Shore-finding navigation method, device, control terminal and storage medium

Abstract

The embodiment of the present invention discloses a shore-finding navigation method, device, control terminal and storage medium, which are applied to water-based traveling equipment, wherein a plurality of sensors are arranged on one side of the water-based traveling equipment and a thrower is arranged on the other side. The method comprises: controlling the water-based traveling equipment to deflect according to a preset deflection direction, so that one side of the thrower faces the center of the pond and one side of the sensor faces the shore; receiving the sensor information fed back by the plurality of sensors in real time; determining the obstacle position according to the sensor information fed back by sensors at different positions, and determining the current action instruction according to the obstacle position, so that the water-based traveling equipment can sail along the shore. This ensures that the water-based traveling equipment can walk along the shore in a stable direction while throwing materials, while realizing automatic obstacle avoidance and path correction, avoiding failures and reducing risks.

Description

Technical Field

[0001] The present invention relates to the field of navigation and pathfinding, and in particular to a shore-finding navigation method, device, control terminal and storage medium. Background Art

[0002] In the case of rising labor costs in aquaculture, in order to effectively reduce the use of labor in shrimp farming and reduce labor costs, aquaculture robots can map the working environment, intelligently plan paths, and detect the robot's walking distance and turning angle with corresponding sensors to complete autonomous navigation without releasing water or being supervised during the farming process. They can fully and automatically complete shrimp pond farming tasks such as adaptive intelligent feeding, water cleaning and desilting, and water quality monitoring for different work scenarios. When throwing materials into the shrimp pond, the robot needs to be able to throw materials autonomously and stably along the established route, but the existing technology cannot guarantee the stability of the robot well, and due to various environmental reasons, the navigation method is not accurate. Summary of the invention

[0003] In view of this, the present application provides a shore-finding navigation method, which is applied to a water-borne traveling device, wherein a plurality of sensors are arranged on one side of the water-borne traveling device, and a thrower is arranged on the other side. The method comprises:

[0004] Control the water traveling equipment to deflect according to a preset deflection direction, so that one side of the thrower faces the center of the pond and the other side of the sensor faces the shore;

[0005] Receiving sensing information fed back by the multiple sensors in real time;

[0006] The position of the obstacle is determined according to the sensing information fed back by sensors at different positions, and the current action instruction is determined according to the position of the obstacle, so that the water-based traveling equipment sails along the coast.

[0007] Further, the plurality of sensors include a first sensor, a second sensor and a third sensor;

[0008] The first sensor is arranged at the head of the water traveling equipment, and its detection direction is toward the first side, and is used to detect obstacles in the direction of the first side of the water traveling equipment. The second sensor is arranged at the head of the water traveling equipment and its detection direction is toward the second side, and is used to detect obstacles in front of the second side of the water traveling equipment. The third sensor is arranged at the tail of the water traveling equipment and its detection direction is toward the second side, and is used to detect obstacles behind the second side of the water traveling equipment.

[0009] Further, according to the obstacle position, determining the current action instruction includes:

[0010] If an obstacle is detected by the first sensor, turn on the spot according to a first preset direction and a first preset angle;

[0011] If no obstacle is detected by the first sensor, determining whether the second sensor and the third sensor detect an obstacle;

[0012] If an obstacle is detected by the second sensor and an obstacle is detected by the third sensor, the vehicle moves forward and turns according to the first preset direction and the second preset angle;

[0013] If an obstacle is detected by the second sensor and no obstacle is detected by the third sensor, the vehicle turns forward according to the first preset direction and the third preset angle;

[0014] If no obstacle is detected by the second sensor and the third sensor detects an obstacle, keep moving in the current direction;

[0015] If no obstacle is detected by the second sensor and no obstacle is detected by the third sensor, turning forward according to the second preset direction and the second preset angle;

[0016] The first preset direction is opposite to the direction of the side where the sensor is installed, and the second preset direction is the same as the direction of the side where the sensor is installed.

[0017] Furthermore, the first preset angle is greater than the third preset angle, and the third preset angle is greater than the second preset angle.

[0018] Furthermore, each of the sensors is provided with a trigger threshold; determining the obstacle position according to the sensing information fed back by the sensors at different positions includes:

[0019] Determining whether the detected obstacle is within the trigger threshold according to the sensing information;

[0020] If yes, it is determined that there is an obstacle at the position facing the sensor;

[0021] If the obstacle is not present or not detected, it is determined that there is no obstacle at the position facing the sensor.

[0022] Furthermore, the plurality of sensors also include a laser ranging sensor, and the laser ranging sensor is arranged at the bow;

[0023] After controlling the water traveling device to deflect according to a preset deflection direction so that one side of the thrower faces the center of the pond and one side of the sensor faces the shore, the method further includes:

[0024] The laser ranging sensor is used to detect the distance of the obstacle in front of the water traveling equipment. If the distance of the obstacle in front is less than the preset distance, the water traveling equipment is controlled to deflect and move forward in the first preset direction until the distance of the obstacle in front is greater than the preset distance, so that the hull and the shore are parallel.

[0025] Further, the first sensor, the second sensor and the third sensor are all ultrasonic sensors;

[0026] Each ultrasonic sensor is arranged on the hull of the water traveling equipment at a preset installation angle, and the installation position is higher than the horizontal plane, so that the lower edge of the vertical beam angle of each ultrasonic sensor is parallel to the horizontal plane.

[0027] Furthermore, the present application also provides a shore-finding navigation device, which is applied to a water-borne traveling device, wherein a plurality of sensors are arranged on one side of the water-borne traveling device, and a thrower is arranged on the other side, and the device comprises:

[0028] A start module is used to control the water traveling equipment to deflect according to a preset deflection direction, so that one side of the thrower faces the center of the pond and the other side of the sensor faces the shore;

[0029] A receiving module, used for receiving the sensing information fed back by the multiple sensors in real time;

[0030] The control module is used to determine the obstacle position according to the sensor information fed back by the sensors at different positions, and determine the current action instruction according to the obstacle position, so that the water-based driving equipment can navigate along the coast.

[0031] Furthermore, the present application also provides a control terminal, including a processor and a memory, wherein the memory stores a computer program, and when the computer program runs on the processor, the shore-finding navigation method is executed.

[0032] Furthermore, the present application also provides a readable storage medium storing a computer program, which executes the shore-finding navigation method when running on a processor.

[0033] The embodiment of the present invention discloses a shore-finding navigation method, device, control terminal and storage medium, which are applied to water-borne driving equipment, wherein a plurality of sensors are arranged on one side of the water-borne driving equipment, and a thrower is arranged on the other side, and the method comprises: controlling the thrower boat to deflect according to a preset deflection direction, so that one side of the thrower faces the center of the pond, and one side of the sensor faces the shore; receiving the sensor information fed back by the plurality of sensors in real time; determining the obstacle position according to the sensor information fed back by sensors at different positions, and determining the current action instruction according to the obstacle position, so that the thrower boat sails along the shore. It ensures that the thrower boat can walk along the shore in a stable direction to throw materials, and realizes automatic obstacle avoidance and path correction at the same time, avoids failures, and reduces risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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 embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection of the present invention. In each of the drawings, similar components are numbered similarly.

[0035] Figure 1 A schematic diagram of a shore-finding navigation method flow chart of an embodiment of the present application is shown;

[0036] Figure 2 A schematic diagram showing the placement of a sensor on a throwing ship according to an embodiment of the present application is shown;

[0037] Figure 3 A schematic diagram of a sensor placement angle according to an embodiment of the present application is shown;

[0038] Figure 4 A schematic structural diagram of a shore-finding navigation device of the present application is shown. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0040] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0041] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present invention, are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0042] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0043] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present invention belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present invention.

[0044] The technical solution of the present application can be applied to water-borne equipment in water areas with boundaries, such as shrimp ponds and fish ponds. The water-borne equipment can be a traditional material-throwing boat, or a water-walking robot, a material-throwing boat, etc. It mainly provides an automated shore-finding navigation function, so that the material-throwing boat or the material-throwing robot can circle along the shore of the water area to throw materials, while avoiding stranding, route distortion and collision. The technical solution of the present application is explained below with specific embodiments.

[0045] Example 1

[0046] like Figure 1 As shown, a shore-finding navigation method in this embodiment includes the following steps:

[0047] Step S100, controlling the water traveling equipment to deflect according to a preset deflection direction, so that one side of the thrower faces the center of the pond and the other side of the sensor faces the shore.

[0048] In the embodiment of the present application, the water-borne driving equipment is explained by taking a throwing boat as an example. The throwing boat is provided with multiple sensors. Because it is navigating along the shore, only one side of the throwing boat will face the shore, and the other side will face the center of the pond. Therefore, the sensor can be provided on only one side of the throwing boat for detecting the shore, and the throwing device can be provided on the other side for throwing operations.

[0049] At the beginning of the throwing operation, the throwing boat will need to leave the dock and then deflect according to the preset direction. For example, if the sensor is set on the left side of the hull, it means that the hull needs to navigate clockwise to find the shore. If the dock exit faces the center of the pond, then for the throwing boat, it will turn left first when leaving the dock, so that the side with the throwing device faces the center of the pond, and the side with the sensor faces the shore. In this embodiment, the example of setting the sensor on the left side of the hull is used for explanation. It can be understood that if the sensor is set on the right side of the hull, the principle is similar, so it will not be repeated.

[0050] Specifically, in an optional solution, the sensor can be set as follows Figure 2 As shown, at least three sensors may be provided on the material throwing boat 100 , namely a first sensor 110 , a second sensor 120 and a third sensor 130 .

[0051] The first sensor 110 is arranged at the bow and its detection direction is toward the first side, and is used to detect obstacles on the first side of the water traveling equipment. The second sensor 120 is arranged at the bow and its detection direction is toward the second side, and is used to detect obstacles in front of the second side of the water traveling equipment. The third sensor 130 is arranged at the stern and its detection direction is toward the second side, and is used to detect obstacles behind the second side of the water traveling equipment. The first side is the front side of the throwing boat, and the second side can be the left side or the right side.

[0052] Specifically, the first sensor 110 is disposed at the left side of the bow and faces the front of the bow to detect the distance of obstacles in front of the left side of the throwing boat.

[0053] The second sensor 120 is also disposed at the bow position, but is different from the first sensor 110 in that it is disposed at the left side of the bow, facing the left side of the hull, so as to detect the distance of obstacles in the left front direction of the throwing boat 100.

[0054] The third sensor 130 is disposed at the stern position, similar to the second sensor 120 , which is disposed on the side of the stern, facing the side direction of the hull, so as to detect the distance of obstacles on the left rear side of the dumping boat 100 .

[0055] Among them, the three sensors can be ultrasonic sensors, two-dimensional scanning laser radars, single-line TOF ranging sensors, etc.

[0056] This embodiment takes an ultrasonic sensor as an example. In order to avoid misjudgment caused by the reflection of ultrasonic waves hitting the water surface, the ultrasonic sensor is preferably a sensor with a narrow vertical beam angle and a wide horizontal beam angle, and the ultrasonic sensor is placed at a certain inclination angle so that the lower edge of the vertical beam angle is parallel to the water sheet to avoid detecting obstacles on the water surface.

[0057] For example Figure 3 Schematic diagram of the ultrasonic sensor setup shown.

[0058] The ultrasonic sensor is set at a certain inclination angle θ2 with the horizontal plane, so that the ultrasonic sensor emits detection sound waves upward. The lower edge of the vertical beam angle of the ultrasonic sensor is adjusted so that the lower edge of the beam angle is parallel to the horizontal plane. In this way, the ultrasonic sensor will not detect the water surface when working, and identify the water surface as an obstacle. If the shore is higher than the water surface, the ultrasonic detector can still detect the shore. θ2 can be set according to θ1 and adjusted accordingly.

[0059] Step S200: receiving sensing information fed back by the multiple sensors in real time.

[0060] Combined with the records in step 100, according to the sensing information fed back by the ultrasonic sensor, the distance of the obstacle on the side of the hull facing the shore, that is, the distance between the hull and the shore, can be determined. In order to ensure the stability of the throwing boat, it is necessary to maintain a certain distance between the throwing boat and the shore. Therefore, the detection range of the sensor will be limited. For example, if it is necessary to maintain a distance of about 1.5 meters between the throwing boat and the shore for throwing materials, the sensing distance of the sensor can be set to 1.5 meters. The obstacles sensed within 1.5 meters are effective obstacles. If the obstacles are sensed outside 1.5 meters, they are not considered effective obstacles.

[0061] As an optional solution, a laser ranging sensor can also be set at the bow. The sensor is set in the center of the bow to detect the distance of obstacles in front of the throwing boat.

[0062] Therefore, after step S100, the hull position can be roughly adjusted based on the laser ranging sensor. When it is detected that the distance of the obstacle ahead is less than the preset range, the material-casting boat is controlled to deflect and move forward in the first preset direction until the distance of the obstacle ahead is greater than the preset range, so that the hull and the shore are as parallel as possible.

[0063] Among them, the preset range here is different from the sensing distance of the above-mentioned ultrasonic sensor. Taking the sensing distance of 1.5 meters as an example, the above-mentioned preset range can be K*1.5, and the K value is the threshold coefficient, which can range from 1 to 2, indicating that the effective obstacle avoidance distance of the laser ranging sensor is higher than the sensing distance of the above-mentioned ultrasonic sensor, that is, the laser ranging sensor can detect obstacles before the ultrasonic sensor.

[0064] When the laser ranging sensor detects that the distance of the obstacle in front is less than the preset range, it means that the distance between the bow and the shore is approaching, which means that the entire ship is also approaching the shore, and it also means that the bow is facing the shore and the hull is not parallel to the shore. Therefore, it is necessary to continue to deflect forward in the preset direction to adjust the direction of the hull. In this embodiment, because the sensor is set on the left side, it is necessary to control the ship to turn right until the distance that can be detected in front is greater than the preset range. It is considered that the hull and the shore are almost parallel, and there is no obstacle in front of the ship, and the subsequent coastal navigation and material throwing operations can be carried out.

[0065] Step S300, determining the obstacle position according to the sensor information fed back by sensors at different positions, and determining the current action instruction according to the obstacle position, so that the water-based driving equipment sails along the coast.

[0066] The first sensor can detect obstacles in the left front of the hull. Because the pond is circular, the first sensor can more easily detect the edge of the shore in the left front than the laser detector set in the center.

[0067] The second sensor and the third sensor respectively detect whether the left side of the hull detects the shore. According to the different results detected by these three detectors, the throwing boat is controlled to perform different movements.

[0068] Specifically, if an obstacle is detected by the first sensor, the vehicle turns on the spot according to a first preset direction and a first preset angle.

[0069] If the first sensor does not detect an obstacle, further determining whether the second sensor and the third sensor detect an obstacle;

[0070] If the second sensor detects an obstacle and the third sensor detects an obstacle, the vehicle turns forward according to the first preset direction and the second preset angle;

[0071] If the second sensor detects an obstacle and the third sensor does not detect an obstacle, the vehicle turns forward according to the first preset direction and the third preset angle;

[0072] If the second sensor does not detect an obstacle and the third sensor detects an obstacle, keep moving in the current direction;

[0073] If the second sensor does not detect an obstacle and the third sensor does not detect an obstacle, turn forward according to a second preset direction and a second preset angle;

[0074] The first preset direction is opposite to the direction of the side where the sensor is installed, and the second preset direction is the same as the direction of the side where the sensor is installed.

[0075] Because the sensor of this embodiment is arranged on the left, the first preset direction is the right side, and the second preset direction is the left side.

[0076] The first preset angle is greater than the third preset angle, and the third preset angle is greater than the second preset angle. For example, the first angle is 30 to 45 degrees, the third preset angle may be an angle between 15 and 30 degrees, and the second preset angle is an angle between 0 and 15 degrees.

[0077] For example, if the first sensor detects an obstacle within the sensing distance, it means that the shore is detected in the left front. Continuing straight may cause the boat to run aground, so the boat should be turned toward the center of the pond, that is, toward the right of the boat, at a certain angle. In order to ensure that the boat does not touch the shore during the turn, a conservative on-the-spot turn is used.

[0078] When the first sensor does not detect the shore, it means that it is not easy to run aground if you go straight ahead for a distance, so you can continue to go straight and make adjustments based on the detection results of the second and third sensors.

[0079] When both the second sensor and the third sensor detect obstacles, it means that the hull and the shore are basically parallel. In this state, the ship can continue to navigate along the coast at a predetermined angle, so it can turn right at the minimum amplitude, that is, the second preset angle.

[0080] When the second sensor detects an obstacle but the third sensor does not, it means that the left front of the hull is closer to the shore, and the sailing angle of the ship is biased to the left and needs to be adjusted to the right. Therefore, it is necessary to turn right according to a third preset angle that is greater than the second preset angle to correct the deviation.

[0081] When the second sensor does not detect an obstacle and the third sensor detects an obstacle, it means that the navigation angle of the hull is too toward the center of the pond, but has not left the shore too far, so there is no need to continue turning right, and the hull can find the shore by moving straight forward.

[0082] When neither the second sensor nor the third sensor detects an obstacle, it means that the ship is too far from the shore. At this time, the course needs to be corrected, so it is necessary to head towards the shore, that is, to the left in this embodiment. Considering that the pond is circular, the angle of sailing to the left does not need to be too large to avoid over-correction, so it is sufficient to turn at the smallest angle.

[0083] After completing the material throwing work, the material throwing boat can be guided back to the dock according to the preset guidance program. The specific guidance method is related to the dock design, and can be found in relevant literature, which will not be described here.

[0084] Therefore, according to the sensing detection results of the above three sensors, the parallel state and relative distance between the throwing boat and the shore can be dynamically maintained, and the deviation can be corrected when it is too close or too far, and the travel angle can also be corrected, so that the throwing boat can sail stably along a certain distance from the shore and throw bait towards the center of the pond, so that the whole throwing process is automated and intelligent, and can be self-corrected and guided. It can cope with errors caused by machine control or environmental factors, ensure the safe and reliable operation of the throwing boat, and ensure that the throwing boat can move along the shore to throw bait in a stable direction, while realizing automatic obstacle avoidance and path correction, avoiding failures and reducing risks.

[0085] Example 2

[0086] The present application also provides a shore-finding navigation device, such as Figure 4 As shown, it is applied to a throwing ship, wherein a plurality of sensors are arranged on one side of the throwing ship, and a throwing device is arranged on the other side. The device comprises:

[0087] The start module 10 is used to control the throwing boat to deflect according to a preset deflection direction, so that one side of the throwing boat faces the center of the pond and the other side of the sensor faces the shore;

[0088] A receiving module 20, configured to receive sensing information fed back by the multiple sensors in real time;

[0089] The control module 30 is used to determine the position of the obstacle according to the sensor information fed back by the sensors at different positions, and determine the current action instruction according to the position of the obstacle, so that the dumping ship sails along the coast.

[0090] Furthermore, the present application also provides a control terminal, including a processor and a memory, wherein the memory stores a computer program, and when the computer program runs on the processor, the shore-finding navigation method is executed.

[0091] Furthermore, the present application also provides a readable storage medium storing a computer program, which executes the shore-finding navigation method when running on a processor.

[0092] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow chart, and the combination of boxes in the structure diagram and / or the flow chart, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0093] In addition, the functional modules or units in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0094] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0095] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A shore-finding navigation method, characterized in that: Applied to a water traveling device, wherein a plurality of sensors are arranged on one side of the water traveling device and a thrower is arranged on the other side, the method comprises: Controlling the water traveling device to deflect according to a preset deflection direction so that one side of the thrower faces the center of the pond and one side of the sensor faces the shore; Receiving sensing information fed back by the multiple sensors in real time; Determine the position of the obstacle according to the sensing information fed back by the sensors at different positions, and determine the current action instruction according to the position of the obstacle, so that the water-borne traveling equipment sails along the coast; The plurality of sensors include a first sensor, a second sensor, and a third sensor; The first sensor is arranged at the head of the water traveling equipment, and its detection direction is toward the first side, and is used to detect obstacles in the direction of the first side of the water traveling equipment. The second sensor is arranged at the head of the water traveling equipment, and its detection direction is toward the second side, and is used to detect obstacles in front of the second side of the water traveling equipment. The third sensor is arranged at the tail of the water traveling equipment, and its detection direction is toward the second side, and is used to detect obstacles behind the second side of the water traveling equipment. According to the obstacle position, determining the current action instruction includes: If no obstacle is detected by the first sensor, determining whether the second sensor and the third sensor detect an obstacle; If an obstacle is detected by the second sensor and an obstacle is detected by the third sensor, the vehicle moves forward and turns according to a first preset direction and a second preset angle; If an obstacle is detected by the second sensor and no obstacle is detected by the third sensor, the vehicle turns forward according to the first preset direction and the third preset angle; If no obstacle is detected by the second sensor and the third sensor detects an obstacle, keep moving in the current direction; If no obstacle is detected by the second sensor and no obstacle is detected by the third sensor, turning forward according to the second preset direction and the second preset angle; The first preset direction is opposite to the direction of the side where the sensor is installed, and the second preset direction is the same as the direction of the side where the sensor is installed.

2. The shore-finding navigation method according to claim 1, characterized in that: The first preset angle is greater than the third preset angle, and the third preset angle is greater than the second preset angle.

3. The shore-finding navigation method according to claim 1, characterized in that: Each of the sensors is provided with a trigger threshold; determining the obstacle position according to the sensing information fed back by the sensors at different positions includes: Determining whether the detected obstacle is within the trigger threshold according to the sensing information; If yes, it is determined that there is an obstacle at the position facing the sensor; If the obstacle is not present or not detected, it is determined that there is no obstacle at the position facing the sensor.

4. The shore-finding navigation method according to claim 1, characterized in that: The plurality of sensors further include a laser distance measuring sensor, and the laser distance measuring sensor is arranged on the head of the water traveling equipment; After controlling the water traveling device to deflect according to a preset deflection direction so that one side of the thrower faces the center of the pond and one side of the sensor faces the shore, the method further includes: The laser ranging sensor is used to detect the distance of the obstacle in front of the water traveling equipment. If the distance of the obstacle in front is less than the preset distance, the water traveling equipment is controlled to deflect and move forward in the first preset direction until the distance of the obstacle in front is greater than the preset distance, so that the water traveling equipment as a whole is parallel to the shore.

5. The shore-finding navigation method according to claim 1, characterized in that: The first sensor, the second sensor and the third sensor are all ultrasonic sensors; Each ultrasonic sensor is arranged on the hull of the water traveling equipment at a preset installation angle, and the installation position is higher than the horizontal plane, so that the lower edge of the vertical beam angle of each ultrasonic sensor is parallel to the horizontal plane.

6. A shore-finding navigation device, characterized in that: Applied to water-borne equipment, a plurality of sensors are arranged on one side of the water-borne equipment, and a thrower is arranged on the other side. The device comprises: A start module is used to control the water traveling equipment to deflect according to a preset deflection direction, so that one side of the thrower faces the center of the pond and the other side of the sensor faces the shore; A receiving module, used for receiving the sensing information fed back by the multiple sensors in real time; A control module, used to determine the position of the obstacle according to the sensing information fed back by the sensors at different positions, and determine the current action instruction according to the position of the obstacle, so that the water-borne traveling equipment sails along the coast; The plurality of sensors include a first sensor, a second sensor, and a third sensor; The first sensor is arranged at the head of the water traveling equipment, and its detection direction is toward the first side, and is used to detect obstacles in the direction of the first side of the water traveling equipment. The second sensor is arranged at the head of the water traveling equipment, and its detection direction is toward the second side, and is used to detect obstacles in front of the second side of the water traveling equipment. The third sensor is arranged at the tail of the water traveling equipment, and its detection direction is toward the second side, and is used to detect obstacles behind the second side of the water traveling equipment. According to the obstacle position, determining the current action instruction includes: If no obstacle is detected by the first sensor, determining whether the second sensor and the third sensor detect an obstacle; If an obstacle is detected by the second sensor and an obstacle is detected by the third sensor, the vehicle moves forward and turns according to a first preset direction and a second preset angle; If an obstacle is detected by the second sensor and no obstacle is detected by the third sensor, the vehicle turns forward according to the first preset direction and the third preset angle; If no obstacle is detected by the second sensor and the third sensor detects an obstacle, keep moving in the current direction; If no obstacle is detected by the second sensor and no obstacle is detected by the third sensor, turning forward according to the second preset direction and the second preset angle; The first preset direction is opposite to the direction of the side where the sensor is installed, and the second preset direction is the same as the direction of the side where the sensor is installed.

7. A control terminal, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and when the computer program is run on the processor, the shore-finding navigation method according to any one of claims 1 to 5 is executed.

8. A readable storage medium, characterized in that: The computer program stores a computer program, which executes the shore-finding navigation method according to any one of claims 1 to 5 when running on a processor.

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