Underwater positioning display method, device, monitoring equipment and system

Abstract

The present invention discloses an underwater positioning display method, device, monitoring equipment and system, the method comprising: obtaining positioning monitoring instructions; constructing a polar coordinate display model based on a web display interface; obtaining uploaded information of underwater equipment, the underwater equipment including a beacon and a base station for establishing communication with the monitoring equipment; mapping the uploaded information to the polar coordinate display model to indicate the underwater positioning of the underwater equipment relative to the monitoring equipment. The present invention can intuitively and real-timely understand the current positioning and related trajectory information of the underwater equipment through the web display interface, and draw and display based on the polar coordinate display model, which is more intuitive, clear and has a good user experience.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater acoustic positioning, and in particular to an underwater positioning display method, device, monitoring equipment and system. Background Art

[0002] With the development of science and technology, hydroacoustic positioning technology has been successfully applied to military, commercial and civil engineering. It can provide important positioning and navigation support for underwater submersibles, such as AUV (Autonomous Underwater Vehicle), UUV (Unmanned Underwater Vehicle) and other underwater equipment. However, the information fed back by underwater equipment based on hydroacoustic positioning technology can only be displayed through a simple operation panel, showing a string of data. The content is not intuitive, and professional operators need to parse the corresponding instruction documents to clearly understand the specific information. Non-professionals cannot understand the information intuitively. Summary of the invention

[0003] The object of the present invention is to provide an underwater positioning display method, device, monitoring equipment and system for intuitively viewing positioning information.

[0004] In order to solve the above technical problems, a technical solution adopted by the present invention is to provide an underwater positioning display method, the method comprising:

[0005] Get the positioning monitoring command;

[0006] Based on the web display interface, build a polar coordinate display model;

[0007] Obtaining uploaded information of an underwater device, wherein the underwater device includes a beacon and a base station for establishing communication with a monitoring device;

[0008] The uploaded information is mapped into the polar coordinate display model to illustrate the underwater positioning of the underwater device relative to the monitoring device.

[0009] In order to solve the above technical problem, another technical solution adopted by the present invention is: to provide an underwater positioning display device, including a unit for executing the underwater positioning display method as described above.

[0010] To solve the above technical problems, another technical solution adopted by the present invention is: providing a monitoring device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus;

[0011] Memory, used to store computer programs;

[0012] The processor is used to implement the steps of the underwater positioning display method as described above when executing the program stored in the memory.

[0013] In order to solve the above technical problems, another technical solution adopted by the present invention is: to provide an underwater positioning display system, the system includes a monitoring device and an underwater device, the monitoring device and the underwater device are communicatively connected, the underwater device includes a beacon and a base station, wherein the monitoring device includes steps that can realize the underwater positioning display method as described above when executed.

[0014] In order to solve the above technical problem, another technical solution adopted by the present invention is: providing a computer-readable storage medium, on which a computer program is stored, and when the computer program is processed and executed, the steps of the underwater positioning display method as described above are implemented.

[0015] The underwater positioning display method, device, monitoring equipment and system disclosed in the present invention obtain positioning monitoring instructions; construct a polar coordinate display model based on a web display interface; obtain uploaded information of underwater equipment, wherein the underwater equipment includes a beacon and a base station for establishing communication with the monitoring equipment; and map the uploaded information to the polar coordinate display model to indicate the underwater positioning of the underwater equipment relative to the monitoring equipment. The present invention can intuitively and real-timely understand the current positioning and related trajectory information of the underwater equipment through the web display interface, and draw and display based on the polar coordinate display model, which is more intuitive, clear and has a good user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the invention. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic flow chart of an underwater positioning display method according to an embodiment of the present invention;

[0018] Figure 2 It is a schematic diagram of a sub-process of an underwater positioning display method according to an embodiment of the present invention;

[0019] Figure 3 It is a schematic diagram of a sub-process of an underwater positioning display method according to an embodiment of the present invention;

[0020] Figure 4 It is a schematic diagram of a sub-process of an underwater positioning display method according to an embodiment of the present invention.

[0021] Figure 5is a schematic diagram of a display screen according to an embodiment of the present invention;

[0022] Figure 6 It is a schematic diagram of the module structure of an underwater positioning display system according to an embodiment of the present invention;

[0023] Figure 7 It is a schematic diagram of the module structure of an underwater positioning display device according to an embodiment of the present invention;

[0024] Figure 8 It is a schematic diagram of the module structure of a monitoring device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Similar component numbers in the drawings represent similar components. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0027] It should also be understood that the terms used in this description of the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of the present invention. As used in the description of the embodiments of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms of "a", "an" and "the" are intended to include plural forms.

[0028] Please refer to Figure 1 , Figure 1 It is a flowchart of an underwater positioning display method according to an embodiment of the present invention.

[0029] The present invention provides an underwater positioning display method, which is applicable to monitoring equipment, and hydroacoustic communication is performed between the monitoring equipment and the underwater equipment. It can be understood that the underwater equipment includes any combination of beacons and base stations that establish communication connections with the monitoring equipment, and the number of the underwater equipment is not limited. The method includes:

[0030] S101: Obtain positioning monitoring instructions.

[0031] Understandably, after logging into the monitoring device system, it obtains the positioning monitoring instruction issued by the user.

[0032] S102: Building a polar coordinate display model based on the web display interface.

[0033] Specifically, the monitoring device logs in to the web terminal, and builds an initial web display interface based on the web terminal. The web technology html and css are used to rebuild the web display page structure and create a DOM container. An html is a DOM tree, and each tag node is a DOM node. The DOM container can store other node tags, such as div; use jQuery to obtain the element node in the current specified collection, set the corresponding parameters, such as the radial axis of the polar coordinate system, the angular axis of the polar coordinate system, the prompt box component, and the legend component. The legend component displays different series of marks, colors and names. After the parameter setting is completed, the initial polar coordinate display model is drawn.

[0034] S103: Acquire uploaded information of an underwater device, wherein the underwater device includes a beacon and a base station for establishing communication with a monitoring device.

[0035] Specifically, after the monitoring device receives the request instruction sent by the underwater device, it receives the uploaded information sent by the underwater device and determines whether the uploaded information contains valid data. If it is detected that the uploaded information contains valid data, the uploaded information is preprocessed to filter out the second coordinate information that meets the set requirements; otherwise, the uploaded information is discarded. The uploaded information includes but is not limited to the ID data, name data, device type data, time, current speed, positioning data and depth of the underwater device, as well as one or more combinations of temperature data and salinity data of the surrounding environment detected by the underwater device.

[0036] S104: Mapping the uploaded information into the polar coordinate display model to illustrate the underwater positioning of the underwater device relative to the monitoring device.

[0037] Understandably, when the monitoring device receives the uploaded information sent by the underwater device, it needs to determine the source according to the device type in the uploaded information. If the uploaded information does not come from the underwater device, the uploaded information is discarded, including base stations, beacons and other types of devices that are not connected to the monitoring device for communication; the radius coordinates and angular coordinates in the positioning data of the underwater device are obtained from the uploaded information, and the location of the monitoring device is used as the pole, and the polar coordinates of the underwater device are mapped to the polar coordinate display model. The earliest location-related data is drawn as the starting point, and other related data such as device ID, name, device type, time, azimuth, current speed, status, temperature, salinity and depth are used as display content. Each related data corresponds to a point in the polar coordinates and is associated with the display content. If two or more points overlap in the polar coordinate display model, the other location-related data can be listed one by one in the display content. The trajectories of different underwater devices are drawn with different colors, and different icons are used to display the device type corresponding to the trajectory. The corresponding display content can be generated according to actual needs, and its display method is such as an information box.

[0038] Understandably, the uploaded information obtained once can only display a point or related mark in the polar coordinate display model. When the uploaded information is continuously obtained, the points can be connected into lines to draw a schematic diagram of the motion trajectory of the underwater device. The drawing technology of the web display interface can adopt the existing technology.

[0039] Preferably, the method further comprises:

[0040] Receive ranging instructions, calculate and display the distance between the currently selected base station and the beacon.

[0041] Among them, the distance measurement command is triggered by the user through the interface and is used to obtain the distance between the currently selected base station and the beacon, so that the user can understand the distance data between the base station and the beacon.

[0042] Preferably, the method further comprises:

[0043] A zoom instruction is received to reduce or enlarge the polar coordinate display model in equal proportion.

[0044] The zoom instruction is triggered by the user through the interface, and is used to proportionally reduce or enlarge the polar coordinate display model to facilitate user viewing.

[0045] The present invention obtains the positioning monitoring instruction; constructs a polar coordinate display model based on a web display interface; obtains the uploaded information of the underwater device, the underwater device includes a beacon and a base station; maps the uploaded information to the polar coordinate display model to indicate the underwater positioning of the underwater device relative to the monitoring device. The present invention can intuitively and real-timely understand the current positioning and related trajectory information of the underwater device through the web display interface, and draw and display based on the polar coordinate display model, which is more intuitive and clear.

[0046] Please refer to Figure 2 , Figure 2 It is a schematic diagram of a sub-process of an underwater positioning display method according to an embodiment of the present invention.

[0047] Furthermore, the construction of the polar coordinate display model based on the web display interface includes:

[0048] S201: Drawing a first display area based on the web display interface.

[0049] It can be understood that the first display area is divided and drawn in the web display interface, which is drawn and constructed based on web technology.

[0050] S202: Obtain first coordinate information.

[0051] It is understandable that the first coordinate information includes but is not limited to the positioning data of the monitoring device, and also includes ID data and device name, wherein the current location of the monitoring device can be understood through the positioning data.

[0052] S203: Mapping the first coordinate information to the first display area to obtain the polar coordinate display model.

[0053] Understandably, based on the positioning data of the monitoring device in the first coordinate information, a polar coordinate display model is constructed with the location of the monitoring device as the pole, so that the first display area of ​​the web display interface is used to display the display screen presented by the polar coordinate display model, and the display screen is used to represent the location and motion trajectory of the underwater device. For details, please refer to Figure 5 .

[0054] Please refer to Figure 3 , Figure 3 It is a schematic diagram of a sub-process of an underwater positioning display method according to an embodiment of the present invention.

[0055] Furthermore, the construction of the polar coordinate display model based on the web display interface also includes:

[0056] S301: Drawing a second display area based on the web display interface.

[0057] Understandably, a second display area is divided and drawn in the web display interface, which is drawn and constructed based on web technology. The first display area is used to display the picture presented by the polar coordinate display model, and the second display area can be used as an information box.

[0058] S302: Acquire the first coordinate information.

[0059] S303: Map the first coordinate information to the second display area, and display the first coordinate information through the second display area.

[0060] Specifically, the second display area, as an information box, can directly display the first coordinate information. Combined with the first display area, the user can not only intuitively understand the movement of the underwater device through the motion trajectory, but also intuitively understand the current location of the underwater device and other related data through the second display area. For details, please refer to Figure 5 In addition, the display content in the second display area can timely update the first coordinate information according to the current location of the underwater device.

[0061] Furthermore, before obtaining the upload information of the target device, the method further includes:

[0062] S401: Receive a request instruction sent by the underwater device and make a judgment.

[0063] It can be understood that the request instruction is a request to establish a connection between devices, which is a protocol connection between underwater devices. Data transmission can only be carried out after the protocol connection is completed.

[0064] S402: If the request instruction meets the set requirements, establish underwater acoustic wireless communication with the underwater device.

[0065] Understandably, the setting requirements can be set according to the actual needs of the user, such as timing settings, the underwater equipment sends the request instruction at the set frequency, and the monitoring equipment receives it at the same set frequency. If real-time reception is required, the receiving frequency can be adjusted. After the protocol is successfully established, underwater acoustic communication can be realized, thereby realizing data interaction.

[0066] Furthermore, after obtaining the uploaded information of the underwater device, the method further includes:

[0067] S501: Determine whether the uploaded information contains valid data.

[0068] If it is monitored that the uploaded information contains valid data, step S502 is executed: pre-processing the uploaded information to filter out the second coordinate information that meets the set requirements.

[0069] Understandably, the second coordinate information is the coordinate data in the uploaded information sent by the underwater device, which is used to identify the location and orientation of the underwater device. The monitoring device judges the uploaded information. If the uploaded information contains valid data, that is, the uploaded information contains data in a preset format; if the uploaded information does not contain valid data, no operation is performed. Monitoring is a means of monitoring network status, network data and other information. The monitoring device will receive the uploaded information transmitted by the underwater device in real time. If the uploaded information is valid, relevant data is obtained from it by parsing.

[0070] Please refer to Figure 4 , Figure 4 It is a schematic diagram of a sub-process of an underwater positioning display method according to an embodiment of the present invention.

[0071] Furthermore, the method of mapping the uploaded information into the polar coordinate display model to illustrate the underwater positioning of the underwater device relative to the monitoring device includes:

[0072] S601: Analyze and calculate the second coordinate information to obtain the target radius coordinate and target angle coordinate of the underwater device.

[0073] It can be understood that the coordinate data and the orientation data of the underwater device contained in the second coordinate information are obtained by analytical calculation.

[0074] S602: Based on the target radius coordinates and the target angle coordinates, coordinate matching is performed with the polar coordinate display model.

[0075] Understandably, the target radius coordinates and target angle coordinates of the underwater device are matched and mapped to the polar coordinates of the polar coordinate display model, so that the motion trajectory of the underwater device can be displayed in the polar coordinate display model.

[0076] S603: Displaying content at corresponding coordinate positions in the polar coordinate display model to demonstrate the underwater positioning of the underwater device relative to the monitoring device.

[0077] It is understandable that the display of the content of the underwater equipment in the polar coordinate display model can be represented by points or set icons, and the points or icons are connected in series to present a trajectory diagram.

[0078] Furthermore, the underwater positioning display method of the present invention also includes:

[0079] Build the database.

[0080] It is understandable that the database can be constructed by using common construction techniques.

[0081] The first coordinate information and the second coordinate information are acquired, and the first coordinate information and the second coordinate information are imported into the database as historical data.

[0082] Understandably, the first coordinate information and the second coordinate information are imported into the database for storage as historical data, so that when the web display interface is closed and restarted or the page is switched, the corresponding data can be retrieved to redraw the trajectory diagram of the underwater device when returning to the page. Moreover, when new first coordinate information and second coordinate information are received, they will be cached and updated in the database.

[0083] It should be noted that the underwater positioning display method of the present invention also includes:

[0084] Get the trigger instruction;

[0085] Identify the target polar coordinates in the polar coordinate display model where the trigger instruction is located;

[0086] Retrieve the third coordinate information matched by the target polar coordinates and display it;

[0087] The third coordinate information is the historical data stored in the database.

[0088] Please refer to Figure 6 , Figure 6 It is a schematic diagram of the module structure of an underwater positioning display system according to an embodiment of the present invention.

[0089] The present invention also provides an underwater positioning display system, including a monitoring device 10 and an underwater device 20, wherein the monitoring device 10 is communicatively connected to the underwater device 20, and the underwater device 20 includes a beacon and a base station, wherein the monitoring device 10 can execute the underwater positioning display method as described above.

[0090] Please refer to Figure 7 , Figure 7 It is a schematic diagram of the module structure of an underwater positioning display device according to an embodiment of the present invention.

[0091] The present invention further provides an underwater positioning display device 700, comprising a unit for executing the underwater positioning display method as described above, including:

[0092] A monitoring start unit 701 is used to obtain a positioning monitoring instruction;

[0093] A model building unit 702 is used to build a polar coordinate display model based on a web display interface;

[0094] An information acquisition unit 703 is used to acquire uploaded information of an underwater device, where the underwater device includes a beacon and a base station;

[0095] The positioning mapping unit 704 is used to map the uploaded information into the polar coordinate display model to illustrate the underwater positioning of the underwater device relative to the monitoring device.

[0096] In one embodiment, the model building unit 702 is specifically used to draw a first display area based on the web display interface; obtain first coordinate information; map the first coordinate information to the first display area, and build the polar coordinate display model.

[0097] In one embodiment, the model building unit 702 is further specifically used to draw a second display area based on the web display interface; obtain the first coordinate information; map the first coordinate information to the second display area, and display the first coordinate information through the second display area.

[0098] In one embodiment, the device further comprises: a communication establishing unit, configured to receive a request instruction sent by an underwater device; and to establish underwater acoustic wireless communication with the underwater device if the request instruction meets set requirements.

[0099] In one embodiment, the device further includes: a data status unit, used to determine whether the uploaded information contains valid data; if it is monitored that the uploaded information contains valid data, the uploaded information is preprocessed to filter out the second coordinate information that meets the set requirements.

[0100] In one embodiment, the positioning mapping unit 704 is specifically used to parse and calculate the second coordinate information to obtain the target radius coordinates and target angle coordinates of the underwater equipment; based on the target radius coordinates and target angle coordinates, coordinate matching is performed with the polar coordinate display model; content is displayed at the corresponding coordinate position in the polar coordinate display model to show the underwater positioning of the underwater equipment relative to the monitoring equipment.

[0101] In one embodiment, the device further includes a data storage unit for constructing a database; obtaining the first coordinate information and the second coordinate information, and importing the first coordinate information and the second coordinate information into the database as historical data.

[0102] Please refer to Figure 8 , Figure 8 It is a schematic diagram of the module structure of a monitoring device according to an embodiment of the present invention.

[0103] The present invention further provides a monitoring device, including a processor 801 , a communication interface 802 , a memory 803 and a communication bus 804 , wherein the processor 801 , the communication interface 802 and the memory 803 communicate with each other via the communication bus 804 .

[0104] The memory 803 is used to store computer programs.

[0105] The processor 801 is used to implement the steps of the underwater positioning display method as described above when executing the program stored in the memory.

[0106] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is processed and executed, the steps of the underwater positioning display method described above are implemented.

[0107] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0108] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An underwater positioning display method, characterized in that: The method comprises: Get the positioning monitoring command; Based on the web display interface, build a polar coordinate display model; Obtaining uploaded information of the underwater device, wherein the underwater device includes a beacon and a base station for establishing communication with the monitoring device, and the uploaded information includes but is not limited to ID data, name data, device type data, time, current speed, positioning data and depth of the underwater device, and one or more combinations of temperature data and salinity data of the surrounding environment detected by the underwater device; The uploaded information is mapped to the polar coordinate display model to illustrate the underwater positioning of the underwater device relative to the monitoring device. Specifically, the source is determined according to the device type in the uploaded information. If the uploaded information does not come from the underwater device, the uploaded information is discarded; otherwise, the radius coordinates and angular coordinates in the positioning data of the underwater device are obtained from the uploaded information, and the location of the monitoring device is used as the pole. The polar coordinates of the underwater device are mapped to the polar coordinate display model, and the earliest position-related data is drawn as the starting point. Each related data corresponds to a point in the polar coordinates and is associated with the display content.

2. The underwater positioning display method according to claim 1, characterized in that: The construction of the polar coordinate display model comprises: Based on the web display interface, drawing a first display area; Get the first coordinate information; The first coordinate information is mapped to the first display area to obtain the polar coordinate display model.

3. The underwater positioning display method according to claim 2, characterized in that: The constructing of the polar coordinate display model also includes: Based on the web display interface, drawing a second display area; Acquire the first coordinate information; The first coordinate information is mapped to the second display area, and the first coordinate information is displayed through the second display area.

4. The underwater positioning display method according to claim 3, characterized in that: Before obtaining the uploaded information of the underwater device, the method further includes: Receive request instructions sent by underwater equipment and make judgments; If the request instruction meets the set requirements, underwater acoustic wireless communication is established with the underwater device.

5. The underwater positioning display method according to claim 4, characterized in that: After obtaining the uploaded information of the underwater device, the method further includes: Determining whether the uploaded information contains valid data; If it is monitored that the uploaded information contains valid data, the uploaded information is preprocessed to filter out the second coordinate information that meets the set requirements.

6. The underwater positioning display method according to claim 5, characterized in that: Mapping the uploaded information into the polar coordinate display model to display the underwater positioning of the underwater device relative to the monitoring device includes: Analyze and calculate the second coordinate information to obtain the target radius coordinate and target angle coordinate of the underwater device; Based on the target radius coordinates and the target angle coordinates, coordinate matching is performed with the polar coordinate display model; Content is displayed at corresponding coordinate positions in the polar coordinate display model to demonstrate the underwater positioning of the underwater device relative to the monitoring device.

7. The underwater positioning display method according to claim 1, characterized in that: The method further comprises: Receive ranging instructions, calculate and display the distance between the currently selected base station and the beacon.

8. The underwater positioning display method according to claim 1, characterized in that: The method further comprises: A zoom instruction is received to reduce or enlarge the polar coordinate display model in equal proportion.

9. An underwater positioning display device, characterized in that: include: A monitoring start unit, used to obtain positioning monitoring instructions; A model building unit, used for building a polar coordinate display model based on a web display interface; An information acquisition unit, used to acquire uploaded information of an underwater device, wherein the underwater device includes a beacon and a base station, and the uploaded information includes but is not limited to ID data, name data, device type data, time, current speed, positioning data and depth of the underwater device, and one or more combinations of temperature data and salinity data of the surrounding environment detected by the underwater device; A positioning mapping unit, used for mapping the uploaded information into the polar coordinate display model to indicate the underwater positioning of the underwater device relative to the monitoring device. Specifically, the source is determined according to the device type in the uploaded information. If the uploaded information does not come from the underwater device, the uploaded information is discarded; Otherwise, the radius coordinates and angular coordinates in the positioning data of the underwater equipment are obtained from the uploaded information, and the location of the monitoring equipment is used as the pole. The polar coordinates of the underwater equipment are mapped to the polar coordinate display model, and the earliest position-related data is drawn as the starting point. Each relevant data corresponds to a point in the polar coordinates and is associated with the display content.

10. A monitoring device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; The processor is used to implement the steps of the underwater positioning display method described in any one of claims 1-8 when executing the program stored in the memory.

11. An underwater positioning display system, characterized in that: The system includes a monitoring device and an underwater device, the monitoring device and the underwater device are communicatively connected, the underwater device includes a beacon and a base station, wherein the monitoring device includes steps that can implement the underwater positioning display method described in any one of claims 1 to 8 when executed.

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