A sea area automatic obstacle avoidance method and device

Abstract

This invention discloses an automatic obstacle avoidance method and apparatus for marine areas. The automatic obstacle avoidance method includes: generating an initial trackline on a pre-established grid; adjusting the portion of the initial trackline containing the obstacle based on the shape parameters and safety distance of the obstacle, and the turning radius of the vessel, to generate an obstacle avoidance trackline; determining the adjustment positions of firing points and checkpoints based on the obstacle avoidance trackline and the grid lines in the grid; adjusting the firing points and checkpoints in the obstacle area based on the adjustment positions; and generating an obstacle avoidance track map including the obstacle avoidance trackline, the adjusted firing points, and the checkpoints. Compared to traditional obstacle avoidance methods, this invention enables automatic obstacle avoidance for vessels during exploration and construction operations without affecting the exploration coverage area, reducing the time spent on manual mapping and obstacle avoidance, and improving the efficiency and accuracy of exploration.

Description

Technical Field

[0001] This invention relates to the field of marine oil exploration technology, and in particular to an automatic obstacle avoidance method and device in marine areas. Background Technology

[0002] Marine exploration encounters various types of obstacles, including coastlines, drilling platforms, coral protection areas, and islands. These obstacles can affect the construction. Seismic source vessels, node vessels, and towline vessels need to avoid obstacles that affect the construction during operation. However, while ensuring safety, vessels also need to get as close to the obstacle area as possible to avoid missing coverage areas due to the vessel's obstacle avoidance, which would affect the exploration results.

[0003] Therefore, how to reasonably avoid obstacles during exploration and construction operations while minimizing the loss of coverage is an urgent technical problem that needs to be solved in the complex marine field for automatic obstacle avoidance. Traditional obstacle avoidance methods often do not consider the influence of various parameters, but adjust the navigation route to the area that can bypass the obstacle, while moving the gun points and checkpoints in the obstacle area laterally outside the obstacle area, or performing manual obstacle avoidance, manually adjusting the navigation route and the positions of gun points and checkpoints. Summary of the Invention

[0004] The inventors of this application have discovered that marine obstacle avoidance is affected by parameters such as ship speed, turning radius, ship width, and cannon distance. If traditional obstacle avoidance methods are used, problems such as insufficient turning radius of the ship causing safety hazards or excessive obstacle avoidance range leading to missing exploration coverage often occur during marine exploration. Manual obstacle avoidance requires manual mapping and adjustment of navigation charts, which is time-consuming, labor-intensive, and has poor obstacle avoidance effect.

[0005] In view of the above problems, the present invention is proposed to provide an automatic obstacle avoidance method and apparatus for marine areas that overcomes or at least partially solves the above problems.

[0006] In a first aspect, embodiments of the present invention provide an automatic obstacle avoidance method for marine areas, comprising:

[0007] Generate initial trajectory lines on a pre-established surface mesh;

[0008] Based on the shape parameters of the obstacle, the safe distance, and the turning radius of the ship, the obstacle area in the initial track is adjusted to generate an obstacle avoidance track.

[0009] Determine the firing point and check point adjustment positions based on the obstacle avoidance trajectory and the grid lines in the surface grid, and adjust the firing point and check point in the obstacle area according to the adjustment positions;

[0010] Generate an obstacle avoidance trajectory map that includes obstacle avoidance track lines, adjusted gun points, and checkpoints.

[0011] In some optional embodiments, generating the initial trackline on the pre-established surface mesh includes:

[0012] Based on the number of air guns on the ship, obtain the firing line formed by each air gun;

[0013] The centerline of the flight path is determined based on the gun line, the width of the flight path is determined based on the spacing of the extenders, and an initial flight path is generated on the surface grid based on the centerline of the flight path and the width of the flight path.

[0014] In some optional embodiments, the step of adjusting a portion of the obstacle area in the initial trackline based on the shape parameters of the obstacle, the safety distance, and the turning radius of the ship to generate an obstacle avoidance trackline includes:

[0015] Determine the initial track line and the positional relationship between the obstacle and the obstacle based on the shape parameters of the obstacle;

[0016] Based on the positional relationship, select the vertex of the obstacle avoidance safety zone from the endpoints of the obstacle. With the vertex of the obstacle avoidance safety zone as the center and the safety distance as the radius, generate a safety distance circle. With the turning radius as the radius, establish an obstacle avoidance inscribed circle. The safety distance circle is inscribed in the obstacle avoidance inscribed circle.

[0017] Two external circles for obstacle avoidance are established, with the turning radius as the radius, to represent the inner circle of the obstacle avoidance and the initial trajectory line.

[0018] The initial trajectory is adjusted based on the obstacle avoidance inscribed circle and the obstacle avoidance circumscribed circle to obtain the obstacle avoidance trajectory.

[0019] In some optional embodiments, selecting the vertices of the obstacle avoidance safety zone from the endpoints of the obstacle based on the positional relationship includes:

[0020] Determine the obstacle avoidance trajectory and direction based on the positional relationship between the initial track and the center of gravity of the obstacle;

[0021] Based on the avoidance direction, select the leftmost vertex, the rightmost vertex, and at least one highest vertex between the leftmost and rightmost vertices that is farthest from the initial trackline from the endpoint of the obstacle closest to the avoidance direction, as the vertices of the obstacle avoidance safe zone.

[0022] In some optional embodiments, the initial path is adjusted according to the obstacle avoidance inscribed circle and the obstacle avoidance circumscribed circle to obtain the obstacle avoidance path, including:

[0023] Obtain the first arc segment between the point of tangency between the first external tangent circle of the obstacle avoidance and the initial trajectory line and the point of tangency between the first external tangent circle of the obstacle avoidance and the internal tangent circle of the obstacle avoidance;

[0024] Obtain the second arc segment from the point of tangency between the first external circle and the internal circle of obstacle avoidance to the point of tangency between the internal circle and the second external circle of obstacle avoidance;

[0025] Obtain the third arc segment from the point of tangency between the second external tangent circle and the internal tangent circle of the obstacle avoidance to the point of tangency between the second external tangent circle and the initial trajectory line;

[0026] Replace the track line between the point of tangency between the first obstacle avoidance outer circle and the initial track line and the point of tangency between the second obstacle avoidance outer circle and the initial track line with a curve formed by the first arc segment, the second arc segment, and the third arc segment.

[0027] In some optional embodiments, determining the firing point and checkpoint adjustment positions based on the obstacle avoidance trajectory and the grid lines in the surface mesh, and adjusting the firing point and checkpoint in the obstacle area according to the adjustment positions, includes:

[0028] Delete shot points and checkpoints located within obstacle areas on the surface mesh;

[0029] Generate obstacle avoidance firing lines based on the obstacle avoidance trajectory and the number of air and gun sources on the ship;

[0030] Based on the intersection of the obstacle avoidance firing line and the grid lines on the surface grid, the firing point and check point positions are redefined, and the redefined firing point and check point are added to the surface grid.

[0031] In some optional embodiments, the automatic obstacle avoidance method for sea areas further includes:

[0032] Based on the initial trajectory and the shape parameters of the obstacles, the obstacles that need to be merged in the obstacle set are merged.

[0033] In some optional embodiments, merging the obstacles that need to be merged in the obstacle set includes:

[0034] Based on the location of the obstacles, merge obstacles that partially or completely overlap;

[0035] Based on the intersection of the initial track and the obstacles after the initial merging, the obstacle avoidance path set for each obstacle is obtained; the obstacle avoidance path set includes the obstacle avoidance path to avoid each obstacle;

[0036] If the obstacle avoidance path of the ship to avoid the first obstacle passes through the second obstacle, then the first obstacle and the second obstacle are merged to form the third obstacle. If the obstacle avoidance paths of the ship to avoid the fourth obstacle and the fifth obstacle conflict, then the fourth obstacle and the fifth obstacle are merged to form the sixth obstacle.

[0037] Remove the first, second, fourth, and fifth obstacles from the obstacle set, and add the third and sixth obstacles.

[0038] In some optional embodiments, the automatic obstacle avoidance method in the sea area further includes: establishing a surface grid based on the distance between the gun point and the detection point.

[0039] In some optional embodiments, the step of establishing a surface mesh based on the shot distance and the detector distance includes:

[0040] The longitudinal distance between longitudinal grid lines is determined based on the distance between the shot points, and the lateral distance between transverse grid lines is determined based on the distance between the inspection points.

[0041] Based on the longitudinal and transverse distances, a surface mesh including longitudinal and transverse grid lines is created.

[0042] Secondly, embodiments of the present invention provide an automatic obstacle avoidance device for marine areas, comprising:

[0043] The first generation module is used to generate initial track lines on a pre-established surface mesh;

[0044] The second generation module is used to adjust the obstacle area in the initial track line according to the shape parameters of the obstacle, the safety distance, and the turning radius of the ship, so as to generate an obstacle avoidance track line.

[0045] The adjustment module is used to determine the adjustment positions of the firing point and the check point based on the obstacle avoidance trajectory and the grid lines in the surface grid, and to adjust the firing point and the check point in the obstacle area according to the adjustment positions;

[0046] The third generation module is used to generate obstacle avoidance trajectory maps that include obstacle avoidance tracks, adjusted gun points, and checkpoints.

[0047] Thirdly, embodiments of the present invention provide a computer storage medium storing computer-executable instructions, which, when executed by a processor, implement any of the above-described automatic obstacle avoidance methods for the sea area.

[0048] Fourthly, embodiments of the present invention also provide a computer device, characterized in that it includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement any of the above-described automatic obstacle avoidance methods for sea areas.

[0049] Fifthly, embodiments of the present invention also provide an application of any of the above-described automatic obstacle avoidance methods in an automatic obstacle avoidance system for complex sea areas.

[0050] The beneficial effects of the above-described technical solutions provided in the embodiments of the present invention include at least the following:

[0051] The automatic obstacle avoidance method for marine areas provided in this invention considers various factors such as the shape parameters and safe distance of obstacles, and the turning radius of the ship when adjusting the initial track line to generate an obstacle avoidance track line. The resulting obstacle avoidance track line can effectively bypass obstacle areas and avoid safety hazards caused by insufficient turning radius. Based on the obstacle avoidance track line and the grid lines in the surface grid, the positions of the shot points and checkpoints are adjusted to place them at the intersection of the obstacle avoidance shot line and the grid lines near the obstacle area. This can effectively avoid obstacles while ensuring exploration coverage. An obstacle avoidance track map is generated based on the obstacle avoidance track line, the adjusted shot points and checkpoints. This method realizes automatic obstacle avoidance in marine exploration, reduces the time of manual mapping and manual obstacle avoidance, and is more time-saving and labor-saving than manual obstacle avoidance methods. It also solves the problem of missing exploration coverage caused by traditional obstacle avoidance methods and improves the accuracy of exploration.

[0052] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0053] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0054] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0055] Figure 1 This is a flowchart of the automatic obstacle avoidance method in the sea area according to Embodiment 1 of the present invention;

[0056] Figure 2 This is a schematic diagram of obstacle avoidance using the vertices of a safe area in Embodiment 1 of the present invention;

[0057] Figure 3 This is an obstacle avoidance trajectory map generated by the automatic obstacle avoidance method in the sea area according to Embodiment 1 of the present invention;

[0058] Figure 4 This is a flowchart of the automatic obstacle avoidance method in the sea area according to Embodiment 2 of the present invention;

[0059] Figure 5 This is a flowchart of the automatic obstacle avoidance method in the sea area according to Embodiment 3 of the present invention;

[0060] Figure 6 This is a schematic diagram of longitudinal obstacle crossing in Embodiment 3 of the present invention;

[0061] Figure 7This is a schematic diagram of lateral obstacle crossing in Embodiment 3 of the present invention;

[0062] Figure 8 This is a schematic diagram of the original set of obstacles in Embodiment 3 of the present invention;

[0063] Figure 9 This is a schematic diagram of the set of vertices after the obstacle is convex in Embodiment 3 of the present invention;

[0064] Figure 10 This is a schematic diagram of calculating the obstacle avoidance trajectory at the center of the safety distance circle in Embodiment 3 of the present invention;

[0065] Figure 11 This is a schematic diagram of calculating the obstacle avoidance trajectory above the center of the safety distance circle in Embodiment 3 of the present invention;

[0066] Figure 12 This is a schematic diagram illustrating the calculation of the obstacle avoidance trajectory below the center of the safety distance circle in Embodiment 3 of the present invention.

[0067] Figure 13 This is a schematic diagram of the deflection point of the gun point after obstacle avoidance in Embodiment 3 of the present invention;

[0068] Figure 14 A schematic diagram of the automatic obstacle avoidance device for marine areas in an embodiment of the present invention.

[0069] Explanation of reference numerals in the attached figures:

[0070] 1-Obstacle, 2-Safe distance line, 3-Shot line, 4-Shot point, 5-Grid line of surface element, 6-First obstacle avoidance circumscribed circle, 7-Second obstacle avoidance circumscribed circle, 8-Safe distance circle, 9-Obstacle avoidance inscribed circle; Detailed Implementation

[0071] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0072] To address the safety hazards and potential for missing exploration coverage issues associated with traditional obstacle avoidance methods in existing technologies, this invention provides an automatic obstacle avoidance method and apparatus for marine areas. This method enables automatic obstacle avoidance in complex marine environments, is safe and reliable, provides high exploration accuracy, and avoids the problem of missing coverage.

[0073] Example 1:

[0074] Embodiment 1 of the present invention provides an automatic obstacle avoidance method for marine areas, the process of which is as follows: Figure 1 The above includes the following steps:

[0075] Step S101: Generate initial track lines on the pre-established surface mesh;

[0076] Step S102: Based on the shape parameters of the obstacle, the safe distance, and the turning radius of the ship, adjust the obstacle area in the initial track to generate an obstacle avoidance track;

[0077] Step S103: Determine the firing point and check point adjustment positions based on the obstacle avoidance trajectory and the grid lines in the surface grid, and adjust the firing point and check point in the obstacle area according to the adjustment positions;

[0078] Step S104: Generate an obstacle avoidance trajectory map including obstacle avoidance trajectory lines, adjusted gun points, and check points.

[0079] In step S101, generating an initial track line on a pre-established grid includes: obtaining the gun line formed by each air source gun according to the number of air source guns on the ship; determining the track center line according to the gun line; determining the track width according to the spacing of the extenders; and generating the initial track line on the grid according to the track center line and the track width.

[0080] To further explain, under normal circumstances, the number of gun lines is the same as the number of gas source guns; the spacing of the expanders is the distance between the two arms of the gas source gun when they are open; when determining the center line of the track based on the gun lines, the center line of the track of a single-source ship is the current gun line, the center line of the track of a dual-source ship is the center line of the two gun lines, and the center line of the track of a triple-source ship is the middle gun line; the spacing of the expanders is the track width.

[0081] In step S102, based on the shape parameters of the obstacle, the safe distance, and the turning radius of the ship, the portion of the obstacle area in the initial track is adjusted to generate an obstacle avoidance track, including:

[0082] Determine the initial track line and the positional relationship between the obstacle and the obstacle based on the shape parameters of the obstacle;

[0083] Based on the positional relationship, select the vertex of the obstacle avoidance safety zone from the endpoints of the obstacle. With the vertex of the obstacle avoidance safety zone as the center and the safety distance as the radius, generate a safety distance circle. With the turning radius as the radius, establish an obstacle avoidance inscribed circle. The safety distance circle is inscribed in the obstacle avoidance inscribed circle.

[0084] Two external circles for obstacle avoidance are established, with the turning radius as the radius, to represent the inner circle of the obstacle avoidance and the initial trajectory line.

[0085] The initial trajectory is adjusted based on the obstacle avoidance inscribed circle and the obstacle avoidance circumscribed circle to obtain the obstacle avoidance trajectory.

[0086] Specifically:

[0087] Based on the positional relationship between the initial track and the obstacle's center of gravity, determine the obstacle avoidance direction. To further explain: when the initial track is above the obstacle's center of gravity, choose the direction above the obstacle; when the initial track is below the obstacle's center of gravity, choose the direction below the obstacle; when the initial track is at the obstacle's center of gravity, either the direction above or below the obstacle can be chosen as the avoidance direction.

[0088] Based on the obstacle avoidance direction, select the leftmost vertex, the rightmost vertex, and at least one highest vertex between the leftmost and rightmost vertices that is farthest from the initial trackline from the endpoint closest to the obstacle avoidance direction, as the vertices of the obstacle avoidance safe zone. Further, select the leftmost vertex and the highest vertex closest to it that is farthest from the initial trackline as the vertices of the obstacle avoidance safe zone when the ship begins obstacle avoidance; select the rightmost vertex and the highest vertex closest to it that is farthest from the initial trackline as the vertices of the obstacle avoidance safe zone when the ship ends obstacle avoidance. It should be noted that during the obstacle avoidance process, the leftmost and rightmost vertices can share a single highest vertex, and the highest vertex can also coincide with the rightmost vertex.

[0089] like Figure 2 As an example, taking the highest and rightmost vertices of the obstacle safety zone as coincident, a safety distance circle is generated with the vertices of the obstacle avoidance safety zone as the center and the safety distance as the radius. An obstacle avoidance inscribed circle is established with the turning radius as the radius, and the safety distance circle is inscribed in the obstacle avoidance inscribed circle. The first obstacle avoidance circumscribed circle and the second obstacle avoidance circumscribed circle of the initial trajectory are established with the turning radius as the radius.

[0090] Obtain the first arc segment from the point of tangency between the first external tangent circle and the initial track line to the point of tangency between the first external tangent circle and the internal tangent circle. Obtain the second arc segment from the point of tangency between the first external tangent circle and the internal tangent circle to the point of tangency between the internal tangent circle and the second external tangent circle. Obtain the third arc segment from the point of tangency between the second external tangent circle and the internal tangent circle to the point of tangency between the second external tangent circle and the initial track line. Replace the track line between the points of tangency between the first external tangent circle and the initial track line and the points of tangency between the second external tangent circle and the initial track line with the curve formed by the first, second, and third arc segments. The obstacle avoidance track line can then be obtained.

[0091] In step S103, the firing point and checkpoint adjustment positions are determined based on the obstacle avoidance trajectory and the grid lines in the surface mesh, and the firing point and checkpoint in the obstacle area are adjusted according to the adjustment positions; including:

[0092] Delete shot points and checkpoints located within obstacle areas on the surface mesh;

[0093] Generate obstacle avoidance firing lines based on the obstacle avoidance trajectory and the number of air and gun sources on the ship;

[0094] When the number of gas source guns is single, the obstacle avoidance trajectory is the generated obstacle avoidance gun line; when the number of gas source guns is dual, the two obstacle avoidance gun lines are formed by shifting half the distance of the extenders to both sides along the center line of the obstacle avoidance trajectory; when the number of gas source guns is triple, the center line of the obstacle avoidance trajectory is the middle obstacle avoidance gun line, and the other two obstacle avoidance gun lines are formed by shifting half the distance of the extenders to both sides along the center line of the obstacle avoidance trajectory.

[0095] Based on the intersection of the obstacle avoidance firing line and the grid lines on the surface grid, the firing point and check point positions are redefined, and the redefined firing point and check point are added to the surface grid.

[0096] In step S104, an obstacle avoidance trajectory map is generated, including the obstacle avoidance trajectory line, the adjusted gun point, and the check point, as shown below. Figure 3 As shown, the structure includes: obstacle 1, safety distance line 2, gun line 3 after obstacle avoidance, gun point 4, and grid line 5. The ship travels outside the safety distance line 2 of obstacle 1. The gun point after obstacle avoidance still falls on the intersection of grid line 5 and gun line 3, ensuring that the projection distance of the gun point in the longitudinal grid line direction of the grid remains unchanged. This ensures that the total number of gun points remains unchanged before and after the ship's trajectory is adjusted during the exploration process, ultimately achieving the exploration effect.

[0097] The method described in this invention, when adjusting the initial track line to generate an obstacle avoidance track line, considers various factors such as the shape parameters and safe distance of the obstacle, the turning radius of the ship, etc. The resulting obstacle avoidance track line can effectively bypass the obstacle area and avoid the safety hazards caused by insufficient turning radius. Based on the obstacle avoidance track line and the grid lines in the surface grid, the positions of the shot point and the check point can be adjusted to the intersection of the obstacle avoidance shot line and the grid line near the obstacle area. This can effectively avoid obstacles while ensuring the exploration coverage. Based on the obstacle avoidance track line, the adjusted shot point and check point, an obstacle avoidance track map is generated. This method realizes automatic obstacle avoidance in marine exploration, reduces the time of manual mapping and manual obstacle avoidance, and is more time-saving and labor-saving than manual obstacle avoidance methods. It also solves the problem of missing exploration coverage caused by traditional obstacle avoidance methods, improves the accuracy of exploration, and realizes the protection of natural resources and the ecological environment with a safe and green exploration mode.

[0098] Example 2

[0099] Embodiment 2 of the present invention provides a specific implementation process of an automatic obstacle avoidance method for sea areas. Compared with Embodiment 1, the difference lies in that it further includes: merging obstacles that need to be merged in the obstacle set according to the initial track line and the shape parameters of the obstacles, and establishing a surface mesh based on the distance between the gun point and the check point. The process is as follows: Figure 4As shown, the specific steps are as follows:

[0100] Step S201: Create a surface mesh based on the distance between the shot point and the check point;

[0101] Step S202: Generate initial track lines on the pre-established surface mesh;

[0102] Step S203: Merge the obstacles that need to be merged in the obstacle set according to the initial track and the shape parameters of the obstacles;

[0103] It should be noted that step S203 can be before or after steps S201 and S202. In short, step S203 can be before step S204.

[0104] Step S204: Based on the shape parameters of the obstacle, the safe distance, and the turning radius of the ship, adjust the obstacle area in the initial track to generate an obstacle avoidance track;

[0105] Step S205: Determine the adjustment positions of the firing point and check point based on the obstacle avoidance trajectory and the grid lines in the surface grid, and adjust the firing point and check point in the obstacle area according to the adjustment positions;

[0106] Step S206: Generate an obstacle avoidance trajectory map including obstacle avoidance trajectory lines, adjusted gun points, and check points.

[0107] In step S201, a surface mesh is established based on the shot distance and the detector distance, including:

[0108] The longitudinal distance between longitudinal grid lines is determined based on the distance between the shot points, and the lateral distance between transverse grid lines is determined based on the distance between the inspection points.

[0109] Based on the longitudinal and transverse distances, a surface mesh including longitudinal and transverse grid lines is established. Preferably, the longitudinal grid line size of the surface mesh is half the distance between the shot points, and the transverse grid line size is half the distance between the check points.

[0110] In step S203, the obstacles that need to be merged in the obstacle set are merged, including:

[0111] Based on the location of the obstacles, merge obstacles that partially or completely overlap;

[0112] Based on the intersection of the initial track and the obstacles after the initial merging, the obstacle avoidance path set for each obstacle is obtained; the obstacle avoidance path set includes the obstacle avoidance path to avoid each obstacle;

[0113] If the obstacle avoidance path of the ship to avoid the first obstacle passes through the second obstacle, then the first obstacle and the second obstacle are merged to form the third obstacle. If the obstacle avoidance paths of the ship to avoid the fourth obstacle and the fifth obstacle conflict, then the fourth obstacle and the fifth obstacle are merged to form the sixth obstacle.

[0114] Remove the first, second, fourth, and fifth obstacles from the obstacle set, and add the third and sixth obstacles.

[0115] Re-establish the obstacle avoidance path set for the merged obstacles in the obstacle set, and perform the above merging steps until the obstacle avoidance paths generated when avoiding obstacles in the obstacle set do not conflict.

[0116] The steps in Embodiment 2 of this invention are the same as those in Embodiment 1, and will not be repeated here. For details, please refer to the corresponding steps in Embodiment 1.

[0117] Example 3

[0118] Embodiment 3 of the present invention provides a specific implementation process of an automatic obstacle avoidance method in marine areas, the flowchart of which is as follows: Figure 5 As shown, it includes:

[0119] Step S301: Fit the flight path based on the SPS file or the survey lines of the deployed OBN observation system;

[0120] This step generates the initial trajectory line. Based on the input of known safe distances to obstacles, the spacing between extenders, the number of air gun sources (single, dual, or triple source), and the established mesh, an SPS file is loaded or an OBN observation system is deployed to generate the shot line. The mesh size is set according to the distances to the shot points and the checkpoints. The initial trajectory line of the ship is then fitted based on the generated shot line and the number of air gun sources.

[0121] Step S302: Determine the relationship between obstacles and merge obstacles that are blocking the path.

[0122] As mentioned above, obstacle merging takes into account factors such as the initial trackline and the shape parameters of the obstacles, such as... Figure 6 As shown, when a ship passes longitudinally through two obstacles (i.e., the two obstacles are located to the left and right of the ship's initial trajectory line), it is determined whether the distance between the two obstacles after they have expanded to a safe distance is greater than the width of the initial trajectory line. If it is less than the width of the initial trajectory line, the ship will collide with the obstacles while passing through them, and in this case, the two obstacles need to be merged. Figure 7As shown, when a ship traverses two obstacles laterally, that is, when it traverses obstacles located at the fore and aft ends of the ship, it is determined whether the distance between the obstacles after they have extended to a safe distance is greater than the ship's turning radius. If it is less than the ship's turning radius, the ship will collide with the obstacles at both ends while turning to avoid them, at which point the obstacles at both ends will merge. The terms "lateral obstacle traversal" and "longitudinal obstacle traversal" are relative to the initial trackline. Traversing an obstacle along the direction of the initial trackline is called longitudinal obstacle traversal, while traversing an obstacle to avoid the direction of the initial trackline is called lateral obstacle traversal.

[0123] The specific calculations for obstacle merging are as follows:

[0124] Given an initial set of tracks L = {l1, l2, ..., l...} to be tested N The set of obstacles S = {s1, s2, ..., s} M}, obstacle s i Let the initial track line l j The obstacle avoidance path generated by obstacle avoidance is denoted as p. ij , 1≤i≤M, 1≤j≤N. For each obstacle s... i Define an obstacle avoidance harness W i ={l k , l k+1 , ..., l r |k<=r}, and define W at the same time. i The corresponding obstacle avoidance harness path set Q i ={p ik p ik+1 , ..., p ir |k<=r}.

[0125] Output: Set of obstacle avoidance paths p ij .

[0126] (1) When two or more obstacles overlap, the overlapping obstacles are merged;

[0127] When the obstacle set S contains obstacles s i With s j When they overlap, the obstacles s are merged. i With s j Get new obstacles k , will s k Add S, and remove s from S. i With s i Update the obstacle set S.

[0128] (2) When the obstacles do not overlap, calculate the initial path for each obstacle s in S. i obstacle avoidance path p ij .

[0129] (3) If the obstacle avoidance path generated when the ship avoids the first obstacle passes through the second obstacle, then the first obstacle and the second obstacle are merged to obtain the third obstacle, that is, each obstacle s is traversed. i obstacle avoidance harness path set Q i If Q i Any detour portion of any path enters any obstacle s i Inside, obstacles s are merged. i With s j Get new obstacles k , will s k Add S, and remove s from S. i With s j And jump to (2) to continue merging obstacles.

[0130] (4) If the obstacle avoidance paths of the ship to avoid the fourth obstacle and the fifth obstacle conflict, then the fourth obstacle and the fifth obstacle are merged to obtain the sixth obstacle; that is, every two obstacles s are traversed. i With s j obstacle avoidance harness path set Q i With Q j If Q i With Q j The same initial track l k The generated obstacle avoidance path p ik With p jk If they conflict, merge the obstacles. i With s j Get new obstacles k , will s k Add S, and remove s from S. i With s j And jump to (2) to continue merging obstacles.

[0131] This yields the final set of obstacles, S.

[0132] Step S303: Find the vertices of the obstacle avoidance safe zone;

[0133] Given any obstacle s in the above set of obstacles S n The set of endpoints of the resulting polygonal obstacle is D, where D = {d1, d2, ..., d...} n},like Figure 8 As shown, the original obstacle endpoint set D consists of d1 to d77 endpoints.

[0134] Convexify all endpoints in the original obstacle endpoint set D to generate D2, such as... Figure 9The convexized D2 shown consists of 6 endpoints from d1 to d6. D2 is then rearranged, retaining the endpoints of the obstacle closest to the avoidance direction, deleting the other vertices, and generating a new vertex queue D3.

[0135] (2) Divide D3 into two teams, left and right. The left team selects the leftmost vertex and the highest vertex that is closest to the leftmost vertex and furthest from the initial track line as the safe obstacle avoidance zone vertices when the ship begins obstacle avoidance, labeled A1, E1 as follows: Figure 2 As indicated by the annotations; the rightmost vertex and the highest vertex that is closest to the rightmost vertex and furthest from the initial track line are selected as the vertices of the obstacle avoidance safe zone when the ship ends obstacle avoidance, labeled A2 and E2 (not shown in the figure).

[0136] Output: Vertices of the safe region of the obstacle after fitting.

[0137] Step S304: Determine the obstacle avoidance track line in the obstacle area.

[0138] When calculating the obstacle avoidance trajectory, optionally, if the initial trajectory is above the entire center of gravity of the obstacle, it is preferable to bypass the obstacle from above; if the initial trajectory is below the entire center of gravity of the obstacle, it is preferable to bypass the obstacle from below. The determination of the obstacle avoidance trajectory refers to the relevant descriptions in Embodiments 1 and 2.

[0139] In this embodiment, the example is taken as a safe zone vertex of an obstacle, and the center of the corresponding safe distance circle and the obstacle avoidance inscribed circle are on a straight line perpendicular to the initial track line. In practical applications, the calculation formula can be adjusted according to the specific relationship. The coordinate axis is established with the coordinates of the safe zone vertex as the coordinate origin, and the coordinates of the key points of the obstacle avoidance track are calculated.

[0140] Assuming the initial track is at the center of the circle at the safe distance from the obstacle, if Figure 10 As shown, arcs C1, C2, C3, and C4 are the arcs of the obstacle avoidance trajectory, where P1, P2, and P3 are the inflection points of the obstacle avoidance trajectory.

[0141] Assume the safe distance to the obstacle is r1 = 200m, the turning radius of the ship is r2 = 3000m, and the deviation distance from the track is...

[0142]

[0143] R = 1536.2, then the center of segment c1 is (-R, r2), the center of segment c2 is (0, -r2+r1), the center of segment c3 is (0, -r2+r1), the center of segment c4 is (R, r2), and the coordinates of point P1 are (-R / 2, r1 / 2), the coordinates of point P2 are (0, r1), and the coordinates of point P3 are (R / 2, r1 / 2).

[0144] When the initial trackline is not at the center of the apex of the obstacle safety zone: e.g. Figure 11 and Figure 12 As shown, 6 is the first obstacle avoidance circumcircle, 7 is the second obstacle avoidance circumcircle, 8 is the safety distance circle, and 9 is the obstacle avoidance incircle;

[0145] like Figure 11 Assuming the initial trackline is above the center of the safety distance circle and the distance between them is h, the distance BE can be calculated from the similarity between triangle OAB and triangle DCB:

[0146] Let h = 50; EB = (r2*r1 - r2*h) / (2*r2 - r1 + h); DB = r2 + EB;

[0147] OB = r2 - EB; OA = r2 - r1 + h;

[0148]

[0149] The starting distance is AC = AB + BC; and Figure 10 Similarity calculations involve finding the coordinates of the center of the circle and the coordinates of the points of tangency of the two external circles, relative to each other. Figure 10 Given the following conditions: the center of segment C1 is (-AC, r2+h), the centers of segments C2 and C3 are (0, -r2+r1), and the center of segment C4 is (AC, r2+h); EF = EB*r2 / DB; BF = BC*EF / r2; then the coordinates of point E are (AB+BF, h+EF), and the symmetrical coordinates of point E are (-(AB+BF), h+EF).

[0150] like Figure 12 As shown, assuming the initial track is below the center of the safety distance circle and the distance between them is h, the distance BE can be calculated by the similarity between triangle OAB and triangle DCB:

[0151] Let h = 50; EB = (r2*r1 - r2*h) / (2*r2 - r1 + h); DB = r2 + EB;

[0152] OB = r2 - EB; OA = r2 - r1 + h;

[0153]

[0154] The starting distance is AC = AB + BC; and Figure 10 Similarity calculations involve finding the coordinates of the center of the circle and the coordinates of the points of tangency of the two external circles, relative to each other. Figure 10Given the following conditions, the center of segment C1 is (-AC, -(r2+h), the center of segments C2 and C3 is (0, r2-r1), and the center of segment C4 is (AC, -(r2+h)); EF = EB*r2 / DB; BF = BC*EF / r2; then the coordinates of point E are (AB+BF, -h-EF), and the symmetrical coordinates of point E are (-(AB+BF), -h-EF).

[0155] The coordinates of each connection point of the obstacle avoidance track can be obtained from the above calculations. Connecting each arc segment yields the obstacle avoidance track within the obstacle area. Several examples of determining the obstacle avoidance track and its inflection points have been given above. In practical applications, the obstacle avoidance track and corresponding inflection points can be determined according to specific circumstances, so that the obstacle avoidance track and inflection points can be marked on the track chart, facilitating the correct navigation of the vessel along the obstacle avoidance track.

[0156] Step S305: Restore the gun line, gun points, and checkpoints based on the obstacle avoidance trajectory;

[0157] Since the obstacle avoidance track is a track that bypasses obstacles, the corresponding gun lines will also change. The gun points and checkpoints that were previously located in the obstacle area will not be located on the obstacle avoidance track. Therefore, it is necessary to adjust and restore the gun lines, gun points, and checkpoints. That is, the gun points and checkpoints in the obstacle area are adjusted to the gun lines corresponding to the obstacle avoidance track to ensure that the obstacle area cannot achieve effective exploration coverage. Specifically, the obstacle avoidance track obtained in the above steps and the number of input air gun sources and the spacing parameters of the extenders are used as the basis for restoring the gun lines, gun points, and checkpoints.

[0158] In other words, a firing point is established on the obstacle avoidance firing line, and the position of the firing point automatically deviates from the obstacle avoidance trajectory, such as... Figure 13 As shown, the grid lines represent the established surface grid, and the points on the grid lines represent shot points. Even after a deviation, the shot point still falls on the initially established surface grid, ensuring that the longitudinal projection distance and the total number of shot points remain unchanged. This yields the obstacle avoidance trajectory map of the automatic obstacle avoidance observation system for complex sea areas.

[0159] The steps in Embodiment 3 of this invention are the same as those in Embodiments 1 and 2, and will not be repeated here. For details, please refer to the corresponding steps in Embodiments 1 and 2.

[0160] Based on the same inventive concept, embodiments of the present invention also provide a device for automatic obstacle avoidance in marine areas. This device can be installed in a computer device with computing power, such as... Figure 14 As shown, it includes:

[0161] The first generation module 41 is used to generate an initial track line on a pre-established surface mesh;

[0162] The second generation module 42 is used to adjust the obstacle area in the initial track line according to the shape parameters of the obstacle, the safety distance, and the turning radius of the ship, so as to generate an obstacle avoidance track line.

[0163] The adjustment module 43 is used to determine the adjustment positions of the firing point and the check point based on the obstacle avoidance trajectory and the grid lines in the surface grid, and to adjust the firing point and the check point in the obstacle area according to the adjustment positions.

[0164] The third generation module 44 is used to generate an obstacle avoidance trajectory map that includes obstacle avoidance trajectory lines, adjusted gun points, and check points.

[0165] This invention also provides a computer storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described automatic obstacle avoidance method in the sea area.

[0166] This invention provides a computer device, characterized in that it includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement any of the above-described automatic obstacle avoidance methods for sea areas.

[0167] This invention also provides the application of any of the above-described automatic obstacle avoidance methods in automatic obstacle avoidance systems for complex sea areas.

[0168] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0169] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.

[0170] In the detailed description above, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, the invention is presented with fewer features than all of the features in a single disclosed embodiment. Therefore, the appended claims are hereby explicitly incorporated into the detailed description, with each claim representing a separate preferred embodiment of the invention.

[0171] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term "comprising" as used in the specification or claims is interpreted in a manner similar to the term "including," as interpreted when used as a conjunction in the claims. Additionally, the use of any term "or" in the specification of the claims is intended to mean "non-exclusive or."

Claims

1. A method for automatic obstacle avoidance in marine areas, characterized in that, include: Generating an initial trajectory line on a pre-established grid includes: obtaining the gun line formed by each air source gun based on the number of air source guns on the ship; determining the trajectory center line based on the gun line; determining the trajectory width based on the spacing of the extenders; and generating an initial trajectory line on the grid based on the trajectory center line and the trajectory width. Based on the shape parameters of the obstacle, the safe distance, and the turning radius of the ship, the obstacle avoidance track is adjusted in the obstacle area of ​​the initial track to generate an obstacle avoidance track. This includes: determining the positional relationship between the initial track and the obstacle based on the shape parameters of the obstacle; selecting the vertices of the obstacle avoidance safe area from the endpoints of the obstacle based on the positional relationship; generating a safe distance circle with the vertices of the obstacle avoidance safe area as the center and the safe distance as the radius; establishing an obstacle avoidance inscribed circle with the turning radius as the radius; establishing the obstacle avoidance inscribed circle and two obstacle avoidance circumscribed circles of the initial track based on the turning radius; adjusting the initial track based on the obstacle avoidance inscribed circle and the obstacle avoidance circumscribed circle to obtain the obstacle avoidance track. Determine the firing point and check point adjustment positions based on the obstacle avoidance trajectory and the grid lines in the surface grid, and adjust the firing point and check point in the obstacle area according to the adjustment positions; Generate an obstacle avoidance trajectory map that includes obstacle avoidance trajectory lines, adjusted gun points, and checkpoints.

2. The method as described in claim 1, characterized in that, The safety distance circle is inscribed in the obstacle avoidance inscribed circle.

3. The method as described in claim 1, characterized in that, Selecting the vertices of the obstacle avoidance safe zone from the endpoints of the obstacle based on the positional relationship includes: Determine the obstacle avoidance trajectory and direction based on the positional relationship between the initial track and the center of gravity of the obstacle; Based on the avoidance direction, select the leftmost vertex, the rightmost vertex, and at least one highest vertex between the leftmost and rightmost vertices that is farthest from the initial trackline from the endpoint of the obstacle closest to the avoidance direction, as the vertices of the obstacle avoidance safe zone.

4. The method as described in claim 1, characterized in that, The step of adjusting the initial trajectory line according to the obstacle avoidance inscribed circle and the obstacle avoidance circumscribed circle to obtain the obstacle avoidance trajectory line includes: Obtain the first arc segment between the point of tangency between the first external tangent circle of the obstacle avoidance and the initial trajectory line and the point of tangency between the first external tangent circle of the obstacle avoidance and the internal tangent circle of the obstacle avoidance; Obtain the second arc segment from the point of tangency between the first external circle and the internal circle of obstacle avoidance to the point of tangency between the internal circle and the second external circle of obstacle avoidance; Obtain the third arc segment from the point of tangency between the second external tangent circle and the internal tangent circle of the obstacle avoidance to the point of tangency between the second external tangent circle and the initial trajectory line; Replace the track line between the point of tangency between the first obstacle avoidance outer circle and the initial track line and the point of tangency between the second obstacle avoidance outer circle and the initial track line with a curve formed by the first arc segment, the second arc segment, and the third arc segment.

5. The method as described in claim 1, characterized in that, The process of determining the firing point and checkpoint adjustment positions based on the obstacle avoidance trajectory and the grid lines in the surface grid, and adjusting the firing point and checkpoint in the obstacle area according to the adjustment positions, includes: Delete shot points and checkpoints located within obstacle areas on the surface mesh; Generate obstacle avoidance firing lines based on the obstacle avoidance trajectory and the number of air and gun sources on the ship; Based on the intersection of the obstacle avoidance firing line and the grid lines on the surface grid, the firing point and check point positions are redefined, and the redefined firing point and check point are added to the surface grid.

6. The method as described in claim 1, characterized in that, Also includes: Based on the initial trajectory and the shape parameters of the obstacles, the obstacles that need to be merged in the obstacle set are merged.

7. The method as described in claim 6, characterized in that, The process of merging obstacles that need to be merged from the obstacle set includes: Based on the location of the obstacles, merge obstacles that partially or completely overlap; Based on the intersection of the initial track and the obstacles after the initial merging, the obstacle avoidance path set for each obstacle is obtained; the obstacle avoidance path set includes the obstacle avoidance path to avoid each obstacle; If the obstacle avoidance path of the ship to avoid the first obstacle passes through the second obstacle, then the first obstacle and the second obstacle are merged to form the third obstacle. If the obstacle avoidance paths of the ship to avoid the fourth obstacle and the fifth obstacle conflict, then the fourth obstacle and the fifth obstacle are merged to form the sixth obstacle. Remove the first, second, fourth, and fifth obstacles from the obstacle set, and add the third and sixth obstacles.

8. The method according to any one of claims 1-7, characterized in that, Also includes: A surface mesh is created based on the distances to the firing points and the inspection points.

9. The method as described in claim 8, characterized in that, The process of establishing a surface mesh based on the distance between the shot point and the receiver point includes: The longitudinal distance between longitudinal grid lines is determined based on the distance between the shot points, and the lateral distance between transverse grid lines is determined based on the distance between the inspection points. Based on the longitudinal and transverse distances, a surface mesh including longitudinal and transverse grid lines is created.

10. A device for automatic obstacle avoidance in marine areas, characterized in that, include: The first generation module is used to generate an initial track line on a pre-established grid, including: obtaining the gun line formed by each air source gun according to the number of air source guns on the ship; determining the track center line according to the gun line; determining the track width according to the spacing of the extenders; and generating the initial track line on the grid according to the track center line and the track width. The second generation module is used to adjust the obstacle area portion of the initial track line according to the shape parameters of the obstacle, the safety distance, and the turning radius of the ship, to generate an obstacle avoidance track line. This includes: determining the positional relationship between the initial track line and the obstacle based on the shape parameters of the obstacle; selecting the vertices of the obstacle avoidance safety area from the endpoints of the obstacle based on the positional relationship; generating a safety distance circle with the vertices of the obstacle avoidance safety area as the center and the safety distance as the radius; establishing an obstacle avoidance inscribed circle with the turning radius as the radius; establishing the obstacle avoidance inscribed circle and two obstacle avoidance circumscribed circles of the initial track line with the turning radius as the radius; and adjusting the initial track line according to the obstacle avoidance inscribed circle and obstacle avoidance circumscribed circle to obtain the obstacle avoidance track line. The adjustment module is used to determine the adjustment positions of the firing point and the check point based on the obstacle avoidance trajectory and the grid lines in the surface grid, and to adjust the firing point and the check point in the obstacle area according to the adjustment positions; The third generation module is used to generate obstacle avoidance trajectory maps that include obstacle avoidance tracks, adjusted gun points, and checkpoints.

11. A computer storage medium, characterized in that, The computer storage medium stores computer-executable instructions, which, when executed by a processor, implement the automatic obstacle avoidance method for the sea area as described in any one of claims 1-9.

12. A computer device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the automatic obstacle avoidance method for the sea area as described in any one of claims 1-9.

13. The application of the automatic obstacle avoidance method for marine areas as described in any one of claims 1-9 in an automatic obstacle avoidance system for complex marine areas.

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