Unmanned boat navigation direction control method and system

Abstract

The present invention discloses a method and system for controlling the navigation direction of an unmanned boat, which belongs to the technical field of unmanned boat control. The technical problem to be solved by the present invention is how to ensure that navigation instructions are given smoothly when the signal is relatively weak to ensure smooth navigation. The technical solution adopted is: the method is specifically as follows: regularly obtain channel pictures; obtain the inclination and distance of the river banks on both sides; calculate the left and right virtual safety boundaries and the virtual center line according to the inclination; according to the traveling position of the unmanned boat and the divided area, judge whether the unmanned boat is on the left or right side of the virtual center line, judge whether the unmanned boat is inside or outside the left safety domain, and judge whether the unmanned boat is inside or outside the right safety domain; according to the position of the unmanned boat on the virtual center line and the position of the safety domain, obtain a reasonable navigation speed and angle, and send the navigation direction and angle to the unmanned boat.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned boat control, and in particular to a method and system for controlling the navigation direction of an unmanned boat. Background Art

[0002] Image recognition is a key area of ​​artificial intelligence. It uses computers to process, analyze, and interpret images to identify various patterns of targets and objects. In general industrial applications, industrial cameras are used to capture images, and software then uses these images for further recognition based on grayscale differences. In practical applications, recognition requires not only understanding the object's identity but also its location and posture.

[0003] With the continuous advancement of computer technology and information science and technology, the field of image recognition is becoming more and more widely used in modern life, such as license plate recognition and traffic sign recognition in the transportation field, flying object recognition and terrain survey in the military field, fingerprint recognition and face recognition in the security field, etc.

[0004] When ships are sailing on rivers, ensuring their safety in the case of automatic navigation is a very important issue. However, traditional surface automatic navigation is mainly based on a spatial positioning system that sends position signals to guide surface navigation. However, this method does not make route corrections based on the environment, and the turning process is relatively simple. It is easy to run aground due to water level changes and special obstacles, and the actual navigation effect is not very good.

[0005] Therefore, how to ensure that navigation instructions can be given smoothly when the signal is relatively weak and ensure smooth navigation is a technical problem that needs to be solved urgently. Summary of the Invention

[0006] The technical task of the present invention is to provide a method and system for controlling the navigation direction of an unmanned boat to solve the problem of how to give navigation instructions smoothly and ensure smooth navigation when the signal is relatively weak.

[0007] The technical task of the present invention is achieved in the following manner: a method for controlling the navigation direction of an unmanned boat, the method being as follows:

[0008] Get channel pictures regularly: Use the camera to regularly take pictures of the water ahead of the unmanned boat and the banks on both sides;

[0009] Obtain the inclination and distance of the riverbanks on both sides: Using an image recognition algorithm, a straight line perpendicular to the ship's direction of travel in the river is defined as the horizontal reference line. The angle between the riverbanks on both sides and the horizontal reference line, as well as the distance between the riverbanks, is then obtained.

[0010] Calculate the left and right virtual safety boundaries and virtual center line based on the inclination: obtain the position and angle of the virtual center line based on the angle between the river banks on both sides and the horizontal line, and obtain the position and angle of the left and right virtual safety boundary lines;

[0011] According to the position of the UAV and the area it is divided into, determine whether the UAV is on the left or right side of the virtual center line:

[0012] If the UAV is on the left side of the virtual centerline, determine whether the UAV is inside or outside the left safety zone:

[0013] If the unmanned boat is outside the left safety zone, the reasonable navigation speed and angle shall be calculated according to the left dangerous navigation rules;

[0014] If the unmanned boat is within the left safety zone, the reasonable navigation speed and angle shall be calculated according to the left safety navigation rules;

[0015] If the UAV is on the right side of the virtual centerline, determine whether the UAV is inside or outside the right safety zone:

[0016] If the unmanned boat is outside the right safety zone, the reasonable navigation speed and angle shall be calculated according to the right dangerous navigation rules;

[0017] If the unmanned boat is within the right safety zone, the reasonable navigation speed and angle shall be calculated according to the right safety navigation rules;

[0018] According to the position of the unmanned boat on the virtual center line and the position of the safety zone, the reasonable navigation speed and angle are obtained, and the navigation direction and angle are sent to the unmanned boat.

[0019] As a preferred method, the slope and distance of the river banks on both sides are obtained as follows:

[0020] According to the direction of the unmanned boat in the river, draw a line perpendicular to the direction of travel as the horizontal line. According to the image recognition algorithm, the length of the horizontal line is obtained as the straight-line distance between the intersection of the horizontal line and the river bank lines on both sides, which is set as z;

[0021] Taking the horizontal line as the reference, the image recognition algorithm is used to obtain two straight lines fitting the two river banks and the angle at which the two straight lines intersect the horizontal line, thereby obtaining the left inclination angle x and the right inclination angle y respectively.

[0022] More preferably, the left and right virtual safety margins and the virtual center line are calculated based on the inclination as follows:

[0023] Assume the maximum speed of the unmanned boat is t, according to the formula Get the centerline angle a and mark the starting point of the centerline at the centerline midpoint z / 2;

[0024] According to the current navigation position and centerline position of the unmanned boat, the distance between the unmanned boat and the center point is obtained as i;

[0025] According to the formula Get the width of the virtual safety zone as m, and mark the left virtual safety zone at the distance from the left shoreline At an angle of a, parallel to the center line, the right virtual safety zone is located at a distance from the right side of the shore line At an angle a, parallel to the center line.

[0026] As a preferred option, the dangerous navigation rule for the unmanned boat on the left is: assuming the maximum speed of the unmanned boat is t, the navigation direction of the unmanned boat should be adjusted to And the sailing speed is

[0027] The safe navigation rule for the unmanned boat on the left is: suppose the maximum speed of the unmanned boat is t, then the navigation speed of the unmanned boat should be adjusted to t, keep the fastest speed, and give the navigation direction as

[0028] Dangerous navigation rules for the unmanned boat on the right: Assume that the maximum speed of the unmanned boat is t, then the navigation direction of the unmanned boat should be adjusted to And the sailing speed is

[0029] Safe navigation rules for the unmanned boat on the right side: Assume that the maximum speed of the unmanned boat is t. At this time, the speed of the unmanned boat should be adjusted to t, maintaining the fastest speed, and giving the navigation direction as

[0030] As a preference, based on the unmanned boat's travel position and the divided area, the unmanned boat's navigation position is as follows:

[0031] (1) The unmanned boat is located to the left of the virtual centerline of the river and within the river safety zone: The unmanned boat is in a safe navigation state, as follows:

[0032] ① If the UAV has not reached the maximum speed, the throttle command should be given to increase the speed of the UAV to the maximum and give the navigation direction.

[0033] ② If the unmanned boat has reached the maximum speed, the navigation speed should be given as t, and the fastest speed should be maintained, and the navigation direction should be given as

[0034] (2) The unmanned boat is on the left side of the virtual center line of the river, outside the safe area of ​​the river, and in the dangerous area on the left: the unmanned boat is in a dangerous navigation state, and should slow down and adjust its direction to return to the safe area. At this time, the navigation direction should be given as And the sailing speed is

[0035] (3) The unmanned boat is located on the right side of the river centerline and within the river safety zone: The unmanned boat is in a safe navigation state, as follows:

[0036] ① If the unmanned boat has not reached the maximum speed, a throttle command should be given to increase the speed of the boat to the maximum and give the sailing direction.

[0037] ② If the unmanned boat has reached the maximum speed, the navigation speed should be given as t, and the fastest speed should be maintained, and the navigation direction should be given as

[0038] (IV) The unmanned boat is on the right side of the river centerline, outside the safe area of ​​the river, and in the dangerous area on the right: The unmanned boat is in a dangerous navigation state and should slow down and adjust its direction to return to the safe area. At this time, the navigation direction should be given as And the sailing speed is

[0039] An unmanned boat navigation direction control system, the system comprising:

[0040] The first acquisition unit is used to use a camera to periodically take pictures of the water area in front of the unmanned boat and the river banks on both sides;

[0041] The second acquisition unit is used to obtain the inclination and distance of the river banks on both sides. That is, using an image recognition algorithm, a straight line perpendicular to the ship's direction of travel in the river is defined as the horizontal reference line, and the angle between the river banks on both sides and the horizontal reference line and the distance between the river banks are obtained;

[0042] The third acquisition unit is used to obtain the position and angle of the virtual center line according to the angle between the river banks on both sides and the horizontal line, and obtain the position and angle of the virtual safety boundary lines on the left and right sides;

[0043] A judgment unit is used to judge whether the unmanned boat is on the left or right side of the virtual center line and whether it is within the safety zone according to the traveling position of the unmanned boat and the divided area;

[0044] The acquisition unit 4 obtains the reasonable navigation speed and angle according to the position of the unmanned boat on the virtual center line and the position of the safety zone, and sends the navigation direction and angle to the unmanned boat.

[0045] Preferably, the judging unit includes:

[0046] Judgment module 1 is used to determine whether the unmanned boat is inside or outside the left safety zone:

[0047] If the unmanned boat is outside the left safety zone, the reasonable navigation speed and angle shall be calculated according to the left dangerous navigation rules;

[0048] If the unmanned boat is within the left safety zone, the reasonable navigation speed and angle shall be calculated according to the left safety navigation rules;

[0049] Judgment module 2 is used to determine whether the unmanned boat is inside or outside the right safety zone:

[0050] If the unmanned boat is outside the right safety zone, the reasonable navigation speed and angle shall be calculated according to the right dangerous navigation rules;

[0051] If the unmanned boat is within the right safety zone, the reasonable navigation speed and angle shall be calculated according to the right safety navigation rules.

[0052] More preferably, the dangerous navigation rule for the unmanned boat on the left is: let the maximum speed of the unmanned boat be t, then the navigation direction of the unmanned boat should be adjusted to And the sailing speed is

[0053] The safe navigation rule for the unmanned boat on the left is: suppose the maximum speed of the unmanned boat is t, then the navigation speed of the unmanned boat should be adjusted to t, keep the fastest speed, and give the navigation direction as

[0054] Dangerous navigation rules for the unmanned boat on the right: Assume that the maximum speed of the unmanned boat is t, then the navigation direction of the unmanned boat should be adjusted to And the sailing speed is

[0055] Safe navigation rules for the unmanned boat on the right side: Assume that the maximum speed of the unmanned boat is t. At this time, the speed of the unmanned boat should be adjusted to t, maintaining the fastest speed, and giving the navigation direction as

[0056] An electronic device comprising: a memory and at least one processor;

[0057] Wherein, the memory stores a computer program;

[0058] The at least one processor executes the computer program stored in the memory, so that the at least one processor executes the unmanned boat navigation direction control method as described above.

[0059] A computer-readable storage medium stores a computer program, which can be executed by a processor to implement the unmanned boat navigation direction control method as described above.

[0060] The unmanned boat navigation direction control method and system of the present invention have the following advantages:

[0061] (1) Unlike fixed-point navigation, the unmanned boat of the present invention has dynamic perception of its own navigation posture, which is conducive to adjusting the navigation posture under special circumstances and ensuring smooth navigation;

[0062] (2) The unmanned boat of the present invention does not require position positioning when it is in navigation, and can ensure that navigation instructions are given smoothly even when the signal is relatively weak, thus ensuring smooth navigation;

[0063] (3) The present invention requires relatively less materials and calculations to provide navigation direction recommendations for unmanned boats, has faster response speed and accuracy, and can be applied to most river waters;

[0064] (4) The present invention identifies river channels based on image recognition technology and gives recommended sailing directions and speeds based on the sailing speed and direction. This is convenient, fast and highly accurate, greatly improving the safety of unmanned boat navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The present invention will be further described below with reference to the accompanying drawings.

[0066] Attachment Figure 1 This is a flowchart of the unmanned boat navigation direction control method;

[0067] Attachment Figure 2 This is a schematic diagram of the unmanned boat in the river and the related lines and angles generated. DETAILED DESCRIPTION

[0068] The method and system for controlling the navigation direction of an unmanned boat of the present invention are described in detail below with reference to the accompanying drawings and specific embodiments.

[0069] Example 1:

[0070] This embodiment provides a method for controlling the navigation direction of an unmanned boat, which is specifically as follows:

[0071] S1. Obtain channel images at regular intervals: Use a camera to regularly take pictures of the water area in front of the unmanned boat and the river banks on both sides; for example, use a camera to take pictures of the water area in front of the unmanned boat and the river banks on both sides every two seconds, and then proceed to step S2;

[0072] S2. Obtain the inclination and distance of the riverbanks on both sides: Using an image recognition algorithm, define a straight line perpendicular to the ship's direction of travel in the river as the horizontal reference line. Obtain the angle between the riverbanks on both sides and the horizontal reference line, as well as the distance between the riverbanks. The next step is to proceed to step S3.

[0073] S3. Calculate the left and right virtual safety boundaries and virtual centerline based on the inclination: Obtain the position and angle of the virtual centerline based on the angle between the riverbanks on both sides and the horizontal line, and obtain the positions and angles of the left and right virtual safety boundaries. Next, execute step S4.

[0074] S4. Based on the UAV's position and the area it is divided into, determine whether the UAV is on the left or right side of the virtual centerline:

[0075] ① If the unmanned boat is on the left side of the virtual centerline, proceed to step S5;

[0076] ② If the unmanned boat is on the right side of the virtual centerline, execute step S6;

[0077] S5. Determine whether the unmanned boat is inside or outside the left safety zone:

[0078] ① If the unmanned boat is outside the left safety zone, the reasonable navigation speed and angle are calculated according to the left dangerous navigation rules, and the next step is to execute step S7;

[0079] ② If the unmanned boat is within the left safety zone, the reasonable navigation speed and angle are calculated according to the left safety navigation rules, and the next step is to execute step S7;

[0080] S6. Determine whether the unmanned boat is inside or outside the right safety zone:

[0081] ① If the UAV is outside the right safety zone, the reasonable navigation speed and angle are calculated according to the right dangerous navigation rules, and the next step is to execute step S7;

[0082] ② If the unmanned boat is within the right safety zone, the reasonable navigation speed and angle are calculated according to the right safety navigation rules, and the next step is to execute step S7;

[0083] S7. According to the position of the unmanned boat on the virtual center line and the position of the safety zone, a reasonable navigation speed and angle are obtained, and the navigation direction and angle are sent to the unmanned boat.

[0084] The specific steps of obtaining the slope and distance of the river banks on both sides in step S2 of this embodiment are as follows:

[0085] S201. Draw a line perpendicular to the direction of travel of the unmanned boat in the river as a horizontal line. The length of the horizontal line is obtained by an image recognition algorithm as the straight-line distance between the intersection of the horizontal line and the riverbanks on both sides, which is set as z.

[0086] S202 , using the horizontal line as a reference, obtain two straight lines fitting the two riverbanks and the angle at which the two straight lines intersect the horizontal line according to an image recognition algorithm, thereby respectively obtaining the left tilt angle x and the right tilt angle y.

[0087] In step S3 of this embodiment, the calculation of the left and right virtual safety margins and the virtual center line based on the inclination is specifically as follows:

[0088] S301, set the maximum speed of the unmanned boat to t, according to the formula Get the centerline angle a and mark the starting point of the centerline at the centerline midpoint z / 2;

[0089] S302, according to the current navigation position and centerline position of the unmanned boat, obtain the distance i between the unmanned boat and the center point;

[0090] S303, according to the formula Get the width of the virtual safety zone as m, and mark the left virtual safety zone at the distance from the left shoreline At an angle of a, parallel to the center line, the right virtual safety zone is located at a distance from the right side of the shore line At an angle a, parallel to the center line.

[0091] The dangerous navigation rule for the unmanned boat on the left side in this embodiment is: assuming the maximum speed of the unmanned boat is t, the navigation direction of the unmanned boat should be adjusted to And the sailing speed is

[0092] The safe navigation rule for the unmanned boat on the left side in this embodiment is: assuming the maximum speed of the unmanned boat is t, the navigation speed of the unmanned boat should be adjusted to t, maintaining the fastest speed, and giving the navigation direction as

[0093] The dangerous navigation rule for the unmanned boat on the right side in this embodiment is: assuming that the maximum speed of the unmanned boat is t, the navigation direction of the unmanned boat should be adjusted to And the sailing speed is

[0094] The safe navigation rule for the unmanned boat on the right side in this embodiment is: suppose the maximum speed of the unmanned boat is t, then the navigation speed of the unmanned boat should be adjusted to t, keep the fastest speed, and give the navigation direction as

[0095] In step S4 of this embodiment, based on the traveling position of the unmanned boat and the divided areas, the navigation position of the unmanned boat is as follows:

[0096] (1) The unmanned boat is located to the left of the virtual centerline of the river and within the river safety zone: The unmanned boat is in a safe navigation state, as follows:

[0097] ① If the UAV has not reached the maximum speed, the throttle command should be given to increase the speed of the UAV to the maximum and give the navigation direction.

[0098] ② If the unmanned boat has reached the maximum speed, the navigation speed should be given as t, and the fastest speed should be maintained, and the navigation direction should be given as

[0099] (2) The unmanned boat is on the left side of the virtual center line of the river, outside the safe area of ​​the river, and in the dangerous area on the left: the unmanned boat is in a dangerous navigation state, and should slow down and adjust its direction to return to the safe area. At this time, the navigation direction should be given as And the sailing speed is

[0100] (3) The unmanned boat is located on the right side of the river centerline and within the river safety zone: The unmanned boat is in a safe navigation state, as follows:

[0101] ① If the unmanned boat has not reached the maximum speed, a throttle command should be given to increase the speed of the boat to the maximum and give the sailing direction.

[0102] ② If the unmanned boat has reached the maximum speed, the navigation speed should be given as t, and the fastest speed should be maintained, and the navigation direction should be given as

[0103] (IV) The unmanned boat is on the right side of the river centerline, outside the safe area of ​​the river, and in the dangerous area on the right: The unmanned boat is in a dangerous navigation state and should slow down and adjust its direction to return to the safe area. At this time, the navigation direction should be given as And the sailing speed is

[0104] Example 2:

[0105] As attached Figure 2 As shown, the unmanned boat in the river and the related lines and angles generated are as follows:

[0106] (1) The direction and position of the unmanned boat;

[0107] (2) According to the image recognition algorithm, the straight line perpendicular to the direction of travel of the unmanned boat in the river is used as the horizontal reference line, and the right inclination angle y between the right river bank and the horizontal line is calculated;

[0108] (3) According to the image recognition algorithm, the straight line perpendicular to the direction of travel of the unmanned boat in the river is used as the horizontal reference line, and the left inclination angle x between the left river bank and the horizontal line is calculated;

[0109] (4) According to the image recognition algorithm, the straight line perpendicular to the direction of travel of the unmanned boat in the river is used as the horizontal reference line to calculate the river width z;

[0110] (5) Calculate the centerline of the river channel based on the angle between the banks on both sides of the river channel and the width of the river channel;

[0111] (6) Calculate the right virtual safety boundary parallel to the center line on the left side based on the angle between the banks on both sides of the river and the width of the river;

[0112] (7) Calculate the left virtual safety boundary parallel to the center line based on the angle between the banks on both sides of the river and the width of the river;

[0113] (8) The situation of the unmanned boat is judged based on the centerline and the middle area of ​​the safety boundary, as follows:

[0114] ① The area between the right river bank and the right virtual safety boundary is the right danger zone 8;

[0115] ② The area between the center line and the right virtual safety boundary is the right safety zone 9;

[0116] ③ The area between the center line and the left virtual safety boundary is the left safety zone 10;

[0117] ④ The area between the left river bank and the left virtual safety boundary is the left danger zone 11.

[0118] Example 3:

[0119] This embodiment provides a navigation direction control system for an unmanned boat, the system comprising:

[0120] The first acquisition unit is used to use a camera to periodically take pictures of the water area in front of the unmanned boat and the river banks on both sides;

[0121] The second acquisition unit is used to obtain the inclination and distance of the river banks on both sides. That is, using an image recognition algorithm, a straight line perpendicular to the ship's direction of travel in the river is defined as the horizontal reference line, and the angle between the river banks on both sides and the horizontal reference line and the distance between the river banks are obtained;

[0122] The third acquisition unit is used to obtain the position and angle of the virtual center line according to the angle between the river banks on both sides and the horizontal line, and obtain the position and angle of the virtual safety boundary lines on the left and right sides;

[0123] A judgment unit is used to judge whether the unmanned boat is on the left or right side of the virtual center line and whether it is within the safety zone according to the traveling position of the unmanned boat and the divided area;

[0124] The acquisition unit 4 obtains the reasonable navigation speed and angle according to the position of the unmanned boat on the virtual center line and the position of the safety zone, and sends the navigation direction and angle to the unmanned boat.

[0125] The judgment unit in this embodiment includes:

[0126] Judgment module 1 is used to determine whether the unmanned boat is inside or outside the left safety zone:

[0127] If the unmanned boat is outside the left safety zone, the reasonable navigation speed and angle shall be calculated according to the left dangerous navigation rules;

[0128] If the unmanned boat is within the left safety zone, the reasonable navigation speed and angle shall be calculated according to the left safety navigation rules;

[0129] Judgment module 2 is used to determine whether the unmanned boat is inside or outside the right safety zone:

[0130] If the unmanned boat is outside the right safety zone, the reasonable navigation speed and angle shall be calculated according to the right dangerous navigation rules;

[0131] If the unmanned boat is within the right safety zone, the reasonable navigation speed and angle shall be calculated according to the right safety navigation rules.

[0132] In this embodiment, the dangerous navigation rule for the unmanned boat on the left is: assuming the maximum speed of the unmanned boat is t, the navigation direction of the unmanned boat should be adjusted to And the sailing speed is

[0133] The safe navigation rule for the unmanned boat on the left is: suppose the maximum speed of the unmanned boat is t, then the navigation speed of the unmanned boat should be adjusted to t, keep the fastest speed, and give the navigation direction as

[0134] Dangerous navigation rules for the unmanned boat on the right: Assume that the maximum speed of the unmanned boat is t, then the navigation direction of the unmanned boat should be adjusted to And the sailing speed is

[0135] Safe navigation rules for the unmanned boat on the right side: Assume that the maximum speed of the unmanned boat is t. At this time, the speed of the unmanned boat should be adjusted to t, maintaining the fastest speed, and giving the navigation direction as

[0136] Example 4:

[0137] This embodiment also provides an electronic device, including: a memory and a processor;

[0138] wherein the memory stores computer-executable instructions;

[0139] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the unmanned boat navigation direction control method in any embodiment of the present invention.

[0140] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor may be a microprocessor or any conventional processor, etc.

[0141] The memory can be used to store computer programs and / or modules. The processor implements various functions of the electronic device by running or executing the computer programs and / or modules stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store an operating system, at least one application required for a function, etc.; the data storage area can store data created based on the use of the terminal, etc. In addition, the memory can also include high-speed random access memory and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, a flash memory card, at least one disk storage period, a flash memory device, or other volatile solid-state memory devices.

[0142] Example 5:

[0143] This embodiment further provides a computer-readable storage medium storing a plurality of instructions, which are loaded by a processor to cause the processor to execute the method for controlling the navigation direction of an unmanned watercraft according to any embodiment of the present invention. Specifically, a system or device equipped with a storage medium can be provided, wherein the storage medium stores software program code that implements the functions of any of the above-described embodiments, and a computer (or CPU or MPU) of the system or device can read and execute the program code stored in the storage medium.

[0144] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute part of the present invention.

[0145] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-Rs, CD-RWs, DVD-ROMs, DVD-RYMs, DVD-RWs, DVD+RWs), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer via a communications network.

[0146] In addition, it should be clear that the functions of any of the above embodiments can be achieved not only by executing the program code read by the computer, but also by enabling the operating system operating on the computer to complete part or all of the actual operations based on the instructions of the program code.

[0147] In addition, it can be understood that the program code read from the storage medium is written into the memory provided in the expansion board inserted into the computer or into the memory provided in the expansion unit connected to the computer, and then based on the instructions of the program code, the CPU installed on the expansion board or expansion unit is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above embodiments.

[0148] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the navigation direction of an unmanned boat, characterized in that: The method is as follows: Get channel pictures regularly: Use the camera to regularly take pictures of the water ahead of the unmanned boat and the banks on both sides; Obtain the inclination and distance of the riverbanks on both sides: Using an image recognition algorithm, a straight line perpendicular to the ship's direction of travel in the river is defined as the horizontal reference line. The angle between the riverbanks on both sides and the horizontal reference line, as well as the distance between the riverbanks, is then obtained. Calculate the left and right virtual safety boundaries and virtual center line based on the inclination: obtain the position and angle of the virtual center line based on the angle between the river banks on both sides and the horizontal line, and obtain the position and angle of the left and right virtual safety boundary lines; According to the position of the UAV and the area it is divided into, determine whether the UAV is on the left or right side of the virtual center line: If the UAV is on the left side of the virtual centerline, determine whether the UAV is inside or outside the left safety zone: If the unmanned boat is outside the left safety zone, the reasonable navigation speed and angle shall be calculated according to the left dangerous navigation rules; If the unmanned boat is within the left safety zone, the reasonable navigation speed and angle shall be calculated according to the left safety navigation rules; If the UAV is on the right side of the virtual centerline, determine whether the UAV is inside or outside the right safety zone: If the unmanned boat is outside the right safety zone, the reasonable navigation speed and angle shall be calculated according to the right dangerous navigation rules; If the unmanned boat is within the right safety zone, the reasonable navigation speed and angle shall be calculated according to the right safety navigation rules; According to the position of the unmanned boat on the virtual center line and the position of the safety zone, the reasonable navigation speed and angle are obtained, and the navigation direction and angle are sent to the unmanned boat.

2. The method for controlling the navigation direction of an unmanned boat according to claim 1, wherein: The slope and distance of the river banks on both sides are obtained as follows: According to the direction of the unmanned boat in the river, draw a line perpendicular to the direction of travel as the horizontal line. According to the image recognition algorithm, the length of the horizontal line is obtained as the straight-line distance between the intersection of the horizontal line and the river bank lines on both sides, which is set as z; Taking the horizontal line as the reference, the image recognition algorithm is used to obtain two straight lines fitting the two river banks and the angle at which the two straight lines intersect the horizontal line, thereby obtaining the left inclination angle x and the right inclination angle y respectively.

3. The method for controlling the navigation direction of an unmanned boat according to claim 2, wherein: The left and right virtual safety boundaries and virtual center lines are calculated based on the inclination as follows: Assume the maximum speed of the unmanned boat is t, according to the formula a= Get the centerline angle a and mark the starting point of the centerline at the centerline midpoint z / 2; According to the current navigation position and centerline position of the unmanned boat, the distance between the unmanned boat and the center point is obtained as i; According to the formula m= Get the width of the virtual safety zone as m, and mark the left virtual safety zone at the distance from the left shoreline At an angle of a, parallel to the center line, the right virtual safety zone is located at a distance from the right side of the shore line At an angle a, parallel to the center line.

4. The method for controlling the navigation direction of an unmanned boat according to claim 3, wherein: The dangerous navigation rule for the unmanned boat on the left is: let the maximum speed of the unmanned boat be t, then the navigation direction of the unmanned boat should be adjusted to , and the sailing speed is ; The safe navigation rule for the unmanned boat on the left is: suppose the maximum speed of the unmanned boat is t, then the navigation speed of the unmanned boat should be adjusted to t, keep the fastest speed, and give the navigation direction as ; Dangerous navigation rules for the unmanned boat on the right: Assume that the maximum speed of the unmanned boat is t, then the navigation direction of the unmanned boat should be adjusted to , and the sailing speed is ; Safe navigation rules for the unmanned boat on the right side: Assume that the maximum speed of the unmanned boat is t. At this time, the speed of the unmanned boat should be adjusted to t, maintaining the fastest speed, and giving the navigation direction as .

5. The method for controlling the navigation direction of an unmanned boat according to claim 3, wherein: According to the position of the unmanned boat and the area it is divided into, the navigation position of the unmanned boat is as follows: (1) The unmanned boat is located to the left of the virtual centerline of the river and within the river safety zone: The unmanned boat is in a safe navigation state, as follows: ① If the UAV has not reached the maximum speed, the throttle command should be given to increase the speed of the UAV to the maximum and give the navigation direction. ; ② If the unmanned boat has reached the maximum speed, the navigation speed should be given as t, and the fastest speed should be maintained, and the navigation direction should be given as ; (2) The unmanned boat is on the left side of the virtual center line of the river, outside the safe area of ​​the river, and in the dangerous area on the left: the unmanned boat is in a dangerous navigation state and should slow down and adjust its direction to return to the safe area. At this time, the navigation direction should be given as , and the sailing speed is ; (3) The unmanned boat is located on the right side of the river centerline and within the river safety zone: The unmanned boat is in a safe navigation state, as follows: ① If the unmanned boat has not reached the maximum speed, a throttle command should be given to increase the speed of the boat to the maximum and give the sailing direction. ; ② If the unmanned boat has reached the maximum speed, the navigation speed should be given as t, and the fastest speed should be maintained, and the navigation direction should be given as ; (IV) The unmanned boat is on the right side of the river centerline, outside the safe area of ​​the river, and in the dangerous area on the right: The unmanned boat is in a dangerous navigation state and should slow down and adjust its direction to return to the safe area. At this time, the navigation direction should be given as , and the sailing speed is .

6. An unmanned boat navigation direction control system, characterized in that: The system includes, The first acquisition unit is used to use a camera to periodically take pictures of the water area in front of the unmanned boat and the river banks on both sides; The second acquisition unit is used to obtain the inclination and distance of the river banks on both sides. That is, using an image recognition algorithm, a straight line perpendicular to the ship's direction of travel in the river is defined as the horizontal reference line, and the angle between the river banks on both sides and the horizontal reference line and the distance between the river banks are obtained; The third acquisition unit is used to obtain the position and angle of the virtual center line according to the angle between the river banks on both sides and the horizontal line, and obtain the position and angle of the virtual safety boundary lines on the left and right sides; A judgment unit is used to judge whether the unmanned boat is on the left or right side of the virtual center line and whether it is within the safety zone according to the traveling position of the unmanned boat and the divided area; The acquisition unit 4 obtains the reasonable navigation speed and angle according to the position of the unmanned boat on the virtual center line and the position of the safety zone, and sends the navigation direction and angle to the unmanned boat.

7. The unmanned boat navigation direction control system according to claim 6, characterized in that: The judging unit includes: Judgment module 1 is used to determine whether the unmanned boat is inside or outside the left safety zone: If the unmanned boat is outside the left safety zone, the reasonable navigation speed and angle shall be calculated according to the left dangerous navigation rules; If the unmanned boat is within the left safety zone, the reasonable navigation speed and angle shall be calculated according to the left safety navigation rules; Judgment module 2 is used to determine whether the unmanned boat is inside or outside the right safety zone: If the unmanned boat is outside the right safety zone, the reasonable navigation speed and angle shall be calculated according to the right dangerous navigation rules; If the unmanned boat is within the right safety zone, the reasonable navigation speed and angle shall be calculated according to the right safety navigation rules.

8. The unmanned boat navigation direction control system according to claim 7, characterized in that: The dangerous navigation rule for the unmanned boat on the left is: let the maximum speed of the unmanned boat be t, then the navigation direction of the unmanned boat should be adjusted to , and the sailing speed is ; Among them, based on the horizontal line as the reference, two straight lines fitting the two river banks and the angle of intersection of the two straight lines with the horizontal line are obtained according to the image recognition algorithm, and then the left inclination angle x and the right inclination angle y are obtained respectively; according to the formula a= Get the centerline angle a; The safe navigation rule for the unmanned boat on the left is: suppose the maximum speed of the unmanned boat is t, then the navigation speed of the unmanned boat should be adjusted to t, keep the fastest speed, and give the navigation direction as ; Dangerous navigation rules for the unmanned boat on the right: Assume that the maximum speed of the unmanned boat is t, then the navigation direction of the unmanned boat should be adjusted to , and the sailing speed is ; According to the current navigation position and centerline position of the unmanned boat, the distance between the unmanned boat and the center point is obtained as i; Safe navigation rules for the unmanned boat on the right side: Assume that the maximum speed of the unmanned boat is t. At this time, the speed of the unmanned boat should be adjusted to t, maintaining the fastest speed, and giving the navigation direction as .

9. An electronic device, characterized in that: include: memory and at least one processor; Wherein, the memory stores a computer program; The at least one processor executes the computer program stored in the memory, so that the at least one processor executes the unmanned boat navigation direction control method according to any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which can be executed by a processor to implement the unmanned boat navigation direction control method according to any one of claims 1 to 5.

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