A remote unmanned ship surveying and mapping control method and system, a storage medium and an intelligent terminal

Abstract

The application relates to a remote unmanned ship surveying and mapping control method, and relates to the field of unmanned ship surveying and mapping technology, which comprises the following steps: acquiring the light intensity value of a preset point on an unmanned ship and the position of the waterline of the unmanned ship; determining the overturning condition of the unmanned ship based on the light intensity change condition of the light intensity value; acquiring a first environment image or a second environment image based on the overturning condition of the unmanned ship; acquiring the first environment image and the second environment image based on the amplitude change condition of the waterline position; and generating surveying and mapping data based on the first environment image and / or the second environment image. The application has the effect of acquiring the corresponding first environment image and / or the second environment image according to the overturning condition of the unmanned ship, so that continuous environment image surveying and mapping data can be obtained when the unmanned ship overturns, thereby improving the efficiency of the unmanned ship in completing the surveying and mapping work.

Description

Technical Field

[0001] The present application relates to the field of unmanned vessel surveying and mapping technology, and in particular to a remote unmanned vessel surveying and mapping control method, system, storage medium, and intelligent terminal. Background Art

[0002] When conducting river environment mapping, remote mapping is usually carried out with the help of a surveying unmanned vessel. The surveying unmanned vessel is equipped with a camera, which uses the camera to photograph the environment around the river. After the shooting is completed, the image is uploaded to the modeling software for environmental modeling.

[0003] In related technologies, when a surveying and mapping unmanned boat is taking images, there are some waters with relatively turbulent water flow. When the overall weight of the surveying and mapping unmanned boat is not enough to withstand the impact of the turbulent water flow, the unmanned boat is prone to swaying to varying degrees with the water flow. When the shaking amplitude is large, it will cause the surveying and mapping unmanned boat to capsize, causing the camera to sink underwater.

[0004] Regarding the above-mentioned related technologies, when the camera sinks underwater as the unmanned surveying and mapping ship capsizes, it is difficult for the surveying and mapping unmanned ship itself to adjust automatically. Even after the adjustment is reset, the camera's acquisition of environmental images around the river channel will cause node dislocation under the push of the water flow, and it is necessary to re-acquire the environmental images around the river channel on the path, which is not conducive to improving the environmental mapping operation efficiency of the surveying and mapping unmanned ship. Summary of the Invention

[0005] In order to facilitate continuous image acquisition when a surveying unmanned boat capsizes while traveling in turbulent waters, so as to complete river environment mapping operations, the present application provides a remote unmanned boat surveying control method.

[0006] In the first aspect, the present application provides a remote unmanned vessel surveying and mapping control method, which adopts the following technical solutions:

[0007] A remote unmanned vessel surveying and mapping control method includes: obtaining a light intensity value of a preset point on the unmanned vessel and a waterline position of the unmanned vessel;

[0008] Based on the change of light intensity value, the capsizing of the unmanned ship is determined;

[0009] Based on the rollover of the unmanned ship, a first environment image or a second environment image is obtained;

[0010] Based on the amplitude change of the waterline position, a first environmental image and a second environmental image are obtained;

[0011] The mapping data is generated based on the first environment image and / or the second environment image.

[0012] By adopting the above technical solution, the change in light intensity at the pre-point is used to determine whether the unmanned boat has capsized. The first environmental image and the second environmental image are acquired by cameras at two different positions to ensure that the environmental images acquired before and after the capsize are continuous images. When the amplitude of the waterline position changes greatly, the two cameras are kept turned on at the same time to acquire the first environmental image and the second environmental image, thereby ensuring that if the boat capsizes again in a short period of time, continuous environmental images can still be acquired, thereby improving the efficiency of environmental mapping.

[0013] Optionally, obtaining the real-time attitude angle value of the unmanned boat and the water storage value of the water storage chamber preset on the unmanned boat;

[0014] Determining reverse thrust parameters and a first energy consumption value based on a comparison between the real-time attitude angle value and a preset steady angle attitude angle value;

[0015] Determining the water storage parameter and the second energy consumption value based on a comparison between the water storage value and a preset weight value;

[0016] Based on the numerical balance relationship of the steady attitude angle, a calculation is performed to determine the total balanced energy consumption of the first energy consumption value and the second energy consumption value, and the total balanced energy consumption with the smallest value is sorted and obtained;

[0017] Instructing the buffer device to perform reverse thrust based on the first energy consumption value corresponding to the total balanced energy consumption and the reverse thrust parameter mapped thereto;

[0018] Based on the second energy consumption value corresponding to the balanced total energy consumption and the mapped water storage parameter thereof, the water storage chamber is instructed to adjust the water storage amount.

[0019] By adopting the above technical solution, when the amplitude of the waterline position of the unmanned boat changes, the unmanned boat stabilizes the unmanned boat area by adjusting the water storage volume in the water storage chamber, and at the same time performs anti-thrust buffering through the buffer device to further improve the driving stability of the unmanned boat, and determines the minimum total energy consumption required for the buffer device to perform anti-thrust according to the mapping relationship between the water storage parameters and the anti-thrust parameters to save energy.

[0020] Optionally, obtaining a forward image in the traveling direction of the unmanned vessel;

[0021] Determine the surge area based on the comparison and analysis of the front image and the preset surge image;

[0022] Determine the obstacle area based on the comparison and analysis between the front image and the preset obstacle image;

[0023] Based on the corresponding mapping relationship between the surge area and the obstacle area, the avoidance parameters are determined;

[0024] Analyze the avoidance parameters and the preset path of the unmanned vessel to determine the corrected path;

[0025] The unmanned vessel is instructed to travel along the corrected path according to the corrected path.

[0026] By adopting the above technical solution, the unmanned boat can avoid surge areas and obstacle areas on the water surface when moving along the corrected path, making it less susceptible to obstacle collisions and surges during subsequent movement, which helps to further improve the stability of the unmanned boat.

[0027] Optionally, obtain the unmanned ship model parameters;

[0028] Analyze the front image to determine the surge splash area;

[0029] Based on the relationship between the UAV model parameters and the surge splash area, the mirror wetting situation is determined;

[0030] Determine the cleaning location based on the wetness of the mirror surface;

[0031] The cleaning device is instructed to clean the mirror surface based on the cleaning position.

[0032] By adopting the above technical solution, the camera can be cleaned when the unmanned boat is splashed by water during driving, so that the camera mirror remains clean, which helps to improve the camera's acquisition of clear environmental image data.

[0033] Optionally, obtain the water current thrust and the current speed of the unmanned vessel;

[0034] Determine the minimum sailing power based on the analysis of water current thrust and unmanned vessel model parameters;

[0035] Based on the mapping relationship between the minimum sailing power and the preset stable sailing speed, the minimum propeller speed is determined;

[0036] If the propeller is rotating at minimum power and the current speed of the unmanned ship is greater than the stable sailing speed, the unmanned ship is instructed to stop rotating the propeller;

[0037] When the propeller stops, the current speed of the unmanned ship is compared with the stable sailing speed to determine the slow-speed boost parameters;

[0038] The buffer device is instructed to perform a boost based on the retarding boost parameter.

[0039] By adopting the above technical solution, when the unmanned boat moves at a stable sailing speed, it helps the camera to obtain appropriate images. When the unmanned boat can reach a stable sailing speed driven by the thrust of the water flow, the speed of the propeller is adjusted so that the propeller can rotate at the lowest speed, thereby reducing the rotational energy consumption of the propeller. When the propeller is about to be closed and the speed of the unmanned boat exceeds the stable sailing speed, the buffer device is used to slow down and assist in maintaining the sailing speed of the unmanned boat.

[0040] Optionally, the adjustment position is determined based on the relationship between the waterline position and the rollover condition of the unmanned vessel;

[0041] Instructing the buffer device to move based on the adjustment position, and obtaining a thrust value between the buffer device and water;

[0042] Determining a fine-tuning position based on a comparison between the thrust value and a preset reference thrust value;

[0043] The buffer device is instructed to move according to the fine adjustment position and the thrust value is updated.

[0044] By adopting the above technical solution, the relative position of the buffer device changes after the unmanned boat capsizes, and the position of the buffer device is adjusted so that the buffer device is directed back to the underwater side for buffering and thrusting, so that the unmanned boat remains stable. The thrust value is analyzed to determine whether the buffer device is adjusted in place, which helps the buffer device to provide maximum thrust to stabilize the unmanned boat.

[0045] Optionally, the buffer device is controlled to provide reverse thrust in the direction of travel based on the current ship speed;

[0046] Get the current total balanced energy consumption during reverse boosting;

[0047] Based on the mapping relationship between the current total balanced energy consumption and the water storage parameters, the discharge volume is determined;

[0048] Control the displacement of unmanned vessels based on displacement.

[0049] By adopting the above technical solution, when the unmanned boat travels along the corrected path, it is in an area where it is not likely to collide with obstacles or be affected by waves. At this time, the water in the water storage chamber is discharged to reduce the overall weight of the unmanned boat, and it can remain relatively stable, which helps to reduce the energy consumption of the buffer device during buffering and thrusting.

[0050] In a second aspect, the present application provides a remote unmanned vessel mapping control system, which adopts the following technical solutions:

[0051] A remote unmanned vessel mapping control system, comprising:

[0052] An acquisition module is used to obtain the light intensity value of a preset point on the unmanned ship and the waterline position of the unmanned ship;

[0053] The judgment module is connected to the acquisition module and determines the capsizing of the unmanned boat based on the change of the light intensity value;

[0054] A processing module is connected to the acquisition module and the judgment module, and is configured to acquire a first environment image or a second environment image based on the rollover of the unmanned vessel;

[0055] The processing module generates mapping data based on the first environment image and / or the second environment image.

[0056] By adopting the above technical solution, the judgment module judges the rollover situation of the unmanned boat during the surveying and mapping process, and obtains the first environmental image and / or the second environmental image according to the rollover situation, so that even if a rollover occurs during the surveying and mapping operation, the environmental image can be continuously acquired, which helps to improve the efficiency of environmental surveying and mapping.

[0057] In a third aspect, the present application provides a smart terminal that adopts the following technical solution:

[0058] An intelligent terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any of the above-mentioned remote unmanned ship mapping control methods.

[0059] By adopting the above technical solution, the use of the smart terminal enables the acquisition of the corresponding first environment image and / or second environment image after the unmanned boat capsizes, so that the surveying and mapping image data will not be partially lost due to the capsizing of the unmanned boat.

[0060] In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, which facilitates the unmanned vessel to continuously acquire environmental images during a rollover process, and adopts the following technical solutions:

[0061] A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned remote unmanned vessel mapping control methods.

[0062] By adopting the above technical solution, a computer program of a remote unmanned vessel surveying and mapping control method is stored in a storage medium, and the unmanned vessel can obtain the corresponding first environment image and / or second environment image when it capsizes, thereby making it less likely that the environment mapping image will be lost due to the capsizing of the unmanned vessel, which helps to improve the efficiency of surveying and mapping operations.

[0063] In summary, this application includes at least one of the following beneficial technical effects:

[0064] 1. Acquiring the first and / or second environmental images based on the rollover of the unmanned vessel allows the unmanned vessel to obtain continuous mapping images, which helps improve the efficiency of environmental mapping operations when the unmanned vessel is traveling in turbulent waterways.

[0065] 2. When the waterline position of the unmanned boat changes, the unmanned boat adjusts the water storage volume in the water storage chamber to stabilize the unmanned boat area. At the same time, the buffer device performs anti-thrust buffering to further improve the driving stability of the unmanned boat. The minimum total energy consumption required for the buffer device to perform anti-thrust is determined based on the mapping relationship between water storage parameters and anti-thrust parameters, thereby saving energy.

[0066] 3. When the unmanned boat travels along the corrected path, the water in the water storage chamber is discharged to reduce the overall weight of the unmanned boat and keep it relatively stable, which helps to reduce the energy consumption of the buffer device during buffering and thrusting. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 It is a flow chart of a method for an unmanned vessel to obtain continuous environmental images according to a rollover situation.

[0068] Figure 2 It is a flow chart of a control method for adjusting a buffer device and a water storage chamber according to a stable attitude angle of an unmanned boat.

[0069] Figure 3 This is a flow chart of the unmanned boat's movement control to avoid surge areas and obstacle areas based on images.

[0070] Figure 4 This is a flow chart of a method for an unmanned vessel to correct its path based on a surge area.

[0071] Figure 5 This is a flow chart of an energy-saving navigation method when an unmanned ship travels along a corrected flow.

[0072] Figure 6 This is a flow chart of a method for adjusting the position of a buffer device when an unmanned boat capsizes.

[0073] Figure 7 This is a flow chart of the transport navigation method after the unmanned ship travels on the corrected path.

[0074] Figure 8 This is a module diagram of the remote unmanned ship mapping control system in this application. DETAILED DESCRIPTION

[0075] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-8 It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0076] The embodiments of the present invention are described in further detail below with reference to the accompanying drawings.

[0077] The embodiment of the present application discloses a remote unmanned vessel surveying and mapping control method, which helps to obtain continuous images when the unmanned vessel capsizes, thereby improving the efficiency of the unmanned vessel in completing surveying and mapping operations.

[0078] Reference Figure 1 ,The process of remote unmanned ship surveying and mapping control method includes the following steps:

[0079] Step S100: Obtain the light intensity value of a preset point on the unmanned vessel and the waterline position of the unmanned vessel.

[0080] In this embodiment, two preset points are set, one on the upper and lower surfaces of the unmanned boat. When the unmanned boat is placed on the water, the water surface serves as the reference plane, with the surface below the water as the lower surface and the surface above the water as the upper surface. Light sensors are installed at these preset points to detect light intensity. The waterline position of the unmanned boat is the depth at which the bottom of the boat is submerged when the boat is placed on the water. The waterline position is marked on the outside of the boat hull and captured by a camera installed on the boat.

[0081] Step S101: determining the capsizing of the unmanned boat based on the change in illumination intensity of the illumination intensity value.

[0082] During detection, the light intensity detected by the photosensor located underwater is smaller, and the light intensity detected by the photosensor located above the water is larger. When the light intensity values ​​detected by the two photosensors change relative to each other, it means that the upper and lower surfaces of the unmanned boat have been displaced, which means that the unmanned boat has capsized.

[0083] Step S102: Based on the rollover of the unmanned vessel, a first environment image or a second environment image is acquired.

[0084] The unmanned boat is equipped with a first camera on its upper surface and a second camera on its lower surface. The first camera captures the first environment image, while the second camera captures the second environment image. When the unmanned boat is not capsizing, the first camera continuously captures the river environment. If the unmanned boat capsizes, the second camera moves to the river surface and is activated to continuously capture the second environment image.

[0085] Step S103: Acquire a first environment image and a second environment image based on the amplitude change of the waterline position.

[0086] After the unmanned boat capsizes, the position changes of the waterline are obtained multiple times. The relative distances between different waterline positions form a range of change. When the range of change is large, it means that the unmanned boat may capsize again in a short time. At this time, the first camera located underwater is not shut down, and the first environment push direction and the second environment image are obtained at the same time to ensure that the surveying and mapping images can be continuously obtained.

[0087] Step S104: Generate mapping data based on the first environment image and / or the second environment image.

[0088] When the unmanned boat does not capsize, the continuous first environment images obtained are uploaded to the three-dimensional image generation software to generate surveying and mapping data. When the unmanned boat capsizes, the first image environment and the second image environment obtained are uploaded to the three-dimensional image generation software and synthesized into continuous surveying and mapping data. The image information is synthesized by the three-dimensional software as common knowledge for those skilled in the art, and will not be described in detail in this embodiment.

[0089] Reference Figure 2 Based on the amplitude change of the waterline position, the stability control method of the unmanned ship includes:

[0090] Step S200: obtaining the real-time attitude angle value of the unmanned boat and the water storage value of the water storage chamber preset on the unmanned boat.

[0091] The attitude angle corresponding to the real-time attitude angle value is the attitude angle value generated when the unmanned boat sways with the water flow. The attitude angle can be obtained by setting a gyroscope on the unmanned boat. A water storage chamber is provided on the unmanned boat. When water is sucked into the water storage chamber, the overall weight of the unmanned boat can be increased, and when water is discharged, the relative weight of the unmanned boat can be reduced. The amount of water in the water storage chamber is the corresponding water storage value. The staff can know the total water storage value of the water storage chamber through the design drawings of the unmanned boat. In the initial case, the water storage value is zero. The change in the water storage value is obtained by setting a water level detector in the water storage chamber for detection.

[0092] Step S201: Determine a reverse thrust parameter and a first energy consumption value based on a comparison between a real-time attitude angle value and a preset steady angle attitude angle value.

[0093] The steady attitude angle corresponding to the steady attitude angle value is set by the staff according to actual conditions. The steady attitude angle value is determined by the staff after a large number of tests. When the change in the real-time attitude angle value is less than the range of the steady attitude angle value, it means that the unmanned boat is in a stable driving state. At this time, the unmanned boat can better obtain the surveying and mapping images. When the change in the real-time attitude angle value is greater than the steady attitude angle value, it means that the unmanned boat is relatively unstable. The angle and direction of the unmanned boat shaking are obtained by the gyroscope. When resisting the real-time attitude angle generated by the shaking, the required resistance force and angle are defined as the anti-thrust parameters. A buffer device is pre-installed on the unmanned boat. In this embodiment, the buffer device is a booster. The booster generates thrust by spraying water and can be rotated and adjusted to different angles. When generating thrust and spraying water, the electric energy consumed is the first energy consumption value.

[0094] Step S202: Determine the water storage parameter and the second energy consumption value based on a comparison between the water storage value and a preset weight value.

[0095] The preset weight value is the unmanned boat's own weight. The unmanned boat's own weight can be known based on the weight recorded in the design drawings. When the water storage value increases, the overall weight of the unmanned boat increases. As the overall weight of the unmanned boat increases, the buffer device's thrust on the unmanned boat increases. The energy consumption required for buffering and propelling with the thrust at this time is the corresponding second energy consumption value.

[0096] Step S203: Based on the numerical balance relationship of the steady attitude angle, calculate to determine the total balanced energy consumption of the first energy consumption value and the second energy consumption value, sort and obtain the total balanced energy consumption with the minimum value.

[0097] The balance relationship of the stable attitude angle value is: the unmanned boat is propelled by the buffer device to improve the stability of the unmanned boat, and the stability of the unmanned boat can also be improved when the water storage capacity increases. Therefore, as the unmanned boat absorbs water, it is propelled by the buffer device, making the unmanned boat further stable. The factor affecting the size of the thrust is that the overall weight of the unmanned boat increases while storing water, which makes the thrust tend to gradually increase. Therefore, the change in the size of the thrust and the change in the size of the water storage value have a balance or multiple balance values.

[0098] The balance value can be determined by establishing a balance database. The balance database stores a change curve of the first energy consumption value and a change curve of the second energy consumption value. There are multiple intersections between the change curve of the first energy consumption value and the change curve of the second energy consumption value. The multiple intersections are the corresponding multiple balance values. The energy consumption corresponding to the balance value is the total balanced energy consumption. By arranging the total average energy consumption corresponding to the multiple balance values ​​in ascending order, the total balanced energy consumption with the minimum value that can stabilize the unmanned boat can be obtained to save the energy consumption when balancing the unmanned boat.

[0099] Step S204: instructing the buffer device to perform reverse boost based on the first energy consumption value corresponding to the balanced total energy consumption and the reverse boost parameter mapped thereto.

[0100] There is a corresponding mapping relationship between the total balanced energy consumption and the first energy consumption value. When the total balanced energy consumption is determined, the force and angle required for the buffer device to assist can be known, thereby instructing the buffer device to perform reverse assist.

[0101] Step S205: Based on the second energy consumption value corresponding to the balanced total energy consumption and the mapped water storage parameter thereof, instruct the water storage chamber to adjust the water storage amount.

[0102] There is a corresponding mapping relationship between the total balanced energy consumption and the second energy consumption value. When the total balanced energy consumption is determined, the water storage value required to be sucked into the water storage chamber under the corresponding thrust can be known, and then the unmanned boat is instructed to inhale the corresponding amount of water storage value.

[0103] Reference Figure 3 ,The stable moving control method of the unmanned ship includes:

[0104] Step S300: Acquire a forward image in the traveling direction of the unmanned ship.

[0105] A camera is pre-installed on the unmanned boat to capture images of the water surface in the direction of travel. This image is defined as the front image and is obtained for the convenience of subsequent calls.

[0106] Step S301: Determine the surge area based on a comparison analysis between the front image and a preset surge image.

[0107] By pre-establishing a surge image feature database to store the image features of surges, when a front image is obtained and the front image is input into the surge image feature database, it can be known whether there is a surge area on the water surface. The method for establishing the database is common knowledge among those skilled in the art and will not be described in detail in this embodiment. There are many surge features corresponding to surge images, including water vortexes in rivers, wave fluctuations and other features. When surge image features exist in the front image, the area where the features exist can be divided and recorded.

[0108] Step S302: Determine the obstacle area based on a comparison analysis between the front image and the preset obstacle image.

[0109] The obstacles corresponding to the obstacle image include floating obstacles and fixed obstacles on the water surface. In the river, there are floating objects such as tree trunks that fall into the water, as well as some reefs protruding from the water surface. The features of the obstacle image can be determined by establishing an obstacle feature database. When the obstacle image is input into the obstacle feature database, feature comparison can be performed to determine whether the feature exists. When an obstacle feature exists, the type of the feature is determined to be floating or fixed. Furthermore, it is determined whether the size of the feature exceeds the preset safety size. If the size of the feature exceeds the preset safety size, the corresponding area of ​​the feature is marked as an obstacle area. If the size of the feature does not exceed the preset safety size, no processing is performed.

[0110] Step S303: determining an avoidance parameter based on a corresponding mapping relationship between the surge area and the obstacle area.

[0111] The relationship mapped by the surge area is the location and size of the surge area. When the surge mapped by the surge area is small, it is judged whether it will affect the stability of the unmanned boat. The basis for the judgment is to establish a surge impact database. The surge database summarizes and stores the impact of different surges on unmanned boats of different weights.

[0112] The relationship mapped by the obstacle area is the location, size and type of the obstacle area. The types of obstacles include floating type and fixed type. Among them, fixed type obstacles have a greater impact on the collision of unmanned ships. The impact of floating type obstacles on unmanned ships is related to the size of the obstacles. The corresponding obstacle collision data can be stored by establishing a collision database to determine whether the unmanned ship needs to avoid obstacles when driving.

[0113] The parameters corresponding to the avoidance parameters are the location of the surge area and the location of the obstacle area that need to be avoided.

[0114] Step S304: Analyze the avoidance parameters and the preset travel path of the UAV to determine a corrected path.

[0115] The preset travel path is the path traveled by the unmanned boat, which is set by the staff according to the surveying area and will not be explained in detail. When the travel path of the unmanned boat overlaps with the surge area position and obstacle area position in the avoidance parameters, the unmanned boat's own position is first obtained. The own position can be obtained through GPS, and then the surge area position, the size of the obstacle area and the model size of the unmanned boat are used, and the safety radius is used as the distance to re-determine the navigation path parallel to the travel path, and define the navigation path as the corrected path. The size of the safety radius is set by the staff according to the actual situation.

[0116] Step S305: instructing the unmanned vessel to travel along the corrected path according to the corrected path.

[0117] When the corrected path is determined, the unmanned boat is controlled to move along the corrected path so that the unmanned boat can travel stably.

[0118] Reference Figure 4 When the unmanned vessel navigates along the corrected path, the control method for enhancing image clarity includes:

[0119] Step S400: Obtain unmanned ship model parameters.

[0120] The model parameters of the unmanned boat include the shape, size and weight of the unmanned boat, which can be learned by building the model through design drawings.

[0121] Step S401: Analyze the front image to determine the surge splash area.

[0122] The area corresponding to the surge splashing area is: the range of water splashing at the location where the surge exists. By establishing a water splashing feature database, the splashing range of water in the image can be determined. The water splashing database stores the identification features of water splashes. By inputting the front image into the water splashing database, the splashing range of water splashes can be obtained. The splashing range is defined as the reference range, which serves as the basis for judging whether the unmanned boat will be splashed when it travels to a position adjacent to the surge splashing area.

[0123] Step S402: Determine the mirror wetting condition based on the relationship between the unmanned ship model parameters and the surge splash area.

[0124] When the unmanned boat travels to a position adjacent to the surge splash area, the position of the camera on the unmanned boat is constant relative to the unmanned boat. By judging whether the camera intersects with the reference range, it is determined whether the camera mirror is wet, which is the corresponding mirror wetting situation.

[0125] Step S403: Determine the cleaning position based on the wetting condition of the mirror surface.

[0126] When the mirror surface is wet, the high-pressure air blowing device preset on the unmanned boat is started to blow air, so that the water splashes on the camera surface can be quickly blown dry. Both cameras on the unmanned boat are equipped with corresponding high-pressure air blowing devices. The cleaning position can be determined by a photosensitive sensor to know which camera is located on the sleeping position, so as to start the corresponding camera.

[0127] Step S404: instructing the cleaning device to clean the mirror surface based on the cleaning position.

[0128] After the cleaning position is determined, cleaning can be carried out by starting the corresponding cleaning device, which is the corresponding high-pressure airflow blowing device.

[0129] Reference Figure 5 When the unmanned ship travels along the corrected path, the energy-saving navigation method of the unmanned ship includes:

[0130] Step S500: Obtain the water flow thrust and the current speed of the unmanned vessel.

[0131] The water flow thrust can be obtained by installing resistance sensors around the hull. The current speed of the unmanned ship can be located by installing a real-time positioning system on the unmanned ship. The position changes at two adjacent moments are calculated to determine the speed of the unmanned ship. The purpose of obtaining the backflow thrust and the current speed of the unmanned ship is for subsequent calls.

[0132] Step S501: Determine the minimum sailing power based on the water flow thrust and the unmanned vessel model parameter analysis.

[0133] The power referred to by the minimum navigation power is the thrust required for the unmanned boat to drive the propeller to rotate. The calculation of the minimum navigation power can be obtained by establishing a propeller drive database. The propeller drive database stores the speed required when the propeller drives the unmanned boat to move at the corresponding speed under the corresponding weight. Under the action of the water flow thrust, the unmanned boat has a moving speed close to that of the water flow when the propeller does not need to be started. When the water flow speed is small, the water flow thrust is close to zero, and the unmanned boat does not have a tendency to move with the water flow, so the propeller needs to be started for driving. When the water flow thrust is greater than zero but relatively small, the propeller needs to be started for driving at the minimum speed. The driving force corresponding to the propeller being driven at the minimum speed is the minimum navigation power.

[0134] Step S502: determining the minimum propeller rotation speed based on a mapping relationship between the minimum sailing power and the preset stable sailing speed.

[0135] The stable navigation speed is the navigation speed set by the staff according to the actual situation. When the unmanned boat travels at a stable navigation speed, it can better obtain a clear environmental image and is not prone to image distortion. The mapping relationship between the minimum navigation power and the stable navigation speed is: when the unmanned boat travels at the minimum navigation power, whether the speed of the unmanned boat can be kept close to the stable navigation speed.

[0136] Step S503: If the propeller is rotating at the minimum power and the current speed of the unmanned ship is greater than the stable sailing speed, the unmanned ship is instructed to stop rotating the propeller.

[0137] When the propeller rotates at minimum power, the speed of the unmanned boat may be greater than, less than, or equal to the stable navigation speed. When the unmanned boat drives the propeller to rotate at minimum power, if the speed of the unmanned boat is still less than the stable navigation speed, it means that the propeller speed needs to be increased. If the speed of the unmanned boat is equal to or greater than the stable navigation speed, it means that the thrust of the water flow is large and the unmanned boat does not need to be driven by the propeller. At this time, the unmanned boat is instructed to stop the propeller to save energy.

[0138] Step S504: When the propeller stops rotating, the current speed of the unmanned vessel is compared with the stable sailing speed to determine the deceleration boost parameter.

[0139] After the propeller stops, the current navigation speed of the unmanned ship is obtained, and the current navigation speed is compared with the stable navigation speed. If the previous navigation speed is greater than the fixed navigation speed, it means that the unmanned ship needs to decelerate. If the previous navigation speed is not greater than the fixed navigation speed, it means that no acceleration or deceleration control is required. The parameters corresponding to the deceleration boost parameters are the direction and magnitude of the buffer device when performing the boost. The buffering direction should be opposite to the direction of the unmanned ship's movement, so that when the buffer device performs the buffering boost, it provides a buffering force to decelerate the unmanned ship. The magnitude of the buffering force can be determined by establishing a boost database. The boost database stores the corresponding boost forces of the unmanned ship at different weights and speeds. When the navigation speed of the unmanned ship when the propeller is stopped is input, the corresponding boost force can be output.

[0140] Step S505: instructing the buffer device to perform boost based on the deceleration boost parameter.

[0141] Based on the determined thrust force and thrust direction, the buffer device is controlled to perform buffering and thrusting in the corresponding direction, so that the unmanned ship can sail at a stable sailing speed.

[0142] Reference Figure 6 , the control method for the unmanned boat when it capsizes also includes:

[0143] Step S600: Determine the adjustment position based on the relationship between the waterline position and the rollover condition of the unmanned boat.

[0144] The adjustment content corresponding to the adjustment position is the position adjustment of the buffer device. When the unmanned boat capsizes, the waterline on the unmanned boat changes. At the same time, the direction of the buffer device of the unmanned boat also changes. Before the buffer device is used for buffering adjustment, the position of the buffer device needs to be adjusted. The purpose of the adjustment is to enable the buffer device to assist in the underwater side so that the buffer device can provide effective thrust. The determination of the waterline position is to provide a reference surface for facilitating the position adjustment of the buffer device. The waterline position is obtained by shooting with a camera on the unmanned boat to determine the distance between the camera and the waterline, and this distance is defined as the adjustment distance.

[0145] Step S601: instructing the buffer device to move based on the adjusted position, and obtaining a thrust value between the buffer device and water.

[0146] After the adjustment distance and the direction of the buffer device are determined, the buffer device is controlled to move toward the waterline, and the buffer direction of the buffer device is adjusted to the underwater side. At this time, by starting the buffer device, the corresponding buffer thrust can be obtained. The buffer thrust can be obtained by installing a pressure sensor on the side wall of the unmanned boat located underwater.

[0147] Step S602: Determine a fine-tuning position based on a comparison between the thrust value and a preset reference thrust value.

[0148] The thrust size corresponding to the reference thrust value is the thrust size when the buffer device is moved and adjusted into place. The size of the reference thrust value is determined and set by the staff through a large amount of test data. The size of the reference thrust value is not described in detail. By comparing the thrust value with the reference thrust value, whether the adjustment of the buffer device is in place is determined. Before adjustment is in place, the distance between the buffer device and the adjustment position can be determined by establishing an adjustment database. The adjustment database stores adjustment distances corresponding to the thrust values. Different adjustment distances have different thrust values. When the thrust value is input into the adjustment database, the adjustment database can output the corresponding adjustment distance.

[0149] Reference thrust value step S603: Instruct the buffer device to move according to the fine-tuning position and update the thrust value.

[0150] When the adjustment distance corresponding to the fine-tuning position is determined, the buffer device is controlled to move toward the water surface as needed, and the thrust value is continuously obtained to update the real-time thrust value until the thrust value is equal to the reference thrust value, and the buffer device is controlled to stop moving.

[0151] Reference Figure 7 When the current speed of the unmanned ship exceeds the stable sailing speed, the uniform speed sailing control method of the unmanned ship includes:

[0152] Step S700: Based on the current ship speed, the buffer device is controlled to provide reverse thrust in the direction of travel.

[0153] The current speed of the unmanned boat is obtained. When the current speed of the unmanned boat exceeds the stable speed, the buffer device is controlled to turn to the side opposite to the forward direction for reverse thrust. The buffer device is used to buffer and slow down the unmanned boat so that the moving speed of the unmanned boat can be close to the stable speed, so as to obtain a clear image.

[0154] Step S701: Obtain the current total balanced energy consumption during reverse boosting.

[0155] The balanced energy consumption weight can be obtained through the balance database. The purpose of obtaining the total balanced energy consumption is to facilitate subsequent calls.

[0156] Step S702: Determine the drainage volume based on the mapping relationship between the current total balanced energy consumption and the water storage parameters.

[0157] The mapping relationship between the water storage parameters and the total balanced energy consumption is: the relationship between the water storage value and the second energy consumption value. When the water storage value increases, the overall weight of the unmanned boat increases. At this time, the buffering thrust required to balance the unmanned boat increases. Based on this relationship, when the corresponding displacement in the water storage chamber is discharged, the overall weight of the unmanned boat is reduced, so that the unmanned boat maintains stable navigation and the thrust decreases, which helps to reduce the second energy consumption value. At the same time, the driving force required for the unmanned boat to reach a stable navigation speed is reduced, so as to save energy consumption during stable navigation. The displacement can be determined through the balance database.

[0158] Step S703: Control the unmanned boat to drain water based on the displacement.

[0159] After the displacement is determined, the unmanned boat is controlled to discharge the water in the water storage chamber to regulate the stable navigation of the unmanned boat.

[0160] Reference Figure 8 Based on the same inventive concept, an embodiment of the present invention provides a remote unmanned vessel surveying and mapping control system, comprising:

[0161] An acquisition module is used to obtain the light intensity value of a preset point on the unmanned ship and the waterline position of the unmanned ship;

[0162] The judgment module is connected to the acquisition module and determines the capsizing of the unmanned boat based on the change of the light intensity value;

[0163] A processing module is connected to the acquisition module and the judgment module, and is configured to acquire a first environment image or a second environment image based on the rollover of the unmanned vessel;

[0164] The processing module generates mapping data based on the first environment image and / or the second environment image.

[0165] The angle stabilization control module controls the buffer device to provide buffering assistance according to the amplitude of the attitude angle change of the unmanned boat, so as to make the unmanned boat less likely to capsize and improve the stability of navigation.

[0166] The stable travel control module avoids and corrects obstacles and surge areas on the travel path, making the unmanned boat less likely to be affected by surge areas and less likely to collide with obstacles during travel, further improving navigation stability.

[0167] The image clarity control module detects splashes in the surge area, allowing the unmanned boat to monitor the mirror on the camera when passing the adjacent side of the surge area. When the mirror becomes wet, it can be cleaned and dried in time, which helps to improve the clarity of the surveying and mapping image.

[0168] The energy-saving navigation control module determines the speed of the unmanned boat when it is sailing with the help of water flow thrust. When the unmanned boat can reach a stable sailing speed, the propeller is controlled to stop rotating to save the energy consumption of the unmanned boat.

[0169] The rollover buffer adjustment module performs fine-tuning control on the position of the buffer device after the unmanned boat rolls over, so that the buffer device can provide better thrust for the unmanned boat.

[0170] The uniform speed navigation control module reduces the water storage value in the water outlet chamber so that the overall weight of the unmanned boat decreases when it travels along the corrected path, thereby reducing the propulsion energy consumption.

[0171] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0172] An embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by a remote unmanned vessel surveying and mapping control method.

[0173] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0174] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a remote unmanned ship surveying and mapping control method.

[0175] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0176] The above are all preferred embodiments of the present application and are not intended to limit the scope of protection of this application. Unless otherwise specified, any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features. In other words, unless otherwise specified, each feature is merely an example of a series of equivalent or similar features.

Claims

1. A remote unmanned vessel surveying and mapping control method, characterized in that: include: Obtain the light intensity value of the preset point on the unmanned ship and the waterline position of the unmanned ship; Based on the change of light intensity value, the capsizing of the unmanned ship is determined; Based on the rollover of the unmanned ship, a first environment image or a second environment image is obtained; Based on the amplitude change of the waterline position, a first environmental image and a second environmental image are obtained; generating mapping data based on the first environment image and / or the second environment image; Based on the amplitude change of the waterline position, the stability control method of the unmanned ship includes: Obtaining the real-time attitude angle value of the unmanned boat and the water storage value of the water storage chamber preset on the unmanned boat; Determining reverse thrust parameters and a first energy consumption value based on a comparison between the real-time attitude angle value and a preset steady angle attitude angle value; Determining the water storage parameter and the second energy consumption value based on a comparison between the water storage value and a preset weight value; Based on the numerical balance relationship of the steady attitude angle, a calculation is performed to determine the total balanced energy consumption of the first energy consumption value and the second energy consumption value, and the total balanced energy consumption with the smallest value is sorted and obtained; Instructing the buffer device to perform reverse thrust based on the first energy consumption value corresponding to the total balanced energy consumption and the reverse thrust parameter mapped thereto; Based on the second energy consumption value corresponding to the balanced total energy consumption and the mapped water storage parameter thereof, the water storage chamber is instructed to adjust the water storage amount.

2. A remote unmanned vessel surveying and mapping control method according to claim 1, characterized in that: The stable motion control method of the unmanned ship includes: Acquire the forward image in the direction of travel of the unmanned ship; Determine the surge area based on the comparison and analysis of the front image and the preset surge image; Determine the obstacle area based on the comparison and analysis between the front image and the preset obstacle image; Based on the corresponding mapping relationship between the surge area and the obstacle area, the avoidance parameters are determined; Analyze the avoidance parameters and the preset path of the unmanned vessel to determine the corrected path; The unmanned vessel is instructed to travel along the corrected path according to the corrected path.

3. A remote unmanned vessel surveying and mapping control method according to claim 2, characterized in that: When the unmanned vessel navigates along the corrected path, the control method for enhancing image clarity includes: Get the unmanned ship model parameters; Analyze the front image to determine the surge splash area; Based on the relationship between the UAV model parameters and the surge splash area, the mirror wetting situation is determined; Determine the cleaning location based on the wetness of the mirror surface; The cleaning device is instructed to clean the mirror surface based on the cleaning position.

4. A remote unmanned vessel surveying and mapping control method according to claim 1, characterized in that: When the unmanned vessel travels along the corrected path, the unmanned vessel's energy-saving navigation methods include: Obtain the water current thrust and the current speed of the unmanned vessel; Determine the minimum sailing power based on the analysis of water current thrust and unmanned vessel model parameters; Based on the mapping relationship between the minimum sailing power and the preset stable sailing speed, the minimum propeller speed is determined; If the propeller is rotating at minimum power and the current speed of the unmanned ship is greater than the stable sailing speed, the unmanned ship is instructed to stop rotating the propeller; When the propeller stops, the current speed of the unmanned ship is compared with the stable sailing speed to determine the slow-speed boost parameters; The buffer device is instructed to perform a boost based on the retarding boost parameter.

5. A remote unmanned vessel surveying and mapping control method according to claim 1, characterized in that: The control method for the unmanned boat when it capsizes also includes: The adjustment position is determined based on the relationship between the waterline position and the rollover of the unmanned vessel; Instructing the buffer device to move based on the adjustment position, and obtaining a thrust value between the buffer device and water; Based on the comparison between the thrust value and a preset reference thrust value, a fine-tuning position is determined; The buffer device is instructed to move according to the fine adjustment position and the thrust value is updated.

6. A remote unmanned vessel surveying and mapping control method according to claim 4, characterized in that: When the current speed of the unmanned ship exceeds the stable sailing speed, the unmanned ship's uniform speed control method includes: Based on the current speed, the buffer device is controlled to provide reverse thrust in the direction of travel; Get the current total balanced energy consumption during reverse boosting; Based on the mapping relationship between the current total balanced energy consumption and the water storage parameters, the discharge volume is determined; Control the displacement of unmanned vessels based on displacement.

7. A remote unmanned vessel surveying and mapping control system, applying the remote unmanned vessel surveying and mapping control method according to any one of claims 1 to 6, characterized in that: include: An acquisition module is used to obtain the light intensity value of a preset point on the unmanned ship and the waterline position of the unmanned ship; The judgment module is connected to the acquisition module and determines the capsizing of the unmanned boat based on the change of the light intensity value; A processing module is connected to the acquisition module and the judgment module, and is configured to acquire a first environment image or a second environment image based on the rollover of the unmanned vessel; The processing module generates mapping data based on the first environment image and / or the second environment image.

8. A computer-readable storage medium, characterized in that The device stores a computer program that can be loaded by a processor and execute the remote unmanned vessel surveying and mapping control method according to any one of claims 1 to 6.

9. An intelligent terminal, characterized in that: The device comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the remote unmanned ship surveying and mapping control method according to any one of claims 1 to 6.

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