Ranging Navigation Method, Device, Control Terminal and Storage Medium

Abstract

The embodiment of the present invention discloses a distance measurement navigation method, device, control terminal and storage medium, which are applied to water-borne equipment. The method comprises: respectively obtaining a first distance between the front of the water-borne equipment and the shore, and a second distance between the rear of the water-borne equipment and the shore; judging whether the position of the water-borne equipment meets a preset condition according to the first distance and the second distance; if the position of the water-borne equipment meets the condition, then increasing the number of cycles by one, controlling the water-borne equipment to turn in situ according to a preset angle and a preset direction, and the number of cycles is used to record the number of times the position of the water-borne equipment is continuously in place; judging whether the current number of cycles is greater than a preset cycle threshold; if the number of cycles is less than the cycle threshold, then returning to the step of respectively obtaining the first distance between the front of the water-borne equipment and the shore, and the second distance between the rear of the water-borne equipment and the shore; if the number of cycles is greater than the cycle threshold, then determining that the water-borne equipment has reached the target area. Costs are saved and efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of water navigation, and in particular to a distance measurement 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 dredging, and water quality monitoring for different work scenarios. When sucking sewage from shrimp ponds, the water-based driving equipment that can suck sewage needs to be able to reach the target area autonomously and stably, but the existing technology cannot guarantee the stability of the robot well, and due to various environmental reasons, the navigation method is not accurate and also requires a high cost, which is not suitable for farmers. Summary of the invention

[0003] In view of this, the present application provides a distance measurement and navigation method, which is applied to a water traveling device, and the method comprises:

[0004] Respectively obtaining a first distance between the front of the water traveling equipment and the shore, and a second distance between the rear of the water traveling equipment and the shore;

[0005] According to the first distance and the second distance, determining whether the position of the water traveling equipment meets a preset condition;

[0006] If the position of the water traveling device meets the preset condition, the number of cycles is increased by one, and the water traveling device is controlled to turn in situ according to the preset angle and the preset direction, and the number of cycles is used to record the number of times the water traveling device is in position continuously;

[0007] Determine whether the current number of cycles is greater than a preset cycle threshold;

[0008] If the number of cycles is less than the cycle threshold, return to the step of respectively obtaining a first distance between the front of the water traveling equipment and the shore, and a second distance between the rear of the water traveling equipment and the shore;

[0009] If the number of cycles is greater than the cycle threshold, it is determined that the water traveling equipment has reached the target area.

[0010] Furthermore, it also includes:

[0011] If the position of the watercraft does not meet the preset conditions, reset the number of cycles, control the movement of the watercraft according to the magnitude relationship between the first distance and the second distance, and return to the step of respectively obtaining the first distance between the front of the watercraft and the shore and the second distance between the rear of the watercraft and the shore.

[0012] Further, determining whether the position of the watercraft meets the preset conditions according to the first distance and the second distance includes:

[0013] Determine whether the difference between the first distance and the second distance is less than a preset distance. If it is less than the preset distance, it is determined that the position of the watercraft meets the preset conditions. If it is greater than the preset distance, it is determined that the position of the watercraft does not meet the preset conditions.

[0014] Further, the preset distance is not greater than the diameter of the target area.

[0015] Further, controlling the movement of the watercraft according to the magnitude relationship between the first distance and the second distance includes:

[0016] Compare the magnitudes of the first distance and the second distance;

[0017] If the first distance is greater than the second distance, control the watercraft to move forward;

[0018] If the second distance is greater than the first distance, control the watercraft to move backward.

[0019] Further, distance measuring sensors are respectively arranged at the head and the tail of the watercraft, and the distance measuring sensors are used to measure the first distance and the second distance;

[0020] The method further includes: if an obstacle is detected by the distance measuring sensor, first perform an obstacle avoidance operation, and then perform navigation according to the position after obstacle avoidance.

[0021] Further, an ultrasonic sensor is also arranged on the watercraft. The ultrasonic sensor is arranged in the first direction of the bow and the detection direction is forward. The obstacle avoidance operation includes:

[0022] Determine whether the distance to the obstacle is less than the detection distance;

[0023] If it is less than the detection distance, turn and move forward in a preset direction and at a preset angle;

[0024] If it is greater than or equal to the detection distance, it is determined whether the ultrasonic sensor detects an obstacle. If an obstacle is detected by the ultrasonic sensor, the watercraft is controlled to turn in place in the second direction. If the ultrasonic sensor does not detect an obstacle, the obstacle avoidance ends;

[0025] The first direction and the second direction are opposite.

[0026] Furthermore, the present application also provides a ranging and navigation device for a watercraft, which is applied to a watercraft. The device includes:

[0027] A measurement module for respectively obtaining a first distance between the front of the watercraft and the shore, and a second distance between the rear of the watercraft and the shore;

[0028] A first judgment module for judging whether the position of the watercraft meets a preset condition according to the first distance and the second distance;

[0029] A steering module for, if the position of the watercraft meets the preset condition, incrementing the loop count by one, and controlling the watercraft to turn in place at a preset angle and in a preset direction. The loop count is used to record the number of consecutive times the position of the watercraft is in place;

[0030] A second judgment module for judging whether the current loop count is greater than a preset loop threshold;

[0031] A loop module for, if the loop count is less than the loop threshold, returning to the step of respectively obtaining the first distance between the front of the watercraft and the shore, and the second distance between the rear of the watercraft and the shore;

[0032] An end module for, if the loop count is greater than the loop threshold, determining that the watercraft has reached the target area. Furthermore, an embodiment of the present application also provides a control terminal, including a processor and a memory. The memory stores a computer program, and the computer program, when running on the processor, executes the ranging and navigation method.

[0033] Furthermore, an embodiment of the present application also provides a readable storage medium, which stores a computer program, and the computer program, when running on a processor, executes the ranging and navigation method.

[0034] An embodiment of the present invention discloses a ranging and navigation method, device, control terminal and storage medium, which are applied to waterborne equipment. The method includes: determining whether the number of cycles is less than a cycle threshold, where the number of cycles is used to record the number of times the position of the waterborne equipment is continuously in place; if the number of cycles is less than the cycle threshold, respectively obtaining a first distance between the front of the waterborne equipment and the shore and a second distance between the rear of the waterborne equipment and the shore; judging whether the position of the waterborne equipment meets the conditions according to the first distance and the second distance; if the position of the waterborne equipment does not meet the conditions, clearing the number of cycles, controlling the movement of the waterborne equipment according to the magnitude relationship between the first distance and the second distance, then incrementing the number of cycles by one, and returning to the step of judging whether the number of cycles is less than the cycle threshold; if the number of cycles is greater than the cycle threshold, judging that the waterborne equipment has reached the target area. This enables the waterborne equipment to automatically reach the target area and saves costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the present invention, the accompanying drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the protection scope of the present invention. In each drawing, similar components are numbered similarly.

[0036] Figure 1 FIG. shows a schematic flowchart of a ranging and navigation method according to an embodiment of the present application;

[0037] Figure 2 FIG. shows a schematic diagram of the first distance and the second distance according to an embodiment of the present application;

[0038] Figure 3 FIG. shows a flowchart of a ranging and navigation method according to an embodiment of the present application;

[0039] Figure 4 FIG. shows a schematic diagram of the state change of a ranging and navigation method according to an embodiment of the present application;

[0040] Figure 5 FIG. shows a schematic flowchart of an obstacle avoidance method applied in ranging and navigation according to an embodiment of the present application;

[0041] Figure 6 FIG. shows a schematic diagram of the installation of a sewage suction ship sensor according to an embodiment of the present application;

[0042] Figure 7 FIG. shows a schematic diagram of the structure of a ranging and navigation device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0044] Generally, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various 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. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0045] Hereinafter, the terms "including", "having" and their cognates that can be used in various embodiments of the present invention are only intended to represent specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be construed as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0046] In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0047] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the various embodiments of the present invention belong. The terms (such as those defined in a commonly used dictionary) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or being overly formal, unless clearly defined in the various embodiments of the present invention.

[0048] The technical solution of the present application can be applied to waterborne driving devices in water area regions with boundaries such as shrimp ponds and fish ponds to ensure that the device can reach the sewage suction area in the center of the water area.

[0049] The waterborne driving device can be a traditional sewage suction operation boat or a waterborne sewage suction robot, sewage suction boat, etc. It mainly provides an automated navigation function, enabling the waterborne driving device to accurately and stably navigate to the sewage suction area in the center of the water area without using expensive navigation devices such as GPS, and at the same time can perform obstacle avoidance and automatic route planning and adjustment. Next, the technical solution of the present application will be explained with specific embodiments.

[0050] Embodiment 1

[0051] Such asFigure 1 As shown in the figure, it is a schematic diagram of a ranging and navigation process provided by this embodiment. The method includes the following steps:

[0052] Step S100, respectively obtain the first distance between the front of the waterborne device and the shore, and the second distance between the rear of the waterborne device and the shore.

[0053] For the convenience of description, in this embodiment, a sewage suction ship is taken as an example for illustration.

[0054] In this embodiment, in order for the sewage suction ship to detect the distances from the bow and the stern to the shore, ranging sensors are respectively arranged at the bow and the stern to obtain the first distance and the second distance.

[0055] The distance schematic diagram is as Figure 2 shown. In the figure, L1 represents the first distance, and L2 represents the second distance. Obviously, L1 and L2 are on the same straight line, and the magnitudes of L1 and L2 can to a certain extent reflect the position of the sewage suction ship in the pond.

[0056] For example, if L1 is much greater than L2, it means that the sewage suction ship is close to the shore. If L1 is approximately equal to L2, it means that in the direction the sewage suction ship is facing, the sewage suction ship is close to the center.

[0057] Step S200, according to the first distance and the second distance, judge whether the position of the waterborne device meets the preset conditions.

[0058] By judging whether the difference between the first distance L1 and the second distance L2 is less than the preset distance, it is judged whether the position of the sewage suction ship is within the preset interval. If it is less than the preset distance, it is judged that the position of the waterborne device meets the conditions. If it is greater than the preset distance, it is judged that the position of the waterborne device does not meet the conditions.

[0059] Combined with Figure 3 the flowchart of Figure 3 |L1 - L2| < δ in the judgment box of

[0060] is the preset condition, where δ is the preset distance, and this preset distance is set according to the diameter d of the target area, and δ is not greater than the diameter d of the target area. Since the sewage suction area is in the center of the pond, when the sewage suction ship is within the sewage suction area, there must be |L1 - L2| < d. If |L1 - L2| > d, the sewage suction ship will surely fall outside the sewage suction area.

[0061] Among them, the sewage suction area may be other irregular shapes, such as a rectangle or a polygon. In this case, the inscribed circle of the sewage suction area is used as the actual operation area, and a reasonable preset distance δ is set based on the diameter of the inscribed circle.

[0062] Step S300: If the position of the watercraft meets the conditions, increment the loop count by one, and control the watercraft to turn in place according to a preset angle and a preset direction.

[0063] The loop count is used to record the number of consecutive times the position of the watercraft is in place, which can be specifically understood in combination with Figure 1 and Figure 3 for understanding.

[0064] When the sewage suction ship is adjusted to a position that meets the conditions, that is, |L1 - L2| < δ, it means that in step S300, it is determined that the position of the watercraft meets the conditions. Then, the watercraft can be controlled to turn in place according to a preset angle and a preset direction, increment the loop count by one, and return to the step of determining whether the loop count is less than the loop threshold.

[0065] That is to say, when the sewage suction ship is in a certain central interval on the straight line where L1 and L2 are located, the sewage suction ship needs to turn. The preset direction can be to the right or to the left. In this embodiment, the right side is taken as an example. If the first turn is to the right, then each subsequent turn is to the right. If the first turn is to the left, then all turns are to the left. At the same time, the turn is to further adjust the position of the sewage suction ship in other directions. The turning angle can be 90 degrees so that the included angle between the two direction lines is the largest. In this way, after positioning the front and rear directions, the "left and right directions" can be positioned to complete the cross-positioning of the sewage suction ship in the pond.

[0066] In addition, this step further includes: if the position of the watercraft does not meet the conditions, clear the loop count, control the movement of the watercraft according to the magnitude relationship between the first distance and the second distance, and return to the step of respectively obtaining the first distance between the front of the watercraft and the shore and the second distance between the rear of the watercraft and the shore.

[0067] When |L1 - L2| >= δ, it means that the position of the sewage suction ship does not meet the conditions. Therefore, the loop count needs to be cleared. At the same time, according to the magnitude relationship between the first distance and the second distance, the sewage suction ship is controlled to move forward or backward so that |L1 - L2| is as small as possible less than the above preset distance δ. After the adjustment, increment the loop count by one, indicating that one cycle is completed, and return to step S100 for the next cycle.

[0068] If the first distance is greater, control the watercraft to move forward according to the instruction execution cycle; if the second distance is greater, control the watercraft to move backward according to the instruction execution cycle, and return to step S100 for the next loop.

[0069] Specifically, when L1 is greater than L2, it means that the sewage suction ship is too close to the shore behind and too far from the shore in front. Therefore, it is necessary to control the sewage suction ship to move forward. On the contrary, when L1 is less than L2, it is necessary to control the sewage suction ship to move backward.

[0070] To ensure the control accuracy, the present application can adopt a principle similar to stepping, that is, in each loop, control the sewage suction ship to travel for the time of one instruction cycle at a predetermined speed. After the travel is completed, return to step S100, and then judge again whether the new L1 and L2 meet the above |L1 - L2| < δ condition according to the adjusted new position. If not, repeat this step to continue adjusting the position of the sewage suction ship.

[0071] Because there will be a situation where the position of the sewage suction ship meets the condition |L1 - L2| < δ in the previous direction but does not meet it after turning. Therefore, in the case where adjustment is required after turning, and because the pond is not a regular circle, and there will be errors in the angle of each turn and the forward and backward movement, when it is judged that |L1 - L2| >= δ, it is necessary to clear the loop count to ensure the accuracy of the judgment.

[0072] Step S400, judge whether the current loop count is greater than the preset loop threshold;

[0073] Combined with Figure 3 the flowchart to understand, at the start of the ranging navigation of the present application, a loop threshold C will be set, and a loop count will be set for the technology. This loop threshold is used to control the end condition of the entire navigation. If the current in-place count is greater than or equal to this loop threshold (C), it means that the sewage suction ship has reached the designated sewage suction area. If it is less, it means that it has not reached and needs to be adjusted.

[0074] The loop count is used to record the number of consecutive in-place times of the position of the sewage suction ship. When the loop count is greater than the loop threshold, it means that the positions of the sewage suction ship in different directions are all in place, and it is considered that it has reached the designated sewage suction area.

[0075] Generally speaking, this loop threshold C is greater than 2, and it can be 2, 3, 4, etc.

[0076] When the loop count is less than the set loop threshold C, it means that the position of the watercraft still needs to be adjusted. For this purpose, it is necessary to measure the first distance between the bow direction of the watercraft and the shore and the second distance between the stern direction of the watercraft and the shore.

[0077] Therefore, if the number of loops is less than the loop threshold, return to the step of respectively obtaining the first distance between the front of the watercraft and the shore and the second distance between the rear of the watercraft and the shore, that is, return to step S100 to perform the next loop to continue adjusting the position of the sewage suction vessel.

[0078] Step S500, if the number of loops is greater than the loop threshold, determine that the watercraft has reached the target area.

[0079] Taking the loop threshold equal to 2 as an example, when the sewage suction vessel just leaves the dock and starts the sewage suction operation according to the method of this embodiment, it is obviously started at the edge of the pond, as Figure 4 shown, which is the state transition diagram of the distance measurement and navigation of the sewage suction vessel in this embodiment.

[0080] State 1 is just leaving the dock. Since L2 is greater than L1, it advances a certain distance to reach the position of state 2. At this time, the position of the sewage suction vessel meets the conditions, so it turns right by about 90 degrees, and then measures the distance to obtain new L1 and L2. Then, step S400 will be repeated in state 2 until the next turn is made at the position of state 3.

[0081] According to the above description of steps S100 to S400, and Figure 3 as can be seen from the flowchart, when it is determined that the position of the sewage suction vessel does not meet the conditions, the number of loops will be cleared. Only when it is determined that the position of the sewage suction vessel meets the conditions, it will not be cleared, and the number of loops will be accumulated. When the sewage suction vessel moves from state 2 to state 3, the number of loops is not cleared. At this time, the number of loops is 1, and it starts to judge whether the new L1 and L2 meet the conditions in state 3. If they meet the conditions, the number of loops will be incremented by one again, so that the number of loops is 2. That is, in two consecutive judgments of the sewage suction vessel, it is found that L1 and L2 in both directions meet the conditions, so that the number of loops is equal to the loop threshold. Then it is determined that the sewage suction vessel has reached the sewage suction area, and this distance measurement and navigation is ended.

[0082] Similarly, when the loop threshold is 3, 4, 5 and other data, the same conclusion can be obtained, which will not be elaborated here.

[0083] Because the target area is located in the center of the pond, for the sewage suction vessel, the closer it is to the center of the pond, the better. That is, it is required that the distances from the four sides of the sewage suction vessel to the shore are about the same. That is, the difference between the front and rear distances to the shore is less than the diameter of the sewage suction area, and the difference between the left and right distances to the shore is also less than the diameter of the sewage suction area. Then it can be considered that it has reached the sewage suction area. In this application, after first determining the front and rear positions, by turning, the left and right positions are further determined to achieve cross positioning, and finally the hull position of the sewage suction vessel converges in the central area of the pond.

[0084] It can be seen from this that the physical meaning that the number of cycles of this application has not reached the cycle threshold is that the sewage suction ship is still navigating and converging in the central area of the pond. The physical meaning that the number of cycles reaches the cycle threshold is that the sewage suction ship has completed the process of navigating and converging towards the center of the pond and has reached the sewage suction area of the pond.

[0085] The ranging navigation method provided in this embodiment adjusts the position of the watercraft by measuring the distances of the front and rear of the watercraft from the shore, and adjusts the distances between the watercraft and the shore in different directions through steering, so that the watercraft gets closer and closer to the sewage suction area in the center of the pond. Moreover, an appropriate cycle threshold and preset distance can be set to control the accuracy and efficiency of the entire navigation, making the entire navigation process stable and automated. In addition, an inexpensive TOF ranging sensor can be selected to reduce the overall cost. There is no need to build an environmental map, and it has good robustness. Any position can be used as the starting point, and it can be restarted even if interrupted in the middle. It has good environmental adaptability and can be used in windy, rainy, outdoor or covered situations, etc. It is different from methods based on laser SLAM and visual SLAM that require a good operating environment and lighting, etc., and different from GPS that can only be used in uncovered open areas. At the same time, the number of sensors to be set is reduced as much as possible, greatly reducing the cost.

[0086] Embodiment 2

[0087] Considering that there may be obstacles on the water surface, the embodiment of this application also provides a ranging navigation method considering obstacle avoidance. The obstacle avoidance method is as shown in the flowchart of Figure 5 and includes the following steps:

[0088] Step S600, determine whether the distance of the obstacle is less than the detection distance.

[0089] In this embodiment, the sewage suction ship is still used as an example for illustration. In order to detect the distance from the shore, TOF ranging sensors can be installed at the bow and stern of the sewage suction ship. If the detection distance of the obstacle detected by the front TOF ranging sensor is less than the preset detection distance, it is considered that the detected object will affect the progress of the hull and obstacle avoidance operations need to be carried out.

[0090] In addition, in order to accurately distinguish whether the detected object is an obstacle on the water surface or the shore, an ultrasonic sensor is also provided at the bow part. The detection distance of this ultrasonic sensor is less than that of the TOF ranging sensor. The specific setting method is as shown in Figure 6 and.

[0091] The TOF ranging sensor 200 is set at the exact center of the bow and stern to measure the distance of the obstacle or the shore directly in front.

[0092] The ultrasonic sensor 100 is arranged at the position in the first direction of the bow, and the detection direction faces the front of the bow. This first direction is the left side or the right side. In this embodiment, the ultrasonic sensor 100 is arranged at the position of the bow biased to the left as an example. The ultrasonic sensor 100 is used to detect obstacles on the water surface and the distance to the shore in the front left.

[0093] Step S700, if it is less than the detection distance, then turn and move forward according to the preset direction and preset angle.

[0094] If the obstacle distance detected by the TOF ranging sensor 200 is less than the detection distance, obstacle avoidance operation is required. Specifically, the detection distance can be a certain multiple of the detection distance of the ultrasonic sensor. The obstacle avoidance method is to turn according to the preset direction and angle. Until the obstacle distance detected by the TOF ranging sensor 200 is not less than the detection distance, the preset direction is opposite to the direction where the ultrasonic sensor is set. In this embodiment, the ultrasonic sensor 100 is set on the left side, so the sewage suction ship will turn and move forward towards the right side when turning.

[0095] Among them, the right turn angle is between 0 and 15 degrees, and it turns and moves forward at a small angle, and travels for the time of one instruction cycle, ensuring that the displacement and angle change of the sewage suction ship caused by obstacle avoidance are small enough to reduce the impact on the ranging navigation progress caused by obstacle avoidance.

[0096] Step S800, if it is greater than or equal to the detection distance, then determine whether the ultrasonic sensor detects an obstacle. If an obstacle is detected by the ultrasonic sensor, then control the waterborne device to turn in place in the second direction. If the ultrasonic sensor does not detect an obstacle, then the obstacle avoidance ends.

[0097] When the obstacle distance detected by the TOF ranging sensor 200 is greater than the detection distance, it is necessary to detect whether the ultrasonic sensor detects an obstacle. Because of the position where the ultrasonic sensor is set, it can detect whether there is an obstacle on the left side. Since the detection distance of the ultrasonic sensor 100 is less than that of the TOF ranging sensor 200, when the obstacle distance detected by the TOF ranging sensor 200 is greater than the detection distance and the ultrasonic sensor 100 can detect it, it means that an underwater obstacle in the detection blind spot of the TOF ranging sensor 200 is detected, or it means that the left side of the sewage suction ship is very close to the shore. At this time, it is necessary to turn right in place to adjust the traveling direction.

[0098] Among them, the above-mentioned first direction and second direction are opposite.

[0099] If the ultrasonic sensor 100 does not detect an obstacle, it means that the obstacle has been avoided. Then leave the obstacle avoidance mode and restart the ranging navigation described in Embodiment 1 above.

[0100] The ultrasonic sensor 100 of this embodiment can also be installed on the right side of the bow. According to a similar principle, the turns in step S700 and step S800 are both left turns.

[0101] The obstacle avoidance method of this embodiment can be applied to any step of the distance measurement and navigation process in Example 1, so that when an obstacle is encountered in the middle of the distance measurement and navigation, the obstacle can be avoided with the minimum effort, on the one hand to maintain its own position, and on the other hand to reduce the impact on the navigation progress, so that when re-navigating, the water-based driving equipment will not be too far away from the previous position, and the water-based driving tool will not be farther and farther away from the sewage suction area due to obstacle avoidance.

[0102] Example 3

[0103] The present application also provides a distance measurement and navigation device for water-borne traveling equipment, which is applied to water-borne traveling equipment, such as Figure 7 The device shown comprises:

[0104] The measuring module 10 is used to respectively obtain a first distance between the front of the water traveling device and the shore, and a second distance between the rear of the water traveling device and the shore;

[0105] A first judging module 20, configured to judge whether the position of the water traveling device meets a preset condition according to the first distance and the second distance;

[0106] The steering module 30 is used to increase the number of cycles by one if the position of the water traveling device meets the conditions, and control the water traveling device to turn on the spot according to a preset angle and a preset direction, and the number of cycles is used to record the number of times the water traveling device is in place continuously;

[0107] The second judging module 40 is used to judge whether the current cycle number is greater than a preset cycle threshold;

[0108] A loop module 50, configured to return to the step of respectively obtaining a first distance between the front of the water traveling device and the shore, and a second distance between the rear of the water traveling device and the shore, if the number of loops is less than the loop threshold;

[0109] The end module 60 is used to determine that the water traveling equipment has reached the target area if the number of cycles is greater than the cycle threshold.

[0110] Furthermore, an embodiment of 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 ranging navigation method is executed.

[0111] Further, the embodiment of the present application further provides a readable storage medium storing a computer program, and when the computer program runs on a processor, it executes the ranging and navigation method described above.

[0112] In several embodiments provided by the present application, it should be understood that the disclosed device and method can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and structure diagrams in the drawings show the possible architectures, functions, and operations of the device, method, and computer program product according to multiple embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the part of the module, program segment, or 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 blocks may occur in a different order from that marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the structure diagram and / or flowchart, as well as the combination of blocks in the structure diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0113] In addition, each functional module or unit in various embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0114] If the described functions are implemented in the form of software functional modules and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an 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. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in various embodiments of the present invention. The foregoing storage medium includes: various media 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 disc that can store program codes.

[0115] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention.

Claims

1. A ranging and navigation method, characterized in that, it is applied to waterborne equipment, and the method includes: respectively obtaining a first distance between the front of the waterborne equipment and the shore, and a second distance between the rear of the waterborne equipment and the shore; judging whether the position of the waterborne equipment meets a preset condition according to the first distance and the second distance; if the position of the waterborne equipment meets the preset condition, increment the loop count by one, and control the waterborne equipment to perform an in-situ turn according to a preset angle and a preset direction, where the loop count is used to record the number of consecutive times the position of the waterborne equipment is in place; judging whether the current loop count is greater than a preset loop threshold; if the loop count is less than the loop threshold, return to the step of respectively obtaining the first distance between the front of the waterborne equipment and the shore, and the second distance between the rear of the waterborne equipment and the shore; if the loop count is greater than the loop threshold, determine that the waterborne equipment has reached the target area; if the position of the waterborne equipment does not meet the preset condition, clear the loop count, control the waterborne equipment to move according to the magnitude relationship between the first distance and the second distance, and return to the step of respectively obtaining the first distance between the front of the waterborne equipment and the shore, and the second distance between the rear of the waterborne equipment and the shore; The judging whether the position of the waterborne equipment meets the preset condition according to the first distance and the second distance includes: judging whether the difference between the first distance and the second distance is less than a preset distance. If it is less than the preset distance, it is judged that the position of the waterborne equipment meets the preset condition. If it is greater than the preset distance, it is judged that the position of the waterborne equipment does not meet the preset condition.

2. The ranging and navigation method according to claim 1, characterized in that, the preset distance is not greater than the diameter of the target area.

3. The ranging and navigation method according to claim 1, characterized in that, the controlling the waterborne equipment to move according to the magnitude relationship between the first distance and the second distance includes: comparing the magnitudes of the first distance and the second distance; if the first distance is greater than the second distance, controlling the waterborne equipment to move forward; if the second distance is greater than the first distance, controlling the waterborne equipment to move backward.

4. The ranging and navigation method according to claim 1, characterized in that, ranging sensors are respectively arranged at the head and the tail of the waterborne equipment, and the ranging sensors are used to measure the first distance and the second distance; the method further includes: if an obstacle is detected by the ranging sensor, first perform an obstacle avoidance operation, and then perform navigation according to the position after obstacle avoidance.

5. The ranging and navigation method according to claim 4, characterized in that, an ultrasonic sensor is further arranged on the waterborne equipment, the ultrasonic sensor is arranged in a first direction at the bow of the ship and the detection direction is forward, and the obstacle avoidance operation includes: judging whether the distance to the obstacle is less than the detection distance; if it is less than the detection distance, turn and move forward according to a preset direction and a preset angle. If it is greater than or equal to the detection distance, then determine whether the ultrasonic sensor detects an obstacle. If an obstacle is detected by the ultrasonic sensor, then control the watercraft to turn in place in the second direction. If the ultrasonic sensor does not detect an obstacle, then the obstacle avoidance ends; The first direction and the second direction are opposite.

6. A ranging and navigation device for a watercraft, Characterized in that, Applied to a watercraft, the device includes: A measurement module for respectively obtaining a first distance between the front of the watercraft and the shore, and a second distance between the rear of the watercraft and the shore; A first judgment module for judging whether the position of the watercraft meets a preset condition according to the first distance and the second distance; A steering module for, if the position of the watercraft meets the preset condition, incrementing the loop count by one, and controlling the watercraft to turn in place according to a preset angle and a preset direction, where the loop count is used to record the number of consecutive times the position of the watercraft is in place; A second judgment module for judging whether the current loop count is greater than a preset loop threshold; A loop module for, if the loop count is less than the loop threshold, returning to the step of respectively obtaining the first distance between the front of the watercraft and the shore, and the second distance between the rear of the watercraft and the shore; An end module for, if the loop count is greater than the loop threshold, determining that the watercraft has reached the target area; If the position of the watercraft does not meet the preset condition, then clear the loop count, control the movement of the watercraft according to the magnitude relationship between the first distance and the second distance, and return to the step of respectively obtaining the first distance between the front of the watercraft and the shore, and the second distance between the rear of the watercraft and the shore; The judging whether the position of the watercraft meets the preset condition according to the first distance and the second distance includes: Judging whether the difference between the first distance and the second distance is less than a preset distance. If it is less than the preset distance, then judge that the position of the watercraft meets the preset condition. If it is greater than the preset distance, then judge that the position of the watercraft does not meet the preset condition.

7. A control terminal, Characterized in that, It includes a processor and a memory. The memory stores a computer program, and when the computer program runs on the processor, it executes the ranging and navigation method according to any one of claims 1 to 5.

8. A readable storage medium, Characterized in that, It stores a computer program, and when the computer program runs on a processor, it executes the ranging and navigation method according to any one of claims 1 to 5.

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