspects: "data transmission function", "remote control function", and "status monitoring function", with Ids SN_4.1, SN_4.2, and SN_4.3 respectively.

[0088] Use a requirements diagram to refine the requirements table into a requirements diagram model. The requirements diagram consists of an identifier, name, Id, Text, and relationship. As Figure 3 shown, among them, the identifier "requirement" indicates that this is a requirements diagram, "autonomous navigation function" indicates the name of this requirement, Id = "SN_1" indicates the level of this requirement, "Text" indicates the specific content of this requirement, and the "include" relationship indicates that the requirement of "autonomous obstacle avoidance function" is a part of the requirement of "target recognition function".

[0089] This application expresses the system requirements of the lake-type environmental protection unmanned boat in an itemized or graphical manner, specifically describes the hierarchical relationship between system requirements and the specific content of the requirements, constructs a more clear and accurate requirements model, and can realize the traceability analysis of requirement changes when requirements change.

[0090] In a specific embodiment, the specific implementation of analyzing the system functions using the use case diagram, module definition diagram, and activity diagram in the SysML modeling language, sorting out the system use cases, describing the system functions and the behaviors of the system functions using the activity diagram, and constructing a system function model based on the requirement model includes:

[0091] Using the SysML modeling language, analyze the system context of the environmental protection unmanned boat system based on the system functions. Among them, the system context includes: command and control center, shore-based control station, lake obstacles, lake water samples, and lake-type environmental protection unmanned boats.

[0092] Using the SysML modeling language, construct the system context in response to the module definition diagram selected by the user. See Figure 4 .

[0093] Using the SysML modeling language, construct the system use cases in response to the use case diagram selected by the user.

[0094] Using the association tool in the SysML modeling language, correlate the system context and the system use cases with each other. Specifically, the multi-condition electromechanical operation use case is related to the command and control center and the shore-based control station, the autonomous navigation use case is related to the shore-based control station, the target recognition use case is related to the shore-based control station and the lake obstacles, and the water quality monitoring use case is related to the command and control station, the shore-based control station, and the lake water samples. See Figure 5 .

[0095] Using the SysML modeling language, describe the system functions and the behaviors of the system functions based on the system use cases in response to the activity diagram selected by the user, and construct a function model through the described system use cases and requirement model to analyze the behavior logic of the environmental protection unmanned boat.

[0096] Specifically, use the activity diagram in the SysML modeling language to refine the system use cases, and analyze the behavior logic of the environmental protection unmanned boat by establishing a function model. Each activity diagram includes: activity nodes and activity relationships. The activity nodes are used to represent the behaviors of the system, and a swimlane is assigned to each behavior. The activity relationships are used to represent the execution order between the activity nodes and the flow of data between the activity nodes.

[0097] In a specific embodiment, for the multi-condition electromechanical operation use case, the shore-based control station sends an electromechanical control instruction, and the environmental protection unmanned boat system receives the electromechanical control instruction and performs multi-condition electromechanical control. See Figure 6 .

[0098] For the autonomous navigation use case, the autonomous navigation control instruction is sent through the command and control center. The shore-based control station receives and analyzes the autonomous navigation control instruction, and sends the autonomous navigation information corresponding to the autonomous navigation control instruction to the environmental protection unmanned boat system. The environmental protection unmanned boat system receives the autonomous navigation information and performs comprehensive perception operations. And during the autonomous navigation process, if it is judged that an obstacle is encountered, the position information of the obstacle is received, and the obstacle avoidance procedure is executed; otherwise, the autonomous navigation procedure is executed. See Figure 7 。

[0099] For the target recognition use case, the target recognition control instruction is sent through the command and control center. The shore-based control station receives and analyzes the target recognition control instruction, and sends the target recognition information corresponding to the target recognition control instruction to the environmental protection unmanned boat system. The environmental protection unmanned boat system starts the target recognition program based on the target recognition information to identify the target position. See Figure 8 。

[0100] For the water quality monitoring use case, the water quality monitoring control instruction sent by the command and control center is received and analyzed by the shore-based control station, and the monitoring parameters and monitoring area corresponding to the water quality monitoring control instruction are sent to the environmental protection unmanned boat system. The environmental protection unmanned boat system executes the autonomous navigation program based on the monitoring parameters and monitoring area to monitor the monitoring parameters and collect water samples from the monitoring area, and sends the obtained water quality parameter information to the shore-based control station. It is judged whether the entire monitoring area has been monitored; in the case where it is determined that the entire monitoring area has been monitored, the environmental protection unmanned boat is controlled to return to the preset starting point. After the shore-based control station receives the water quality parameters, the command and control center analyzes them. See Figure 9 。

[0101] Specifically, the internal block diagram in the SysML modeling language is used to describe the interaction information between system contexts. Specifically, the command and control center transmits the instructions for water quality monitoring, autonomous navigation, and target recognition to the shore-based control station. The shore-based control station transmits the water quality parameter information to the command and control center. The shore-based control station transmits the electromechanical control instruction, autonomous navigation information, target recognition information, water quality monitoring parameters, and area to the environmental protection unmanned boat. The environmental protection unmanned boat transmits the water quality parameter information to the shore-based control station. The lake water sample transmits the water sample to the environmental protection unmanned boat. The obstacle on the lake transmits the obstacle information to the environmental protection unmanned boat. See Figure 10 。

[0102] Specifically, from the black box perspective, the lake-type environmental protection unmanned boat system is regarded as a whole, the system context is analyzed, the system boundary is defined, and the behavior of the system is described through use case diagrams and activity diagrams, providing a basis for subsequent detailed design.

[0103] In a specific embodiment, the system architecture is analyzed using the module definition diagram, activity diagram, and internal block diagram in the SysML modeling language to describe the composition architecture of the environmental protection unmanned boat system and the interaction information between multiple subsystems. The specific implementation of constructing an architecture model based on the system function model includes:

[0104] Determine the composition architecture of the environmental protection unmanned boat system using the SysML modeling language based on the system use cases.

[0105] Describe the composition architecture using the module definition diagram selected by the user in the SysML modeling language. See Figure 11 .

[0106] Analyze the system use cases using the activity diagram selected by the user in the SysML modeling language to determine the interaction information between the activity flow and each subsystem, and allocate various activities to the system architecture to obtain each activity swimlane diagram. Among them, the activity flow is used to characterize the linkage behavior between subsystems.

[0107] Describe the interfaces and interaction items between each subsystem using the internal block diagram selected by the user in the SysML modeling language to implement the construction of the architecture model.

[0108] In a specific embodiment, for the multi-condition electromechanical operation use case, analyze the multi-condition electromechanical control behavior in the multi-condition electromechanical operation use case. The intelligent control subsystem receives the electromechanical control instruction for electromechanical control and sends the electromechanical control instruction to the electrical subsystem, propulsion subsystem, communication and navigation subsystem, integrated perception subsystem, mission payload subsystem, and auxiliary support subsystem. The electrical subsystem, propulsion subsystem, communication and navigation subsystem, integrated perception subsystem, mission payload subsystem, and auxiliary support subsystem respectively send their own operating states to the intelligent control subsystem. Perform a health status assessment through the intelligent control subsystem to complete the multi-condition electromechanical control.

[0109] For the water quality monitoring use case, analyze the monitoring behavior in the water quality monitoring use case. The mission payload subsystem starts the on-line water quality parameter analyzer and water quality detector and outputs the corresponding values of the water quality parameters.

[0110] For the autonomous navigation use case, analyze the behaviors of receiving the autonomous navigation information from the shore-based control station, integrated perception, executing the obstacle avoidance program, and executing the autonomous navigation program in the autonomous navigation use case.

[0111] Among them, the activity diagram of the behavior of receiving the autonomous navigation information from the shore-based control station can be seen in Figure 12 . The power subsystem supplies power to the communication and navigation and intelligent control subsystems. The communication and navigation subsystem receives and sends the autonomous navigation information, and the intelligent control subsystem receives information such as waypoints, speeds, and control parameters.

[0112] The integrated perception behavior activity diagram can be seen in Figure 13 ., powered by the power subsystem, the integrated perception subsystem activates perception devices such as lidar, millimeter-wave radar, and cameras, and the intelligent control subsystem performs target recognition.

[0113] The execution obstacle avoidance program behavior activity diagram can be seen in Figure 14 ., powered by the power subsystem, the integrated perception system provides the heading and speed information of the unmanned boat, the communication subsystem provides the position information of the unmanned boat, the intelligent control subsystem receives the obstacle information and the information of the unmanned boat, activates the obstacle avoidance program, outputs the rudder angle and rotation speed, and the propulsion subsystem performs the rudder and paddle actions.

[0114] For the execution of the autonomous navigation program behavior activity diagram, powered by the power subsystem, the integrated perception subsystem provides the heading and position information of the unmanned boat, the communication and navigation subsystem provides the position information of the unmanned boat, the intelligent control subsystem activates the autonomous navigation program, outputs the rudder angle and rotation speed, and the propulsion subsystem performs the rudder and paddle actions.

[0115] In a specific embodiment, the internal block diagram in the SysML modeling language is used to describe the interfaces and interaction items between the subsystems of the lake-type environmental protection unmanned boat, and the design of the architecture model of the lake-type environmental protection unmanned boat is realized. Define the interfaces between the subsystems, and describe the interaction information and interaction directions between each interface.

[0116] Using the SysML modeling language, a motion control interface is defined between the intelligent control subsystem and the propulsion subsystem to transmit the rudder angle and rotation speed interaction information from the intelligent control subsystem to the propulsion subsystem; a status receiving interface is defined between the integrated perception subsystem, the communication and navigation subsystem and the intelligent control subsystem to transmit the position and speed of the obstacle, the position information of the unmanned boat, and the heading and speed of the unmanned boat to the intelligent control subsystem through the integrated perception subsystem and the communication and navigation subsystem; a power transmission interface is defined between the subsystems to transmit electrical energy from the electronic subsystem to other subsystems.

[0117] Specifically, from the white-box perspective, the functions of the lake-type environmental protection unmanned boat system are further decomposed, and the system behaviors are allocated to the subsystems, and the interfaces and interaction information between the subsystems are analyzed to conduct a detailed analysis of the system architecture deep inside the system.

[0118] In a specific embodiment, the SysML modeling language is used to construct the traceability relationships between the architecture model and the function model and the requirements model respectively, and when it is determined that the traceability relationships indicate that the architecture model and the function model can meet the requirements model, the specific implementation of the completion of the environmental protection unmanned boat system modeling includes:

[0119] Verify the requirements of the target model using a traceability matrix that responds to user selections with the SysML modeling language. Use the stakeholder requirements as the columns of the traceability matrix and the functions of the target model as the rows of the traceability matrix. Draw arrows in the traceability matrix. When it is determined that all stakeholder system requirements are met based on the traceability matrix with arrows drawn, it is determined that the modeling of the environmental protection unmanned boat system is complete. See Figure 15 。

[0120] Among them, the target model is a component of the complete architecture model, and the stakeholders are the target users corresponding to the system requirements.

[0121] Among them, each arrow represents that the current function of the target model can meet the stakeholder requirements represented by the column.

[0122] This application establishes a traceability relationship between requirements and functions for the requirements and functions existing in the system design pattern, ensuring that the functions of the system can meet the needs of all stakeholders of the system and improving the user experience.

[0123] Figure 16 Illustrates a schematic diagram of the physical structure of an electronic device, such as Figure 16 shown, the electronic device may include: a processor 1601, a communication interface 1602, a memory 1603, and a communication bus 1604. Among them, the processor 1601, the communication interface 1602, and the memory 1602 communicate with each other through the communication bus 1604. The processor 1601 can call the logical instructions in the memory 1603 to execute the modeling method of the lake-type environmental protection unmanned boat system based on MBSE.

[0124] In addition, when the logical instructions in the above-mentioned memory 1603 can be implemented in the form of software functional units and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0125] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the modeling method of the lake-type environmentally friendly unmanned boat system based on MBSE provided by the above methods.

[0126] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the modeling method of the lake-type environmentally friendly unmanned boat system based on MBSE provided in the above-mentioned embodiments.

[0127] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0128] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0129] Finally, it should be noted that the above is only the preferred implementation of the present application, and the present application is not limited to the above embodiments. It is understood that other improvements and changes directly derived or associated by those skilled in the art without departing from the spirit and concept of the present application should be considered to be included in the scope of protection of the present application.

Claims

1. A modeling method for a lake-type environmentally friendly unmanned boat system based on MBSE, characterized in that: The method comprises: Obtaining system-related information of the environmentally friendly unmanned boat system based on the MagicGrid methodology, wherein the system-related information includes: system requirements, system functions and system architecture for the environmentally friendly unmanned boat; Use the requirements table and requirements diagram in the SysML modeling language to analyze system requirements and build a requirements model; Use the use case diagram, module definition diagram and activity diagram in the SysML modeling language to analyze system functions, sort out system use cases, use the activity diagram to describe the system functions and the behaviors of the system functions, and build a system function model based on the demand model, wherein the system use cases include: multi-condition electromechanical operation use case, autonomous navigation use case, target recognition use case and water quality monitoring use case; The system architecture is analyzed by using the module definition diagram, activity diagram and internal module diagram in the SysML modeling language, describing the composition architecture of the environmental protection unmanned boat system and the interaction information between multiple subsystems, and building an architecture model based on the system function model, wherein the composition architecture includes: electrical subsystem, propulsion subsystem, intelligent control subsystem, communication and navigation subsystem, integrated perception subsystem, mission payload subsystem and auxiliary support subsystem; The SysML modeling language is used to construct the traceability relationship between the architecture model and the functional model and the requirement model respectively, and when it is determined that the traceability relationship represents that the architecture model and the functional model can meet the requirement model, it is determined that the modeling of the environmental protection unmanned boat system is completed.

2. The modeling method of the lake-type environmentally friendly unmanned boat system based on MBSE according to claim 1 is characterized in that: The system requirements are analyzed using the requirements table and requirements diagram in the SysML modeling language to build a requirements model, including: The SysML modeling language is used to divide the system requirements into functional requirements, performance requirements and reliability requirements, wherein the functional requirements include: autonomous navigation function, water quality monitoring function, comprehensive perception function and communication function, the performance requirements include: the maximum speed of the lake-type environmentally friendly unmanned boat, and the reliability requirements include: fault detection function; Using the SysML modeling language to respond to the requirement table selected by the user, the divided system requirements are described through the requirement table, wherein the requirement table includes: a requirement level field, a requirement name field and a requirement content field; The SysML modeling language is used to respond to the requirement graph selected by the user, and the described requirement table is refined through the requirement graph to generate the requirement model.

3. The modeling method of the lake-type environmentally friendly unmanned boat system based on MBSE according to claim 1 is characterized in that: The system functions are analyzed by using the use case diagram, module definition diagram and activity diagram in the SysML modeling language, the system use cases are sorted out, the system functions and the behaviors of the system functions are described by using the activity diagram, and a system function model is constructed based on the requirement model, including: The system context of the environmental protection unmanned boat system is analyzed based on the system function using the SysML modeling language, wherein the system context includes: a command and control center, a shore-based control station, obstacles on the lake, lake water samples, and the lake-type environmental protection unmanned boat; constructing the system context using the SysML modeling language in response to a module definition diagram selected by a user; Use SysML modeling language to construct system use cases in response to user-selected use case diagrams; Associating the system context and the system use case with each other using an association tool in the SysML modeling language; The SysML modeling language is used to respond to the activity diagram selected by the user to describe the system functions and the behaviors of the system functions based on the system use case, and a functional model is constructed through the described system use case and the requirement model to analyze the behavioral logic of the environmentally friendly unmanned boat.

4. The modeling method of the lake-type environmentally friendly unmanned boat system based on MBSE according to claim 3 is characterized in that: The activity diagram includes: activity nodes and activity relationships, wherein the activity nodes are used to characterize the behavior of the system and allocate a swim lane to each behavior, and the activity relationships are used to characterize the execution order between the activity nodes and the flow of data between the activity nodes; Analyze the behavior logic of the environmentally friendly unmanned boat, including: For the multi-operating-condition electromechanical operation use case, the electromechanical control command is sent through the shore-based control station, the environmental protection unmanned boat system receives the electromechanical control command, and performs multi-operating-condition electromechanical control; For the autonomous navigation use case, the command and control center sends an autonomous navigation control command, the shore-based control station receives and analyzes the autonomous navigation control command, and sends the autonomous navigation information corresponding to the autonomous navigation control command to the environmental protection unmanned boat system, and the environmental protection unmanned boat system receives the autonomous navigation information and performs comprehensive perception operations; and during the autonomous navigation process, if an obstacle is encountered, the location information of the obstacle is received and the obstacle avoidance program is executed, otherwise the autonomous navigation program is executed; For the target identification use case, the command and control center sends a target identification control command, the shore-based control station receives and analyzes the target identification control command, and sends the target identification information corresponding to the target identification control command to the environmental protection unmanned boat system, and the environmental protection unmanned boat system starts the target identification program based on the target identification information to identify the target position; For the water quality monitoring use case, the shore-based control station receives and analyzes the water quality monitoring control instructions issued by the command and control center, and sends the monitoring parameters and monitoring area corresponding to the water quality monitoring control instructions to the environmental protection unmanned boat system. The environmental protection unmanned boat system executes an autonomous navigation program based on the monitoring parameters and the monitoring area to monitor the monitoring parameters and collect water samples from the monitoring area, and sends the obtained water quality parameter information to the shore-based control station.

5. The modeling method of the lake-type environmentally friendly unmanned boat system based on MBSE according to claim 4 is characterized in that: After the water quality parameter information is sent to the shore-based control station, it also includes: Determine whether the monitoring area has been completely monitored; if it is determined that the monitoring area has been completely monitored, control the environmental protection unmanned boat to return to a preset starting point.

6. The modeling method of the lake-type environmentally friendly unmanned boat system based on MBSE according to claim 1 is characterized in that: The system architecture is analyzed using the module definition diagram, activity diagram and internal module diagram in the SysML modeling language, the composition architecture of the environmental protection unmanned boat system and the interaction information between multiple subsystems are described, and an architecture model is constructed based on the system function model, including: Using SysML modeling language to determine the composition architecture of the environmentally friendly unmanned boat system based on system use cases; Describing the component architecture using a SysML modeling language in response to a module definition diagram selected by a user; Analyze the behaviors in the system use case by using the SysML modeling language in response to the activity diagram selected by the user to determine the interaction information between the activity flow and each subsystem, and allocate various activities to the system architecture to obtain the swim lane diagrams of each activity, wherein the activity flow is used to characterize the linkage behaviors between each subsystem; The SysML modeling language is used to describe the interfaces and interactions between the subsystems in response to the internal module diagram selected by the user, thereby realizing the construction of the architecture model.

7. The modeling method of the lake-type environmentally friendly unmanned boat system based on MBSE according to claim 6 is characterized in that: Analyze the behaviors in the system use cases to determine the interaction information between the activity flow and each subsystem, including: For multi-condition electromechanical operation use cases, the multi-condition electromechanical control behaviors in the multi-condition electromechanical operation use cases are analyzed, the electromechanical control instructions are received by the intelligent control subsystem to perform electromechanical control, and the electromechanical control instructions are sent to the electrical subsystem, propulsion subsystem, communication and navigation subsystem, integrated perception subsystem, mission payload subsystem and auxiliary support subsystem; the electrical subsystem, propulsion subsystem, communication and navigation subsystem, integrated perception subsystem, mission payload subsystem and auxiliary support subsystem respectively send their own operating status to the intelligent control subsystem; the health status assessment is performed through the intelligent control subsystem to complete the multi-condition electromechanical control; For the water quality monitoring use case, the monitoring behavior in the water quality monitoring use case is analyzed, and the task payload subsystem starts the water quality parameter online analyzer and the water quality detector, and outputs the corresponding values ​​of the water quality parameters; For the autonomous navigation use case, the behaviors of receiving the autonomous navigation information from the shore-based control station, comprehensive perception, executing the obstacle avoidance procedure and executing the autonomous navigation procedure in the autonomous navigation use case are analyzed.

8. The modeling method of the lake-type environmentally friendly unmanned boat system based on MBSE according to claim 6 is characterized in that: The SysML modeling language is used to describe the interfaces and interactions between subsystems in response to the internal module diagram selected by the user, including: The SysML modeling language is used to define a motion control interface between the intelligent control subsystem and the propulsion subsystem to transmit the rudder angle and speed interaction information from the intelligent control subsystem to the propulsion subsystem; a state receiving interface is defined between the integrated perception subsystem, the communication and navigation subsystem, and the intelligent control subsystem to transmit the position and speed of obstacles, the position information of the unmanned boat, and the heading and speed of the unmanned boat to the intelligent control subsystem through the integrated perception subsystem and the communication and navigation subsystem; a power transmission interface is defined between the subsystems to transmit electrical energy from the electronic subsystem to other subsystems.

9. The modeling method of the lake-type environmentally friendly unmanned boat system based on MBSE according to any one of claims 1 to 8, characterized in that: The traceability relationship between the architecture model and the functional model and the requirement model is constructed by using the SysML modeling language, and when it is determined that the traceability relationship represents that the architecture model and the functional model can meet the requirement model, the modeling of the environmental protection unmanned boat system is determined to be completed, including: Using SysML modeling language to respond to the user's selected traceability matrix to verify the target model requirements, taking the stakeholder requirements as the columns of the traceability matrix and the functions of the target model as the rows of the traceability matrix, wherein the target model is the completed architecture model and the stakeholders are the target users corresponding to the system requirements; Drawing arrows in the traceability matrix, wherein each arrow represents that the current functionality of the target model is able to satisfy the stakeholder requirements represented by the column; When it is determined based on the traceability matrix of the drawn arrows that the system requirements of all stakeholders are met, the modeling of the environmentally friendly unmanned boat system is determined to be completed.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the modeling method of the lake-type environmentally friendly unmanned boat system based on MBSE as described in any one of claims 1 to 9 are implemented.

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