A method, device, electronic device and storage medium for automatic fixed-point control of a multi-mode glider

Abstract

The present invention discloses a method for automatic fixed-point control of a multi-mode glider, comprising the following steps: in response to a fixed-point observation instruction, starting a gliding operation mode; when the acquired position of the glider is located within the horizontal projection area of ​​the area adjacent to the observation point, switching to an ARGO operation mode; acquiring observation data; when receiving current surface positioning information, acquiring the duration of the previous single profile; determining the duration of the next single profile and the operation mode according to a first distance, the current surface positioning information and the duration of the previous single profile, and generating a current observation instruction; in response to the current observation instruction, starting the operation mode. The present invention can realize automatic switching between the gliding operation mode and the ARGO operation mode, improve the efficiency of performing observation tasks, save energy consumption, and improve the automation level of the glider. The present invention also discloses a device, an electronic device and a computer-readable storage medium for implementing the above method.

Description

Technical Field

[0001] The present invention relates to the technical field of glider control, and in particular to a method, device, electronic equipment and storage medium for fixed-point automatic control of a multi-mode glider. Background Art

[0002] Underwater gliders are a special type of autonomous underwater vehicle (AUV) that can travel thousands of kilometers in the ocean. Underwater gliders can move underwater to complete specific tasks by remote control or autonomously. Compared with the towing detection equipment by scientific research vessels, the use of underwater gliders for the detection of marine resources has greatly improved efficiency and safety, and can also go deep into dangerous waters for long-term operations. Underwater gliders have two modes: one is gliding mode and the other is ARGO mode. Currently, the two modes are switched manually to complete observation tasks, which affects work efficiency. Summary of the invention

[0003] In order to solve the above problems existing in the prior art, the present invention provides a method, device, electronic device and storage medium for automatic fixed-point control of a multi-mode glider. The technical problem to be solved by the present invention is achieved through the following technical solutions:

[0004] A first aspect of an embodiment of the present invention provides a method for automatic fixed-point control of a multi-mode glider, comprising the following steps:

[0005] In response to the fixed-point observation command, starting the gliding operation mode;

[0006] When the acquired position of the glider is within the horizontal projection area of ​​the observation point vicinity area, the operation mode is switched to the ARGO operation mode; wherein the observation point vicinity area is a range with the target observation point of the fixed-point observation instruction as the center and the preset proximity distance as the radius;

[0007] Obtain observation data;

[0008] When the current surface positioning information is received, the duration of the previous single profile is obtained;

[0009] Determine the duration of the next single profile and the operation mode according to the first distance, the current water surface positioning information and the duration of the previous single profile, and generate a current observation instruction; wherein the first distance is the horizontal distance from the edge of the target area to the target observation point;

[0010] In response to the current observation instruction, the operating mode is initiated.

[0011] In one embodiment of the present invention, determining the duration of the next single profile and the operation mode according to the first distance, the current water surface positioning information and the duration of the previous single profile, and generating the current observation instruction, includes:

[0012] When the horizontal distance between the current position represented by the current surface positioning information and the target observation point is greater than a first distance, switching to a gliding operation mode to move the glider toward the target observation point;

[0013] When the acquired glider position is within the horizontal projection area of ​​the vicinity of the observation point, it is switched to the ARGO operation mode, and the drift speed of the previous profile is determined according to the duration of the previous single profile and the horizontal drift distance of the previous profile;

[0014] Determine the duration of the next single profile according to the previous profile drift speed and the first distance; wherein the duration of the next single profile is less than the duration of the previous single profile;

[0015] Generate the current observation instruction according to the duration of the next single profile.

[0016] In one embodiment of the present invention, determining the duration of the next single profile and the operation mode according to the first distance, the current water surface positioning information and the duration of the previous single profile, and generating the current observation instruction, includes:

[0017] When the horizontal distance between the current position represented by the current water surface positioning information and the target observation point is less than the first distance, the current operation mode is maintained, and the drift speed of the previous profile is determined according to the duration of the previous single profile and the horizontal drift distance of the previous profile;

[0018] Determine the duration of the next single profile according to the previous profile drift speed and the first distance; wherein the duration of the next single profile is greater than the duration of the previous single profile;

[0019] Generate the current observation instruction according to the duration of the next single profile.

[0020] In one embodiment of the present invention, determining the duration of the next single profile and the operation mode according to the first distance, the current water surface positioning information and the duration of the previous single profile, and generating the current observation instruction, includes:

[0021] When the horizontal distance between the current position represented by the current surface positioning information and the target observation point is greater than a first distance, switching to a gliding operation mode to move the glider toward the target observation point;

[0022] When the acquired glider position is within the horizontal projection area of ​​the vicinity of the observation point, switch to the ARGO operation mode;

[0023] Determine a single profile duration prediction value as the next single profile duration according to a single profile duration prediction function, the first distance, and the current surface positioning information; wherein the single profile duration prediction function is a prediction function related to the previous single profile duration, horizontal drift distance, and single profile duration obtained based on multiple historical ARGO single profile durations of the target observation point during the same period and the corresponding historical ARGO horizontal drift distances;

[0024] Generate current observation instructions according to the duration of the next single profile;

[0025] When the horizontal distance between the current position represented by the current water surface positioning information and the target observation point is less than the first distance, maintaining the current operation mode;

[0026] Determine the single profile duration prediction value as the next single profile duration according to the single profile duration prediction function and the current water surface positioning information;

[0027] Generate the current observation instruction according to the duration of the next single profile.

[0028] A second aspect of an embodiment of the present invention provides a multi-mode glider fixed-point automatic control device, comprising:

[0029] A starting module, used for starting the gliding operation mode in response to a fixed-point observation instruction;

[0030] A switching module is used to switch to the ARGO operation mode when the acquired position of the glider is within the horizontal projection area of ​​the observation point adjacent area; wherein the observation point adjacent area is a range with a preset adjacent distance as the radius and a target observation point of the fixed-point observation instruction as the center;

[0031] A first acquisition module is used to acquire observation data;

[0032] The second acquisition module is used to acquire the duration of the previous single profile when receiving the current surface positioning information;

[0033] A determination module, used to determine the duration of the next single profile and the operation mode according to the first distance, the current water surface positioning information and the duration of the previous single profile, and generate a current observation instruction; wherein the first distance is the horizontal distance from the edge of the target area to the target observation point;

[0034] The startup module is further used to start the operation mode in response to the current observation instruction.

[0035] In one embodiment of the present invention, the determination module is further configured to switch to a gliding operation mode when the horizontal distance between the current position represented by the current surface positioning information and the target observation point is greater than a first distance, so as to make the glider move toward the target observation point;

[0036] When the acquired glider position is within the horizontal projection area of ​​the vicinity of the observation point, it is switched to the ARGO operation mode, and the drift speed of the previous profile is determined according to the duration of the previous single profile and the horizontal drift distance of the previous profile;

[0037] Determine the duration of the next single profile according to the previous profile drift speed and the first distance; wherein the duration of the next single profile is less than the duration of the previous single profile;

[0038] Generate the current observation instruction according to the duration of the next single profile.

[0039] In one embodiment of the present invention, the determination module is further used to maintain the current operation mode when the horizontal distance between the current position represented by the current water surface positioning information and the target observation point is less than the first distance, and determine the previous profile drift speed according to the previous single profile duration and the previous profile horizontal drift distance;

[0040] Determine the duration of the next single profile according to the previous profile drift speed and the first distance; wherein the duration of the next single profile is greater than the duration of the previous single profile;

[0041] Generate the current observation instruction according to the duration of the next single profile.

[0042] In one embodiment of the present invention, the determination module is further configured to switch to a gliding operation mode when the horizontal distance between the current position represented by the current surface positioning information and the target observation point is greater than a first distance, so as to make the glider move toward the target observation point;

[0043] When the acquired glider position is within the horizontal projection area of ​​the vicinity of the observation point, switch to the ARGO operation mode;

[0044] Determine a single profile duration prediction value as the next single profile duration according to a single profile duration prediction function, the first distance, and the current surface positioning information; wherein the single profile duration prediction function is a prediction function related to the previous single profile duration, horizontal drift distance, and single profile duration obtained based on multiple historical ARGO single profile durations of the target observation point during the same period and the corresponding historical ARGO horizontal drift distances;

[0045] Generate current observation instructions according to the duration of the next single profile;

[0046] When the horizontal distance between the current position represented by the current water surface positioning information and the target observation point is less than the first distance, maintaining the current operation mode;

[0047] Determine the single profile duration prediction value as the next single profile duration according to the single profile duration prediction function and the current water surface positioning information;

[0048] Generate the current observation instruction according to the duration of the next single profile.

[0049] A third aspect of an embodiment of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a multi-mode glider fixed-point automatic control method provided by the first aspect of an embodiment of the present invention is implemented.

[0050] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for fixed-point automatic control of a multi-mode glider provided by the first aspect of an embodiment of the present invention is implemented.

[0051] Beneficial effects of the present invention:

[0052] The present invention automatically switches to the ARGO operation mode by acquiring the position information of the glider, and automatically switches between the gliding operation mode and the ARGO operation mode according to the current surface positioning information and the duration of the previous single profile, thereby improving the efficiency of executing the observation task, saving energy consumption, and improving the automation degree of the glider.

[0053] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0054] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0056] Figure 1 A schematic flow chart of a method for automatic fixed-point control of a multi-mode glider provided by an embodiment of the present invention;

[0057] Figure 2 A block diagram of a multi-mode glider fixed-point automatic control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0058] The present invention is further described in detail below with reference to specific embodiments, but the embodiments of the present invention are not limited thereto.

[0059] like Figure 1As shown, a first aspect of an embodiment of the present invention provides a multi-mode glider fixed-point automatic control method, which is applied to a fixed-point observation task, comprising the following steps:

[0060] Step 11, in response to the fixed-point observation instruction, start the gliding operation mode. The glider initially operates in the gliding mode.

[0061] Step 12: When the acquired position of the glider is within the horizontal projection area of ​​the vicinity of the observation point, switch to the ARGO operation mode.

[0062] The observation point neighborhood area is a range with the target observation point of the fixed-point observation instruction as the center and the preset neighborhood distance as the radius. The preset neighborhood distance is a relatively close distance to the target observation point, such as a few hundred meters or a thousand meters. The observation point neighborhood area is a range within a few hundred meters or a thousand meters radiating from the target observation point as the center.

[0063] In this step, after a profile operation of the gliding operation mode is completed, positioning is performed on the water surface to obtain gliding positioning information, and it is determined whether the position of the glider of the obtained gliding positioning information is located in the vicinity of the observation point (or it is determined whether the position of the glider of the obtained gliding positioning information is located in the projection area of ​​the vicinity of the observation point on the water surface), that is, whether the projection position of the position of the glider on the water surface is located in the vicinity of the observation point. If it is, the next observation task can be carried out. If it is not located within the range, the operation parameters of the gliding mode are adjusted (for example, the single profile duration of the gliding mode is adjusted. The longer the single profile duration, the longer the drift distance), and the operation in the gliding mode is continued. This process is repeated until the obtained position of the glider is located in the vicinity of the observation point, and then it is switched to the ARGO operation mode and the glider enters the water for operation in the ARGO operation mode.

[0064] Step 13, obtaining observation data. In this step, observation data is obtained during the operation in the ARGO operation mode.

[0065] Step 14, when the current surface positioning information is received, the duration of the previous single profile is obtained. When the current surface positioning information is received, it means that the glider has completed a single profile observation in the ARGO operation mode and has floated to the surface. At this time, the current surface positioning information can be received and the current time and the time when the glider entered the water in the ARGO operation mode can be obtained, and the duration of the previous single profile (that is, the operation duration of the profile observation task just completed) can be obtained.

[0066] Step 15, determining the duration and operation mode of the next single profile according to the first distance, the current water surface positioning information and the duration of the previous single profile, and generating the current observation instruction.

[0067] Among them, the first distance is the horizontal distance between the edge of the target area and the target observation point. The target area is the area that needs to be observed by the observation task, and takes the target observation point as the starting point and radiates a certain distance around, such as ten kilometers. The shape of the target area can be regular or irregular. The target area can be flexibly configured according to observation business needs, ocean conditions (such as trenches, continental shelves, etc.), etc. The distance is also variable, that is, the edge of the target area can be an irregular shape. For example, when it is necessary to observe seawater temperature, salinity and depth (CTD) data at a fixed point near the continental slope, the side close to the continental shelf may not meet the target depth. At this time, when setting the fixed-point range, you can set an irregular fixed-point range according to the depth and measurement point, as shown in the figure. The first distance can also be set in combination with the time and depth relationship of the gliding operation mode.

[0068] In this step, it is determined whether the operation mode needs to be switched based on the first distance, the current surface positioning information and the previous single profile duration. If the conditions for switching the operation mode are met, the operation mode is automatically switched to operate. For example, if the position in the current surface positioning information obtained is outside the target area, that is, the horizontal distance between the current position of the glider and the target observation point is greater than the first distance, it means that the profile duration of the previous ARGO operation mode is longer and the glider drifts farther. At this time, it is automatically switched to the gliding operation mode to make the glider move toward the target observation point. At the same time, the next single profile duration can be automatically adjusted, and the single profile duration is reduced compared to the previous single profile duration (the shorter the single profile duration, the shorter the drift distance), so that the glider is positioned on the water surface after the next ARGO operation mode profile observation is completed (after running for the next single profile duration). Position), close to the edge of the target area (close to the projection position of the edge of the target area on the water surface). In the gliding operation mode, when the acquired glider position is within the vicinity of the observation point, it automatically switches to the ARGO operation mode and generates the current observation instruction.

[0069] Step 16, in response to the current observation instruction, start the ARGO operation mode and operate with the adjusted next single profile duration.

[0070] After starting the ARGO operation mode, the surface positioning information can be periodically obtained to determine whether the horizontal drift distance of the glider is within the target area or has reached the edge of the target area, and the duration of each single profile can be automatically adjusted periodically.

[0071] In step 15, if the position in the current surface positioning information obtained is within the target area, that is, the horizontal distance between the current position of the glider and the target observation point is less than the first distance, the current ARGO operation mode is maintained without switching modes, and the single profile duration of the ARGO operation mode is adaptively adjusted again according to the horizontal distance between the current position and the edge of the target area (for example, when the distance to the edge of the target area is far, the next single profile duration is appropriately increased, and when the distance is close, the next single profile duration is appropriately reduced), and the current observation instruction is generated, and the current ARGO operation mode is continued. If after executing step 16 here, the position of the glider has not reached the edge of the target area when the surface positioning is performed again, the single profile duration of the ARGO operation mode is adaptively adjusted again according to the horizontal distance between the current position and the edge of the target area, and the current observation instruction is generated, and the current ARGO operation mode is continued. When the position of the glider reaches the edge of the target area during surface positioning, the observation task can be ended. Here, if after executing step 16, when the surface positioning is performed again, the position in the current surface positioning information obtained is outside the target area, then according to the above execution process, it is automatically switched to gliding mode to make the glider move toward the target observation point, and the corresponding subsequent steps are executed.

[0072] In this embodiment, the ARGO operation mode is automatically switched by acquiring the position information of the glider, and the gliding operation mode and the ARGO operation mode are automatically switched according to the current surface positioning information and the duration of the previous single profile, thereby improving the efficiency of executing the observation task, saving energy consumption, and improving the automation level of the glider.

[0073] A second aspect of an embodiment of the present invention provides a method for automatic fixed-point control of a multi-mode glider, comprising the following steps:

[0074] Step 21, in response to the fixed-point observation instruction, start the gliding operation mode.

[0075] Step 22: When the acquired position of the glider is within the vicinity of the observation point, switch to the ARGO operation mode.

[0076] The observation point vicinity area is a range with a preset proximity distance as the radius, centered on the target observation point of the fixed-point observation instruction.

[0077] Step 23, obtain observation data.

[0078] Step 24, when the current water surface positioning information is received, the duration of the previous single profile is obtained.

[0079] The specific process of step 21 to step 24 is the same as the corresponding content in the above-mentioned first aspect, and will not be repeated here.

[0080] Step 25, determining the duration and operation mode of the next single profile according to the first distance, the current water surface positioning information and the duration of the previous single profile, and generating the current observation instruction.

[0081] The first distance is the horizontal distance between the edge of the target area and the target observation point.

[0082] The specific steps of step 25 include: step 251-step 254 or step 255-step 257:

[0083] Step 251, when the horizontal distance from the current position to the target observation point is greater than the first distance, switch to the gliding operation mode to make the glider move toward the target observation point. In this step, the current surface positioning information represents the horizontal distance from the current position to the target observation point. If the horizontal distance from the current position of the glider on the water surface to the projection of the target observation point on the water surface is greater than the first distance, that is, the current position of the glider on the water surface is outside the edge of the target area (it can also be considered that the current position of the glider on the water surface is outside the edge of the projection of the target area on the water surface, that is, the glider drifts far and exceeds the range of the target area), at this time, it is automatically switched to the gliding operation mode to make the glider move toward the target observation point.

[0084] Step 252, when the acquired glider position is within the horizontal projection area of ​​the vicinity of the observation point, switch to the ARGO operation mode, and determine the previous profile drift speed according to the previous single profile duration and the previous profile horizontal drift distance.

[0085] In this step, when the acquired glider position is located in the vicinity of the observation point, the specific process of switching to the ARGO operation mode is the same as step 22. At this time, since it can be known from step 251 that the glider drifted far during the last profile observation in the ARGO operation mode, an automatic adjustment is made here based on the last drift speed so that the current profile observation task can meet the task requirements, so as to minimize the number of single profiles, improve work efficiency, and reduce energy consumption.

[0086] Step 253, determining the duration of the next single profile according to the previous profile drift speed and the first distance.

[0087] The duration of the next single profile is less than the duration of the previous single profile. According to the drift speed of the previous profile and the first distance, the first distance divided by the drift speed of the previous profile can obtain the duration of the next single profile required for the first distance of drift horizontally, and the duration of the previous single profile is automatically adjusted to the duration of the next single profile.

[0088] Step 254, generate the current observation instruction according to the next single profile duration, and then execute step 26.

[0089] It should be noted that, in the control process of one of the cases of step 25 described in steps 251-254 (when the distance from the current position represented by the current water surface positioning information to the target observation point is greater than the first distance), another case of step 25 (when the horizontal distance from the current position represented by the current water surface positioning information to the target observation point is less than the first distance) is described below, and steps 251-254 and steps 255-257 are parallel steps:

[0090] Step 255, when the horizontal distance between the current position and the target observation point is less than the first distance, the current operation mode is maintained, and the previous profile drift speed is determined according to the previous single profile duration and the previous profile horizontal drift distance. The horizontal distance between the current position and the target observation point is represented by the current water surface positioning information.

[0091] In this step, when positioning on the water surface, the glider is located within the target area, that is, the drift distance of the glider in the ARGO operation mode does not exceed the target area, indicating that the drift distance of the glider is relatively short. The next profile observation can be adjusted based on this to minimize the number of single profiles, improve work efficiency and reduce energy consumption.

[0092] Step 256, determining the duration of the next single profile according to the previous profile drift speed and the first distance, wherein the duration of the next single profile is greater than the duration of the previous single profile.

[0093] In this step, the first distance is divided by the previous profile drift speed to obtain the next single profile duration required if the drift is horizontal for the first distance, and the previous single profile duration is automatically adjusted to the next single profile duration.

[0094] Step 257, generate the current observation instruction according to the next single profile duration, and then execute step 26.

[0095] Step 26, in response to the current observation instruction, start the operation mode. After the single profile duration adjustment is completed, start the operation in the ARGO operation mode switched in step 252 or the current ARGO operation mode in step 255.

[0096] In this embodiment, the operation mode is automatically switched by obtaining the position information of the glider, and the profile duration is automatically adjusted, which improves the efficiency of executing the observation task, saves energy consumption, and improves the automation level of the glider.

[0097] A third aspect of an embodiment of the present invention provides a method for automatic fixed-point control of a multi-mode glider, comprising the following steps:

[0098] Step 31, in response to the fixed-point observation instruction, start the gliding operation mode.

[0099] Step 32: When the acquired position of the glider is located in the vicinity of the observation point, switch to the ARGO operation mode.

[0100] The observation point vicinity area is a range with a preset proximity distance as the radius, centered on the target observation point of the fixed-point observation instruction.

[0101] Step 33, obtaining observation data.

[0102] Step 34, when the current water surface positioning information is received, the duration of the previous single profile is obtained.

[0103] The specific process of step 31 to step 34 is the same as the corresponding content in the above-mentioned first aspect, and will not be repeated here.

[0104] Step 35, determining the duration and operation mode of the next single profile according to the first distance, the current water surface positioning information and the duration of the previous single profile, and generating the current observation instruction.

[0105] The first distance is the horizontal distance between the edge of the target area and the target observation point.

[0106] The specific steps of step 35 include: step 351-step 354 or step 355-step 357:

[0107] Step 351: When the horizontal distance between the current position and the target observation point is greater than the first distance, switch to the gliding operation mode to make the glider move toward the target observation point. The horizontal distance between the current position and the target observation point is represented by the current water surface positioning information.

[0108] Step 352: When the acquired glider position is within the horizontal projection area of ​​the vicinity of the observation point, switch to the ARGO operation mode.

[0109] Here, the specific processes of step 351 and step 352 are the same as the corresponding steps in the first aspect and the second aspect, and will not be repeated here.

[0110] Step 353, determine the single profile duration prediction value as the next single profile duration according to the single profile duration prediction function, the current water surface positioning information and the previous single profile duration.

[0111] Among them, the single profile duration prediction function is a prediction function related to the previous single profile duration, horizontal drift distance and single profile duration obtained based on multiple historical ARGO single profile durations and corresponding historical ARGO horizontal drift distances of the target observation point during the same period.

[0112] In this step, the single profile duration prediction function can be calculated in advance before the observation task is performed. Specifically, the single profile duration prediction function can be fitted using the least squares method, or a prediction model can be obtained by training using a prediction analysis model of a machine learning algorithm.

[0113] In this embodiment, first, based on the difference between the current water surface positioning information (the horizontal distance between the current position and the target observation point) and the first distance, that is, the distance between the current water surface position and the edge of the water surface projection of the edge of the target area, that is, the remaining horizontal drift distance that the glider needs to drift in the horizontal direction if it drifts to the edge of the target area.

[0114] Then, the previous single profile duration and the remaining horizontal drift distance are input into the single profile duration prediction function to obtain the single profile duration prediction value, and the single profile duration prediction value is used as the next single profile duration.

[0115] Step 354, generate the current observation instruction according to the next single profile duration, and then execute step 36.

[0116] It should be noted that, in the control process of one of the cases of step 35 described in steps 351-354 (when the distance from the current position represented by the current water surface positioning information to the target observation point is greater than the first distance), another case of step 35 (when the horizontal distance from the current position represented by the current water surface positioning information to the target observation point is less than the first distance) is described below, and steps 351-354 and steps 355-357 are parallel steps:

[0117] Step 355: When the horizontal distance between the current position and the target observation point is less than the first distance, the current operation mode is maintained. The horizontal distance between the current position and the target observation point is represented by the current surface positioning information. In this step, when positioning on the surface, the position of the glider is within the target area, that is, the drift distance of the glider in the ARGO operation mode does not exceed the target area, indicating that the drift distance of the glider is relatively short.

[0118] Step 356, according to the single profile duration prediction function, the current water surface positioning information and the previous single profile duration, determine the single profile duration prediction value as the next single profile duration. In this step, the previous single profile duration and the remaining horizontal drift distance are input into the single profile duration prediction function to obtain the single profile duration prediction value, and the single profile duration prediction value is used as the next single profile duration.

[0119] Step 357, generate the current observation instruction according to the next single profile duration, and then execute step 36.

[0120] Step 36, in response to the current observation instruction, start the operation mode. After the single profile duration adjustment is completed, start the operation in the ARGO operation mode switched in step 352 or the current ARGO operation mode in step 355.

[0121] In this embodiment, the operation mode is automatically switched by obtaining the position information of the glider, and the profile duration is automatically adjusted, which improves the efficiency of executing the observation task, saves energy consumption, and improves the automation level of the glider.

[0122] like Figure 2 As shown, a fourth aspect of an embodiment of the present invention provides a multi-mode glider fixed-point automatic control device, comprising:

[0123] A starting module 41 is used to start the gliding operation mode in response to the fixed-point observation instruction;

[0124] A switching module 42 is used to switch to the ARGO operation mode when the acquired position of the glider is within the horizontal projection area of ​​the observation point adjacent area; wherein the observation point adjacent area is a range with a preset adjacent distance as a radius and a target observation point of the fixed-point observation instruction as the center;

[0125] A first acquisition module 43, used to acquire observation data;

[0126] The second acquisition module 44 is used to acquire the duration of the previous single profile when receiving the current water surface positioning information;

[0127] The determination module 45 is used to determine the duration of the next single profile and the operation mode according to the first distance, the current water surface positioning information and the duration of the previous single profile, and generate the current observation instruction; wherein the first distance is the horizontal distance from the edge of the target area to the target observation point;

[0128] The start module 46 is further used to start the operation mode in response to the current observation instruction.

[0129] In one embodiment of the present invention, the determination module 45 is further configured to switch to the gliding operation mode when the horizontal distance between the current position represented by the current surface positioning information and the target observation point is greater than the first distance, so as to make the glider move toward the target observation point;

[0130] When the acquired glider position is within the horizontal projection area of ​​the vicinity of the observation point, it is switched to the ARGO operation mode, and the drift speed of the previous profile is determined according to the duration of the previous single profile and the horizontal drift distance of the previous profile;

[0131] Determine the duration of the next single profile according to the drift speed of the previous profile and the first distance; wherein the duration of the next single profile is less than the duration of the previous single profile;

[0132] Generate the current observation instruction according to the duration of the next single profile.

[0133] In one embodiment of the present invention, the determination module 45 is further used to maintain the current operation mode when the horizontal distance from the current position represented by the current water surface positioning information to the target observation point is less than the first distance, and determine the previous profile drift speed according to the previous single profile duration and the previous profile horizontal drift distance;

[0134] Determine the duration of the next single profile according to the drift speed of the previous profile and the first distance; wherein the duration of the next single profile is greater than the duration of the previous single profile;

[0135] Generate the current observation instruction according to the duration of the next single profile.

[0136] In one embodiment of the present invention, the determination module 45 is further configured to switch to the gliding operation mode when the horizontal distance between the current position represented by the current surface positioning information and the target observation point is greater than the first distance, so as to make the glider move toward the target observation point;

[0137] When the acquired glider position is within the horizontal projection area of ​​the vicinity of the observation point, switch to the ARGO operation mode;

[0138] Determine the single profile duration prediction value as the next single profile duration according to the single profile duration prediction function, the first distance and the current water surface positioning information; wherein the single profile duration prediction function is a prediction function related to the previous single profile duration, horizontal drift distance and single profile duration obtained according to multiple historical ARGO single profile durations of the target observation point during the same period and the corresponding historical ARGO horizontal drift distance;

[0139] Generate current observation instructions according to the duration of the next single profile;

[0140] When the horizontal distance between the current position represented by the current water surface positioning information and the target observation point is less than the first distance, maintaining the current operation mode;

[0141] According to the single profile duration prediction function and the current water surface positioning information, the single profile duration prediction value is determined as the next single profile duration;

[0142] Generate the current observation instruction according to the duration of the next single profile.

[0143] A fifth aspect of an embodiment of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a multi-mode glider fixed-point automatic control method provided in the above embodiment of the present invention is implemented.

[0144] A sixth aspect of an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of a multi-mode glider fixed-point automatic control method provided in the above embodiment of the present invention are implemented.

[0145] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0146] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0147] The method provided in the embodiment of the present invention can be applied to electronic devices. Specifically, the electronic device can be: a desktop computer, a portable computer, an intelligent mobile terminal, a server, etc. This is not limited here, and any electronic device that can implement the present invention belongs to the protection scope of the present invention.

[0148] As for the device / electronic device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0149] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0150] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0151] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0152] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A multi-mode glider fixed-point automatic control method, characterized in that: The following steps are involved: In response to the fixed-point observation command, starting the gliding operation mode; When the acquired position of the glider is within the horizontal projection area of ​​the observation point vicinity area, the operation mode is switched to the ARGO operation mode; wherein the observation point vicinity area is a range with the target observation point of the fixed-point observation instruction as the center and the preset proximity distance as the radius; Obtain observation data; When the current surface positioning information is received, the duration of the previous single profile is obtained; Determine the duration of the next single profile and the operation mode according to the first distance, the current water surface positioning information and the duration of the previous single profile, and generate the current observation instruction; wherein the first distance is the horizontal distance from the edge of the target area to the target observation point; wherein the target area is the area to be observed for the observation task, and takes the target observation point as the starting point and radiates a preset distance to the surrounding area; In response to the current observation instruction, the operating mode is initiated.

2. The method according to claim 1, characterized in that The determining the duration of the next single profile and the operation mode according to the first distance, the current water surface positioning information and the duration of the previous single profile, and generating the current observation instruction, includes: When the horizontal distance between the current position represented by the current surface positioning information and the target observation point is greater than a first distance, switching to a gliding operation mode to move the glider toward the target observation point; When the acquired glider position is within the horizontal projection area of ​​the vicinity of the observation point, it is switched to the ARGO operation mode, and the drift speed of the previous profile is determined according to the duration of the previous single profile and the horizontal drift distance of the previous profile; Determine the duration of the next single profile according to the previous profile drift speed and the first distance; wherein the duration of the next single profile is less than the duration of the previous single profile; Generate the current observation instruction according to the duration of the next single profile.

3. The method according to claim 2, characterized in that The determining the duration of the next single profile and the operation mode according to the first distance, the current water surface positioning information and the duration of the previous single profile, and generating the current observation instruction, includes: When the horizontal distance between the current position represented by the current water surface positioning information and the target observation point is less than the first distance, the current operation mode is maintained, and the drift speed of the previous profile is determined according to the duration of the previous single profile and the horizontal drift distance of the previous profile; Determine the duration of the next single profile according to the previous profile drift speed and the first distance; wherein the duration of the next single profile is greater than the duration of the previous single profile; Generate the current observation instruction according to the duration of the next single profile.

4. The method according to claim 1, characterized in that The determining the duration of the next single profile and the operation mode according to the first distance, the current water surface positioning information and the duration of the previous single profile, and generating the current observation instruction, includes: When the horizontal distance between the current position represented by the current surface positioning information and the target observation point is greater than a first distance, switching to a gliding operation mode to move the glider toward the target observation point; When the acquired glider position is within the horizontal projection area of ​​the vicinity of the observation point, switch to the ARGO operation mode; Determine a single profile duration prediction value as the next single profile duration according to a single profile duration prediction function, the first distance, and the current surface positioning information; wherein the single profile duration prediction function is a prediction function related to the previous single profile duration, horizontal drift distance, and single profile duration obtained based on multiple historical ARGO single profile durations of the target observation point during the same period and the corresponding historical ARGO horizontal drift distances; Generate current observation instructions according to the duration of the next single profile; When the horizontal distance between the current position represented by the current water surface positioning information and the target observation point is less than the first distance, maintaining the current operation mode; Determine the single profile duration prediction value as the next single profile duration according to the single profile duration prediction function and the current water surface positioning information; Generate the current observation instruction according to the duration of the next single profile.

5. A multi-mode glider fixed-point automatic control device, characterized in that: include: A starting module, used for starting the gliding operation mode in response to a fixed-point observation instruction; A switching module is used to switch to the ARGO operation mode when the acquired position of the glider is within the horizontal projection area of ​​the observation point adjacent area; wherein the observation point adjacent area is a range with a preset adjacent distance as the radius and a target observation point of the fixed-point observation instruction as the center; A first acquisition module is used to acquire observation data; The second acquisition module is used to acquire the duration of the previous single profile when receiving the current surface positioning information; A determination module, used to determine the duration of the next single profile and the operation mode according to the first distance, the current water surface positioning information and the duration of the previous single profile, and generate a current observation instruction; wherein the first distance is the horizontal distance from the edge of the target area to the target observation point; wherein the target area is the area that needs to be observed in the observation task, and takes the target observation point as the starting point and radiates a preset distance to the surrounding area; The startup module is further used to start the operation mode in response to the current observation instruction.

6. The device according to claim 5, characterized in that The determining module is further configured to switch to a gliding operation mode when the horizontal distance between the current position represented by the current surface positioning information and the target observation point is greater than a first distance, so as to make the glider move toward the target observation point; When the acquired glider position is within the horizontal projection area of ​​the vicinity of the observation point, it is switched to the ARGO operation mode, and the drift speed of the previous profile is determined according to the duration of the previous single profile and the horizontal drift distance of the previous profile; Determine the duration of the next single profile according to the previous profile drift speed and the first distance; wherein the duration of the next single profile is less than the duration of the previous single profile; Generate the current observation instruction according to the duration of the next single profile.

7. The device according to claim 5, characterized in that The determination module is further configured to maintain the current operation mode when the horizontal distance between the current position represented by the current water surface positioning information and the target observation point is less than the first distance, and determine the previous profile drift speed according to the previous single profile duration and the previous profile horizontal drift distance; Determine the duration of the next single profile according to the previous profile drift speed and the first distance; wherein the duration of the next single profile is greater than the duration of the previous single profile; Generate the current observation instruction according to the duration of the next single profile.

8. The device according to claim 5, characterized in that The determining module is further configured to switch to a gliding operation mode when the horizontal distance between the current position represented by the current surface positioning information and the target observation point is greater than a first distance, so as to make the glider move toward the target observation point; When the acquired glider position is within the horizontal projection area of ​​the vicinity of the observation point, switch to the ARGO operation mode; Determine a single profile duration prediction value as the next single profile duration according to a single profile duration prediction function, the first distance, and the current surface positioning information; wherein the single profile duration prediction function is a prediction function related to the previous single profile duration, horizontal drift distance, and single profile duration obtained based on multiple historical ARGO single profile durations of the target observation point during the same period and the corresponding historical ARGO horizontal drift distances; Generate current observation instructions according to the duration of the next single profile; When the horizontal distance between the current position represented by the current water surface positioning information and the target observation point is less than the first distance, maintaining the current operation mode; Determine the single profile duration prediction value as the next single profile duration according to the single profile duration prediction function and the current water surface positioning information; Generate the current observation instruction according to the duration of the next single profile.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the multi-mode glider fixed-point automatic control method as described in any one of claims 1 to 4 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the multi-mode glider fixed-point automatic control method according to any one of claims 1 to 4 is implemented.

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