Restricted area avoidance method and avoidance system for water surface robot

Abstract

This invention discloses a method and system for avoiding restricted areas for a surface robot. The method involves traversing obstacles on the water surface along a navigation route and marking these obstacles to ensure their pre-establishment. These obstacle marks trigger the creation of restricted areas for the surface robot. The robot then reverses its course within these restricted areas and navigates along the safe intervals of the restricted area's outer contour. Furthermore, the method traverses the navigation route and marks the robot's turning points to create turning point markers. Based on these turning point and obstacle markers, the method triggers a safe route for the surface robot in unsafe areas. This allows for safe operation of the surface robot in unsafe areas and refines the robot's motion control in dangerous situations, thus ensuring a safe route for the surface robot in unsafe areas.

Description

Technical Field

[0001] The present invention relates to the technical field of water surface robots, and in particular to a restricted area avoidance method and avoidance system of a water surface robot. Background Art

[0002] With the development of science and technology, robots are not only used on the ground, but also on the water surface. The surface robot sails on the water surface and moves the sampling tube to the corresponding sampling point. At this time, the surface robot occasionally needs to collect water samples in the wild environment. There will be floating obstacles on the water surface in the wild environment, and the surface robot sails according to the preset navigation route. Among them, the surface robot needs to turn at turns and obstacles, and the turning route of the surface robot is only triggered by a single mark, resulting in low safety of the surface robot on the navigation route. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art. The present invention provides a restricted area avoidance method and avoidance system for a water surface robot. Obstacles on the water surface are traversed based on a navigation route, and obstacles are marked on the navigation route so that obstacle marks can be made in advance on the navigation route. The restricted area setting of the water surface robot is triggered based on the obstacle marks to form a restricted area of ​​the water surface robot. At this time, the water surface robot turns in the opposite direction based on the restricted area and navigates along the safe interval of the outer contour of the restricted area. In addition, the navigation route is traversed, and the turning points of the water surface robot are marked to form turning point marks; a safe route of the water surface robot in an unsafe area is triggered according to the turning point marks and obstacle marks of the water surface robot, so that the water surface robot is safely operated in the unsafe area according to the turning point marks and obstacle marks of the water surface robot, and the action control of the water surface robot in a dangerous state is refined, thereby ensuring the safe route of the water surface robot in the unsafe area and improving the safety of the water surface robot on the navigation route.

[0004] In order to solve the above technical problems, an embodiment of the present invention provides a restricted area avoidance method for a surface robot, comprising: obtaining a navigation route of the surface robot on the water surface; traversing obstacles on the water surface based on the navigation route; marking obstacles on the navigation route, and triggering the restricted area setting of the surface robot based on the obstacle marks; obtaining the restricted area of ​​the surface robot, the surface robot turning in the opposite direction based on the restricted area, and navigating along a safe interval of the outer contour of the restricted area; traversing the navigation route, and marking the turning points of the surface robot to form turning point marks; triggering a safe route for the surface robot in a non-safe area according to the turning point marks and obstacle marks of the surface robot.

[0005] In addition, an embodiment of the present invention further provides a restricted area avoidance system for a surface robot, the restricted area avoidance system for the surface robot comprising: an acquisition module: used to acquire the navigation route of the surface robot on the water surface; a traversal module: used to traverse obstacles on the water surface based on the navigation route; a restricted area module: used to mark obstacles on the navigation route, and trigger the restricted area setting of the surface robot based on the obstacle mark; a navigation module: used to acquire the restricted area of ​​the surface robot, the surface robot turns in the opposite direction based on the restricted area, and navigates along the safe interval of the outer contour of the restricted area; a turning point module: used to traverse the navigation route and mark the turning points of the surface robot to form turning point marks; a route module: used to trigger the safe route of the surface robot in the non-safe area according to the turning point mark and obstacle mark of the surface robot.

[0006] In an embodiment of the present invention, through the method in the embodiment of the present invention, obstacles on the water surface are traversed based on the navigation route, and obstacles are marked on the navigation route, so that obstacle marks are made in advance on the navigation route, and the restricted area setting of the surface robot is triggered based on the obstacle marks to form a restricted area of ​​the surface robot. At this time, the surface robot turns in the opposite direction based on the restricted area and navigates along the safe interval of the outer contour of the restricted area. In addition, the navigation route is traversed, and the turning points of the surface robot are marked to form turning point marks; the safe route of the surface robot in the unsafe area is triggered according to the turning point marks and obstacle marks of the surface robot, so that the surface robot is safely operated in the unsafe area according to the turning point marks and obstacle marks of the surface robot, and the action control of the surface robot in a dangerous state is refined, thereby ensuring the safe route of the surface robot in the unsafe area and improving the safety of the surface robot on the navigation route. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0008] Figure 1 is a schematic flow chart of a restricted area avoidance method for a water surface robot in an embodiment of the present invention;

[0009] Figure 2 is a flow chart of a navigation route of a restricted area avoidance method of a water surface robot in an embodiment of the present invention;

[0010] Figure 3 is a flow chart of a replacement route of a restricted area avoidance method of a water surface robot in an embodiment of the present invention;

[0011] Figure 4 It is a schematic diagram of a process flow of forming a restricted area in a restricted area avoidance method of a water surface robot in an embodiment of the present invention;

[0012] Figure 5 Schematic diagram of the structure of the restricted area avoidance system of the water surface robot in an embodiment of the present invention;

[0013] Figure 6 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments 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.

[0015] Example

[0016] See also Figures 1 to 4 , a restricted area avoidance method for a surface robot, the method comprising:

[0017] S11: Obtaining the navigation route of the surface robot on the water surface;

[0018] In the specific implementation process of the present invention, the specific steps may be:

[0019] S111: Locate the current position of the surface robot;

[0020] S112: Calculating a navigation route based on the current position of the surface robot, and deriving multiple navigation routes, each of which has a different safety level;

[0021] S113: Classify each navigation route into safety levels, and determine the final navigation route based on the previous navigation conditions of the surface robot.

[0022] Among them, the navigation route is calculated based on the current position of the surface robot, and multiple navigation routes are derived. At this time, the current position of the surface robot is used as the starting point, and the target end point is interacted with the starting point to form multiple navigation routes in different directions, and the navigation routes are graded based on the locations of previous navigation failures. At this time, the safety levels of each navigation route are different, and the previous navigation conditions of the surface robot are introduced to determine the final navigation route. At this time, the final navigation route is determined based on the previous navigation conditions of the surface robot.

[0023] S12: Traversing obstacles on the water surface based on the navigation route;

[0024] In the specific implementation process of the present invention, the specific steps may be:

[0025] S121: Obtaining the navigation route;

[0026] S122: performing obstacle detection based on the navigation route and setting a detection area of ​​the navigation route;

[0027] S123: performing real-time detection of obstacles in sequence according to the detection areas of the navigation route;

[0028] S124: If the obstacle is in the detection area of ​​the navigation route, the avoidance action of the surface robot is triggered, and a secondary route traversal is performed for the nodes of the obstacle relative to the navigation route to output an alternative route;

[0029] S125: splicing the replacement route to the original navigation route, and the surface robot navigates along the replacement route.

[0030] Among them, obstacle detection is performed based on the navigation route, and the detection area of ​​the navigation route is set, so that obstacles are detected in real time in sequence according to the detection area of ​​the navigation route, and the obstacles are calculated in real time. If the obstacle is in the detection area of ​​the navigation route, the avoidance action of the surface robot is triggered, and a secondary route traversal is performed for the nodes of the obstacle relative to the navigation route to output a replacement route.

[0031] In addition, the replacement route is re-planned according to the shape of the obstacle, and the replacement route is used as a backup route with a higher safety level, so that it can be spliced ​​to the original navigation route based on the replacement route, and the surface robot navigates along the replacement route.

[0032] S13: marking obstacles on the navigation route, and triggering the restricted area setting of the surface robot based on the obstacle marking;

[0033] In the specific implementation process of the present invention, the specific steps may be:

[0034] S131: Obtain the flow direction of the obstacle;

[0035] S132: Calculating the intersection point of the obstacle relative to the navigation route based on the flow direction and flow time of the obstacle;

[0036] S133: determining an obstacle mark of the navigation route according to an intersection point of the obstacle relative to the navigation route;

[0037] S134: triggering the restricted area setting of the water surface robot based on the obstacle mark, wherein a plurality of adjacent obstacle marks are acquired, and a restricted area is formed based on the plurality of obstacle marks.

[0038] Among them, the intersection point of the obstacle relative to the navigation route is calculated based on the flow direction and flow time of the obstacle, and the obstacle mark of the navigation route is determined according to the intersection point of the obstacle relative to the navigation route, so as to calculate the obstacle mark of the navigation route according to the actual situation of the obstacle, and trigger the restricted area setting of the surface robot based on the obstacle mark, wherein multiple adjacent obstacle marks are obtained, and a restricted area is formed based on the multiple obstacle marks.

[0039] S14: Obtaining the restricted area of ​​the surface robot, the surface robot performs reverse turning based on the restricted area, and navigates at a safe interval along the outer contour of the restricted area;

[0040] In the specific implementation process of the present invention, the specific steps may be: obtaining the restricted area of ​​the surface robot; setting a forced return signal for the edge of the restricted area, and dispersing external electronic equipment based on the forced return signal; the surface robot obtains an electronic map of the restricted area, and triggers the surface robot to turn in the opposite direction based on the forced return signal; the surface robot navigates along a safe interval outside the restricted area; the surface robot detects the area around it in real time, and performs physical detection around the restricted area.

[0041] S15: traversing the navigation route and marking the turning points of the surface robot to form turning point marks;

[0042] In the specific implementation process of the present invention, the specific steps include: traversing the navigation route; obtaining the location where the surface robot turns along the navigation route; marking the navigation route based on the turning location of the surface robot to form a turning point mark; marking the turning line of the navigation route in turn, and locating the turning direction of the turning point mark; the surface robot positions and turns based on the turning point mark and the turning direction of the turning point mark, and lowers the center of gravity of the surface robot to prevent the surface robot from tipping over.

[0043] S16: triggering a safe route of the surface robot in the non-safe area according to the turning point mark and obstacle mark of the surface robot.

[0044] In the specific implementation process of the present invention, the specific steps include: obtaining the turning point mark and obstacle mark of the water surface robot; triggering the safe route formulation of the water surface robot according to the turning point mark and obstacle mark of the water surface robot; triggering the safe route of the water surface robot in the unsafe area according to the turning point mark and obstacle mark of the water surface robot; performing navigation protection on the water surface robot, and navigating along the safe route in the unsafe area, at this time, performing dynamic detection on the water surface robot, and calculating the posture of the water surface robot.

[0045] The restricted area avoidance method of the water surface robot also includes: estimating the probability of rollover based on the posture of the water surface robot; monitoring the center of gravity of the water surface robot in real time; performing multi-level analysis on the center of gravity of the water surface robot, and regulating the probability of rollover based on the change in the center of gravity.

[0046] In an embodiment of the present invention, through the method in the embodiment of the present invention, obstacles on the water surface are traversed based on the navigation route, and obstacles are marked on the navigation route, so that obstacle marks are made in advance on the navigation route, and the restricted area setting of the surface robot is triggered based on the obstacle marks to form a restricted area of ​​the surface robot. At this time, the surface robot turns in the opposite direction based on the restricted area and navigates along the safe interval of the outer contour of the restricted area. In addition, the navigation route is traversed, and the turning points of the surface robot are marked to form turning point marks; the safe route of the surface robot in the unsafe area is triggered according to the turning point marks and obstacle marks of the surface robot, so that the surface robot is safely operated in the unsafe area according to the turning point marks and obstacle marks of the surface robot, and the action control of the surface robot in a dangerous state is refined, thereby ensuring the safe route of the surface robot in the unsafe area and improving the safety of the surface robot on the navigation route.

[0047] Example

[0048] See also Figure 5 , Figure 5 It is a schematic diagram of the structural composition of the restricted area avoidance system of the water surface robot in an embodiment of the present invention.

[0049] like Figure 5 As shown, a restricted area avoidance system of a water surface robot, the restricted area avoidance system of the water surface robot comprises:

[0050] Acquisition module 21: used to acquire the navigation route of the surface robot on the water surface;

[0051] Traversal module 22: used for traversing obstacles on the water surface based on the navigation route;

[0052] The restricted zone module 23 is used to mark obstacles on the navigation route and trigger the restricted zone setting of the surface robot based on the obstacle marking;

[0053] Navigation module 24: used to obtain the restricted area of ​​the surface robot, the surface robot performs reverse turning based on the restricted area, and navigates at a safe interval along the outer contour of the restricted area;

[0054] Inflection point module 25: used for traversing the navigation route and marking the inflection points of the surface robot to form inflection point marks;

[0055] Route module 26: used to trigger the safe route of the surface robot in the unsafe area according to the turning point mark and obstacle mark of the surface robot.

[0056] The present invention provides a restricted area avoidance method and avoidance system of a water surface robot. Obstacles on the water surface are traversed based on a navigation route, and obstacles are marked on the navigation route so that obstacle marks are made in advance on the navigation route. The restricted area setting of the water surface robot is triggered based on the obstacle marks to form a restricted area of ​​the water surface robot. At this time, the water surface robot turns in the opposite direction based on the restricted area and navigates along the safe interval of the outer contour of the restricted area. In addition, the navigation route is traversed, and the turning points of the water surface robot are marked to form turning point marks. The safe route of the water surface robot in the unsafe area is triggered according to the turning point marks and obstacle marks of the water surface robot, so that the water surface robot is safely operated in the unsafe area according to the turning point marks and obstacle marks of the water surface robot, and the action control of the water surface robot in a dangerous state is refined, so as to ensure the safe route of the water surface robot in the unsafe area and improve the safety of the water surface robot on the navigation route.

[0057] Example

[0058] See also Figure 6 , refer to the following Figure 6 The electronic device 40 according to this embodiment of the present invention will be described. Figure 6 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0059] like Figure 6 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0060] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0061] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0062] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0063] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0064] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 45. Figure 6 As shown, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Figure 6 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup avoidance systems.

[0065] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0066] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0067] In addition, the restricted area avoidance method and system of the surface robot provided in the embodiment of the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A restricted area avoidance method for a surface robot, characterized in that: include: Obtain the navigation route of the surface robot on the water; Obstacles on the water surface traversed based on the navigation route; Mark obstacles on the navigation route and trigger the restricted area setting of the surface robot based on the obstacle marking; Obtain the restricted area of ​​the surface robot, the surface robot makes a reverse turn based on the restricted area, and navigates at a safe interval along the outer contour of the restricted area; Traversing the navigation route and marking the turning points of the surface robot to form turning point marks; Trigger the safe route of the surface robot in the unsafe area according to the turning point mark and obstacle mark of the surface robot; The step of obtaining the navigation route of the surface robot on the water surface comprises: Locate the current position of the surface robot; The navigation route is calculated based on the current position of the surface robot, and multiple navigation routes are derived, each with a different safety level; The safety level of each navigation route is divided into different levels, and the final navigation route is determined based on the previous navigation situation of the surface robot; The method of marking obstacles on the navigation route and triggering the restricted area setting of the surface robot based on the obstacle marking includes: Get the flow direction of obstacles; Calculate the intersection point of the obstacle relative to the navigation route based on the flow direction and flow time of the obstacle; Determine obstacle markings on the navigation route based on the intersection of the obstacle with respect to the navigation route; Triggering the setting of a restricted area of ​​the surface robot based on the obstacle mark, wherein a plurality of adjacent obstacle marks are obtained, and a restricted area is formed based on the plurality of obstacle marks; The step of obtaining the restricted area of ​​the water surface robot, the water surface robot turning in the opposite direction based on the restricted area, and navigating along the safe interval of the outer contour of the restricted area includes: Obtain the restricted area of ​​the surface robot; Setting a forced return signal at the edge of the restricted area, and dispersing foreign electronic devices based on the forced return signal; The surface robot obtains the electronic map of the restricted area and triggers the reverse turn of the surface robot based on the forced return signal; The surface robot navigates at safe intervals along the outer contour of the restricted area; The surface robot detects the area around it in real time and performs physical detection around the restricted area.

2. The restricted area avoidance method of a water surface robot according to claim 1, characterized in that: The obstacles on the water surface traversed based on the navigation route include: Get sailing routes; Perform obstacle detection based on the navigation route and set the detection area of ​​the navigation route; Obstacles are detected in real time according to the detection areas of the navigation route; If the obstacle is in the detection area of ​​the navigation route, the avoidance action of the surface robot is triggered, and a secondary route traversal is performed for the nodes of the obstacle relative to the navigation route to output an alternative route; The replacement route is spliced ​​to the original navigation route, and the surface robot navigates along the replacement route.

3. The restricted area avoidance method of the underwater robot according to claim 2, characterized in that: The traversing of the navigation route and marking the turning points of the surface robot to form turning point marks include: Traverse the sailing route; Obtaining the turning point of the surface robot along the navigation route; Marking the navigation route based on the turning location of the surface robot to form a turning point mark; Marking the turning lines of the navigation route in sequence, and locating the turning directions of the turning point marks; The surface robot performs positioning and turning based on the turning point mark and the turning direction of the turning point mark, and lowers the center of gravity of the surface robot to prevent the surface robot from tipping over.

4. The restricted area avoidance method of a water surface robot according to claim 3, characterized in that: The method of triggering a safe route of the water surface robot in the non-safe area according to the turning point mark and obstacle mark of the water surface robot includes: Obtain the turning point mark and obstacle mark of the surface robot; Trigger the safe route planning of the surface robot according to the turning point mark and obstacle mark of the surface robot; Trigger the safe route of the surface robot in the unsafe area according to the turning point mark and obstacle mark of the surface robot; The surface robot is protected for navigation and navigates along a safe route in the non-safe area. At this time, the surface robot is dynamically detected and its posture is calculated.

5. The restricted area avoidance method of a water surface robot according to claim 4, characterized in that: The restricted area avoidance method of the water surface robot also includes: Estimate the probability of rollover based on the posture of the surface robot; Real-time monitoring of the center of gravity of the surface robot; The center of gravity of the surface robot is analyzed at multiple levels, and the probability of rollover is regulated by the change of the center of gravity.

6. A restricted area avoidance system for a surface robot, characterized in that: The restricted area avoidance system of the water surface robot comprises: Acquisition module: used to obtain the navigation route of the surface robot on the water surface; Traversal module: used to traverse obstacles on the water surface based on the navigation route; Restricted area module: used to mark obstacles on the navigation route and trigger the restricted area setting of the surface robot based on the obstacle marking; Navigation module: used to obtain the restricted area of ​​the surface robot. The surface robot makes a reverse turn based on the restricted area and navigates at a safe interval along the outer contour of the restricted area. Inflection point module: used to traverse the navigation route and mark the inflection points of the surface robot to form inflection point marks; Route module: used to trigger the safe route of the surface robot in the unsafe area according to the turning point mark and obstacle mark of the surface robot; The step of obtaining the navigation route of the surface robot on the water surface comprises: Locate the current position of the surface robot; The navigation route is calculated based on the current position of the surface robot, and multiple navigation routes are derived, each with a different safety level; The safety level of each navigation route is divided into different levels, and the final navigation route is determined based on the previous navigation situation of the surface robot; The method of marking obstacles on the navigation route and triggering the restricted area setting of the surface robot based on the obstacle marking includes: Get the flow direction of obstacles; Calculate the intersection point of the obstacle relative to the navigation route based on the flow direction and flow time of the obstacle; Determine obstacle markings on the navigation route based on the intersection of the obstacle with respect to the navigation route; Triggering the setting of a restricted area of ​​the surface robot based on the obstacle mark, wherein a plurality of adjacent obstacle marks are obtained, and a restricted area is formed based on the plurality of obstacle marks; The step of obtaining the restricted area of ​​the water surface robot, the water surface robot turning in the opposite direction based on the restricted area, and navigating along the safe interval of the outer contour of the restricted area includes: Obtain the restricted area of ​​the surface robot; Setting a forced return signal at the edge of the restricted area, and dispersing foreign electronic devices based on the forced return signal; The surface robot obtains the electronic map of the restricted area and triggers the reverse turn of the surface robot based on the forced return signal; The surface robot navigates at safe intervals along the outer contour of the restricted area; The surface robot detects the area around it in real time and performs physical detection around the restricted area.

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