Method and System for Simulating the Positioning Trajectory of Foreign Object Collection Equipment Based on Edge Computing

Abstract

The present invention discloses a method and system for simulating the positioning trajectory of foreign object collection equipment based on edge computing, which relates to the technical field of trajectory simulation, and includes: establishing a salvage cylinder based on the equipment salvage point in a spatial coordinate system; obtaining edge auxiliary points and placing sensors in the ocean below the equipment salvage point; obtaining the position data of the foreign object collection equipment in real time and simulating the trajectory of the foreign object collection equipment; The present invention is used to solve the problem that in the positioning optimization of existing foreign object collection equipment, when collecting in the ocean, it is impossible to obtain the flow velocity data of the ocean current, it is impossible to judge the general direction of the object to be collected in the ocean, and it is impossible to simulate the positioning trajectory of the foreign object collection equipment, resulting in low foreign object collection efficiency.

Description

Technical Field

[0001] The present invention relates to the field of trajectory simulation technology, and specifically to a method and system for simulating the positioning trajectory of foreign object collection equipment based on edge computing. Background Art

[0002] Foreign object collection equipment is a device or tool specially designed to collect and process various foreign objects. They have a wide range of applications, including but not limited to agriculture, marine ranching, food processing, and outdoor exploration. These equipment usually have specific functions and technologies to ensure efficient and accurate collection and processing of foreign objects. Positioning trajectory simulation is a technology that allows users to change or simulate their movement path between different locations. This technology can set the starting point and the end point, and then simulate the movement between these two points. It can simulate the movement trajectory of the foreign object collection equipment when collecting foreign objects, thereby improving the efficiency of foreign object collection.

[0003] The existing method for positioning foreign object collection equipment usually uses Beidou equipment to locate the foreign object collection equipment, and locates the foreign object collection equipment by obtaining the distance between the collection equipment and the satellite and sending a timestamp signal. Although this collection method can improve the collection of foreign objects, when the foreign object collection equipment is collecting underwater, only using Beidou equipment to obtain the real-time position of the foreign object collection equipment can only locate the foreign object collection equipment, but it is impossible to obtain the flow rate data of the water flow in the ocean when the foreign object collection equipment is collecting in the ocean. This will make it impossible to determine the approximate direction of the object to be collected in the ocean, resulting in only being able to locate but not being able to simulate the positioning trajectory of the foreign object collection equipment, thereby effectively improving the foreign object collection efficiency. For example, in the Chinese patent with publication number CN117970400A, a method and system for positioning marine ranch foreign body collection equipment based on Beidou are disclosed. This solution is used to solve the problem that the existing equipment positioning technology still has excessive reliance on communication base stations and the habit of using single satellite positioning when performing satellite positioning, which leads to large errors in positioning information. Other improvements in the positioning of foreign body collection equipment usually use other positioning devices to optimize the positioning of foreign body collection equipment. It is impossible to obtain the flow rate data of the water flow in the ocean when collecting in the ocean, it is impossible to determine the approximate direction of the object to be collected in the ocean, and it is impossible to simulate the positioning trajectory of the foreign body collection equipment, resulting in low foreign body collection efficiency. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the prior art to a certain extent. By proposing a method and system for simulating the positioning trajectory of foreign object collection equipment based on edge computing, it is used to solve the problem that the positioning optimization of existing foreign object collection equipment is unable to obtain the flow velocity data of water flow in the ocean when collecting in the ocean, unable to determine the approximate direction of the object to be collected in the ocean, and unable to simulate the positioning trajectory of the foreign object collection equipment, resulting in low foreign object collection efficiency.

[0005] To achieve the above objectives, in a first aspect, the present application provides a method for simulating the positioning trajectory of foreign object collection equipment based on edge computing, comprising the following steps:

[0006] The point where the foreign body collecting equipment is placed on the sea surface during foreign body salvage is recorded as the equipment salvage point, and a salvage cylinder is established in the spatial coordinate system based on the equipment salvage point and underwater data, wherein the underwater data includes the distance from the water bottom to the equipment salvage point and the flow rate of the underwater water flow;

[0007] An underwater simulation environment is built based on the salvage cylinder, and a foreign body collection device is used to perform simulation in the underwater simulation environment, edge auxiliary points inside the salvage cylinder are obtained based on the simulation results, and sensors are placed in the ocean below the equipment salvage point based on the edge auxiliary points, wherein the sensors are used to detect foreign bodies in the surrounding seawater;

[0008] When foreign matter collecting equipment is used to collect foreign matter, the foreign matter collecting equipment is placed at the equipment salvaging point and the position data of the foreign matter collecting equipment is acquired in real time based on the sensor, and the trajectory of the foreign matter collecting equipment is simulated based on the acquired data.

[0009] Further, establishing a salvage cylinder in a spatial coordinate system based on the equipment salvage point and underwater data includes:

[0010] Establish a plane rectangular coordinate system, recorded as the velocity analysis coordinate system, where the unit of the X-axis of the velocity analysis coordinate system is velocity, and the unit of the Y-axis is meter; record the distance from the water bottom to the equipment salvage point in the underwater data as L, and place a velocity detector vertically downward from the equipment salvage point, where the velocity detector is used to detect the velocity of the water flow directly below the equipment salvage point;

[0011] Based on the velocity detection results of the velocity detector and the distance between the velocity detector and the bottom of the water directly below the equipment salvage point, a scatter plot is drawn in the velocity analysis coordinate system, and all the points obtained are recorded as drop points DL from top to bottom. 1 To drop point DL c ;

[0012] For any drop point DL, the coordinate of the drop point DL is marked as the drop speed of the drop point DL.

[0013] Furthermore, establishing a salvage cylinder in a spatial coordinate system based on the equipment salvage point and underwater data also includes:

[0014] Establish a plane rectangular coordinate system, recorded as the drop analysis coordinate system, where the unit of the X axis of the drop analysis coordinate system is seconds, and the unit of the Y axis is meters; record the adjacent drop points in all drop points DL as drop analysis groups, and based on the sum of the serial numbers of the drop points DL in the drop analysis group, record all drop analysis groups in order from small to large as analysis groups FX 1 To Analysis Group FX c-1 , where the analysis group FX 1 The drop point DL within is the drop point DL 1 And the drop point DL 2 , the drop point DL in the analysis group FX2 is the drop point DL 2 And the drop point DL 3 , and so on.

[0015] Furthermore, establishing a salvage cylinder in a spatial coordinate system based on the equipment salvage point and underwater data also includes:

[0016] Based on the sequence number of the analysis group FX, the analysis groups are analyzed in turn using the drop analysis method. The drop analysis method is: for any analysis group FX c1 , when c1 is 1, the analysis group FX c1 The starting point is set to the coordinate origin. c1 When not 1, the analysis group FX c1 The starting point is set to the analysis group FX c1-1 The end point of

[0017] The analysis group FX c1 The time interval between the acquisition of the velocity detection results corresponding to the two drop points DL is recorded as the drop interval time, the sum of the horizontal coordinate of the starting point and the drop interval is recorded as T, and the straight line X=T in the drop analysis coordinate system is recorded as the end vertical line;

[0018] The analysis group FX c1 The drop speed of the drop point DL with the smaller sequence number is recorded as the starting speed, the product of the starting speed and the drop interval time is recorded as P, the sum of the ordinate of the starting point and P is recorded as R, the straight line Y=R in the drop analysis coordinate system is recorded as the ending horizontal line, and the intersection of the ending horizontal line and the ending vertical line is recorded as the analysis group FX c1 The end point of the analysis group FX c1 The line connecting the starting point and the ending point is recorded as the analysis group FX c1 The drop line DZ c1 ;

[0019] The dropping sub-lines DZ corresponding to all analysis groups FX are obtained, and the broken line formed by all the dropping sub-lines DZ is recorded as the dropping broken line.

[0020] Furthermore, establishing a salvage cylinder in a spatial coordinate system based on the equipment salvage point and underwater data also includes:

[0021] Establish a spatial coordinate system, where the units of the X-axis, Y-axis and Z-axis of the spatial coordinate system are all in m; record the straight line parallel to the Y-axis where the rightmost point of the drop line is located as the horizontal calibration line; place the drop line in the ZX plane of the spatial coordinate system, where the X-axis of the drop line coincides with the Z-axis of the spatial coordinate system and the horizontal calibration line is in the XY plane;

[0022] In the spatial coordinate system: the highest point of the falling broken line is recorded as the horizontal point. When the Z coordinate of the horizontal point is not equal to L, the falling broken line is scaled proportionally along the Z axis so that the Z coordinate of the horizontal point is equal to L. With the Z axis as the axis, the falling broken line is rotated, and the obtained irregular cone is recorded as the salvage edge cone. The distance between any point on the base of the salvage edge cone and the coordinate origin is recorded as r. The cylinder made with the coordinate origin and (0,0,L) as the base center, r as the base radius, and L as the height is recorded as the salvage cylinder.

[0023] Furthermore, an underwater simulation environment is built based on the salvage cylinder, and a foreign body collection device is used to perform simulation in the underwater simulation environment. The edge auxiliary points inside the salvage cylinder are obtained based on the simulation results, including:

[0024] Based on the composition of seawater at the equipment salvage point and the flow velocity detection result of the flow velocity detector, an ocean simulation environment is built, and an area of ​​the size of a salvage cylinder is obtained in the ocean simulation environment, which is recorded as the salvage simulation area, wherein the two bottom surfaces of the cylinder corresponding to the salvage simulation area coincide with the surface and bottom surface of the ocean simulation environment respectively;

[0025] The foreign matter collected by the foreign matter collection equipment is recorded as salvaged foreign matter DY 1 To salvage foreign matter DY u , for any salvaged foreign body DY u1 , salvage foreign matter DY u1 It is placed from the midpoint of the surface of the salvage simulation area and based on the salvage foreign body DY u1 The trajectory in the salvage simulation area is drawn in real time on the salvage cylinder in the space coordinate system, and the curve drawn is recorded as the sinking curve XC u1 ; When the sinking curve intersects with the salvage edge cone, the intersection of the sinking curve and the salvage edge cone is recorded as the sinking divergence point and the salvaged foreign body DY u1 It is recorded as offset foreign matter. When the sinking curve does not intersect with the salvage edge, the salvaged foreign matter DY u1Recorded as a sinking foreign body.

[0026] Furthermore, an underwater simulation environment is built based on the salvage cylinder, and a foreign body collection device is used to perform simulation in the underwater simulation environment. The edge auxiliary points inside the salvage cylinder are obtained based on the simulation results, and the following steps are also included:

[0027] The salvaged foreign object DYu1 is placed k times. When the salvaged foreign object DYu1 is not recorded as a shifted foreign object after k times of placement, the salvaged foreign object DYu1 is recorded as a completely sunken foreign object. When the salvaged foreign object DYu1 is recorded as a shifted foreign object after k times of placement, the offset analysis algorithm is used to obtain the coordinates of the edge auxiliary point corresponding to the salvaged foreign object DYu1. The offset analysis algorithm is: , where point (x0, y0, z0) is the edge auxiliary point corresponding to the salvaged foreign body DYu1, x i DY for salvaging foreign objects u1 The horizontal coordinate of the corresponding i-th sinking divergence point, x min DY for salvaging foreign objects u1 The minimum value of the horizontal coordinates of all corresponding sinking divergence points, x max DY for salvaging foreign objects u1 The maximum value of the horizontal coordinates of all corresponding sinking divergence points, y i DY for salvaging foreign objects u1 The corresponding ordinate of the i-th sinking divergence point, y min DY for salvaging foreign objects u1 The minimum value of the ordinate of all corresponding divergence points, y max DY for salvaging foreign objects u1 The maximum value of the ordinate of all corresponding sinking divergence points, z i DY for salvaging foreign objects u1 The corresponding Z-axis coordinate of the i-th sinking divergence point, z min DY for salvaging foreign objects u1 The minimum value of the Z-axis coordinates of all corresponding sinking divergence points, z max DY for salvaging foreign objects u1 The maximum value of the Z-axis coordinates of all corresponding sinking divergence points.

[0028] Further, placing a sensor in the ocean below the equipment salvage point based on the edge auxiliary point includes:

[0029] When salvaging foreign matter DY u1 When the number of times the edge auxiliary point is recorded as an offset foreign body is greater than or equal to k / 2, the edge auxiliary point is recorded as a hard edge point. u1 When the number of times the offset foreign body is recorded is less than k / 2, the edge auxiliary point is recorded as a gentle edge point; the salvaged foreign body DY u1 The number of times recorded as offset foreign matter divided by k is recorded as the edge ratio;

[0030] The number of sensors that can be placed is recorded as g, and all salvaged foreign bodies DY are analyzed to obtain all hard edge points and soft edge points. When the number of hard edge points is equal to g, all hard edge points are recorded as sensor installation points. When the number of hard edge points is greater than g, g hard edge points with a larger edge ratio among all hard edge points are recorded as sensor installation points. When the number of hard edge points is less than g, the value of g minus the number of hard edge points is recorded as g1, and all hard edge points and g1 soft edge points with a larger edge ratio are recorded as sensor installation points.

[0031] The midpoint of the surface of the salvage simulation area is aligned with the equipment salvage point, and sensors are installed at corresponding positions of all sensor installation points in the ocean below the equipment salvage point.

[0032] Furthermore, placing a foreign object collection device at the equipment salvage point and acquiring position data of the foreign object collection device in real time based on a sensor, and simulating the trajectory of the foreign object collection device based on the acquired data include:

[0033] When collecting foreign objects, for any sensor, the location of the foreign object obtained by the sensor is marked in the spatial coordinate system. When the marks of any two sensors coincide, the coincident point is recorded as the location of the foreign object.

[0034] In the spatial coordinate system, the point (0, 0, L) is recorded as the grabbing starting point of the foreign object collection equipment, and the point where the foreign object is located is recorded as the grabbing end point of the foreign object collection equipment. The trajectory of the foreign object collection equipment is simulated based on the grabbing starting point and the grabbing end point.

[0035] In the second aspect, the present application also provides a foreign body collection equipment positioning trajectory simulation system based on edge computing, including a salvage analysis module, a foreign body simulation module, and a foreign body grabbing module;

[0036] The salvage analysis module is used to record the point where the foreign body collection equipment is placed on the sea surface during foreign body salvage as the equipment salvage point, and to establish a salvage cylinder in the spatial coordinate system based on the equipment salvage point and underwater data, wherein the underwater data includes the distance from the bottom of the water to the equipment salvage point and the flow rate of the underwater water flow;

[0037] The foreign body simulation module is used to build an underwater simulation environment based on a salvage cylinder, and use foreign body collection equipment to simulate in the underwater simulation environment, obtain edge auxiliary points inside the salvage cylinder based on the simulation results, and place sensors in the ocean below the equipment salvage point based on the edge auxiliary points, wherein the sensors are used to detect foreign bodies in the surrounding seawater;

[0038] The foreign object grabbing module is used when foreign object collection equipment is used to collect foreign objects. The foreign object collection equipment is placed at the equipment salvage point and the position data of the foreign object collection equipment is acquired in real time based on the sensor, and the trajectory of the foreign object collection equipment is simulated based on the acquired data.

[0039] Beneficial effects of the present invention: The present invention firstly records the point where the foreign object collection equipment is placed on the sea surface during foreign object salvage as the equipment salvage point, and establishes a salvage cylinder in the space coordinate system based on the equipment salvage point and underwater data. The advantage of this is that by obtaining the salvage cylinder based on the equipment salvage point and underwater data, the range in which the foreign objects to be collected can fall after falling from the equipment salvage point can be obtained based on the underwater data inside the ocean. At the same time, the salvage edge cone in the salvage cylinder can more accurately select the approximate position of the foreign object, which helps to shorten the distance between the subsequently placed sensor and the foreign object, thereby more accurately locating the foreign object. By more accurately locating the foreign object, it helps to simulate the positioning trajectory of the foreign object collection equipment, thereby locating the foreign object collection equipment and improving the foreign object collection efficiency.

[0040] The present invention also builds an underwater simulation environment based on a salvage cylinder, and uses foreign object collecting equipment to perform simulation in the underwater simulation environment, obtains edge auxiliary points inside the salvage cylinder based on the simulation results, and places sensors in the ocean below the equipment salvage point based on the edge auxiliary points; finally, the foreign object collecting equipment is placed at the equipment salvage point and the position data of the foreign object collecting equipment is obtained in real time based on the sensor, and the trajectory of the foreign object collecting equipment is simulated based on the obtained data. The advantage of this is that by obtaining the edge auxiliary points, the position of the foreign object to be collected in the ocean can be obtained, thereby ensuring that the placement position of the sensor can more accurately locate the foreign object, thereby improving the foreign object collection efficiency when the foreign object collection equipment is underwater for collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a functional block diagram of the system of the present invention;

[0042] Figure 2 is a flow chart of the steps of the method of the present invention;

[0043] Figure 3 A schematic diagram of a flow velocity analysis coordinate system of the present invention;

[0044] Figure 4 A schematic diagram of obtaining a drop line according to the present invention;

[0045] Figure 5 is a schematic diagram of a salvage edge cone of the present invention;

[0046] Figure 6 is a schematic diagram of a salvage cylinder of the present invention;

[0047] Figure 7 It is a schematic structural diagram of the electronic device of the present invention. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Example 1, first aspect, please refer to Figure 1 As shown, the present application provides a foreign body collection equipment positioning trajectory simulation system based on edge computing, including a salvage analysis module, a foreign body simulation module and a foreign body grabbing module;

[0050] The salvage analysis module is used to record the point where the foreign object collection equipment is placed on the sea surface during foreign object salvage as the equipment salvage point, and to establish a salvage cylinder in the spatial coordinate system based on the equipment salvage point and underwater data, wherein the underwater data includes the distance from the bottom of the water to the equipment salvage point and the flow rate of the underwater water flow; in the specific implementation process, the foreign objects collected by the foreign object collection equipment may be plastic garbage, dead fish, floating objects and other foreign objects; when there are multiple equipment salvage points in the specific implementation, each equipment salvage point can be subsequently analyzed to ensure that each salvage cylinder can fit the underwater data of each equipment salvage point;

[0051] The salvage analysis module includes a salvage point analysis unit, which is configured with a salvage point analysis strategy. The salvage point analysis strategy includes: establishing a plane rectangular coordinate system, recorded as a flow velocity analysis coordinate system, wherein the unit of the X-axis of the flow velocity analysis coordinate system is the flow velocity, and the unit of the Y-axis is meter; recording the distance from the bottom of the water to the equipment salvage point in the underwater data as L, and placing a flow velocity detector vertically downward from the equipment salvage point, wherein the flow velocity detector is used to detect the flow velocity of the water flow directly below the equipment salvage point;

[0052] Based on the velocity detection results of the velocity detector and the distance between the velocity detector and the bottom of the water directly below the equipment salvage point, a scatter plot is drawn in the velocity analysis coordinate system, and all the points obtained are recorded as drop points DL from top to bottom. 1 To drop point DL c ; In the specific implementation process, for example, during a data analysis, the scatter plot in the velocity analysis coordinate system is obtained as follows Figure 3 As shown, the point corresponding to point DL1 is the drop point DL 1 , the point corresponding to point DLc is the drop point DL c ;

[0053] For any drop point DL, the horizontal coordinate of the drop point DL is marked as the drop speed of the drop point DL;

[0054] Establish a plane rectangular coordinate system, recorded as the drop analysis coordinate system, where the unit of the X axis of the drop analysis coordinate system is seconds, and the unit of the Y axis is meters; record the adjacent drop points in all drop points DL as drop analysis groups, and based on the sum of the serial numbers of the drop points DL in the drop analysis group, record all drop analysis groups in order from small to large as analysis groups FX 1 To Analysis Group FX c-1 , where the analysis group FX 1 The drop point DL within is the drop point DL 1 And the drop point DL 2 , Analysis Group FX 2 The drop point DL within is the drop point DL 2 And the drop point DL 3 , and so on;

[0055] In the specific implementation process, for example, in one analysis, the number of drop points DL obtained is 5, that is, c is 5, then the analysis group FX 1 To Analysis Group FX 4 The corresponding drop points DL are: Drop points DL 1 and drop point DL 2 、Drop point DL 2 and drop point DL 3 、Drop point DL 3 and drop point DL 4 And the drop point DL 4 and drop point DL 5 By obtaining the analysis group FX, the two adjacent drop points DL can be analyzed, so that when the drop line is subsequently drawn, it can conform to the actual water flow velocity in the ocean below the equipment salvage point;

[0056] Based on the sequence number of the analysis group FX, the analysis groups are analyzed in turn using the drop analysis method. The drop analysis method is: for any analysis group FX c1 , when c1 is 1, the analysis group FX c1 The starting point is set to the coordinate origin. c1 When not 1, the analysis group FX c1 The starting point is set to the analysis group FX c1-1 The end point of the analysis group FX c1 The time interval between the velocity detection results corresponding to the two drop points DL is recorded as the drop interval time, the sum of the horizontal coordinate of the starting point and the drop interval is recorded as T, and the straight line X=T in the drop analysis coordinate system is recorded as the end vertical line; the analysis group FX c1The drop speed of the drop point DL with the smaller sequence number is recorded as the starting speed, the product of the starting speed and the drop interval time is recorded as P, the sum of the ordinate of the starting point and P is recorded as R, the straight line Y=R in the drop analysis coordinate system is recorded as the ending horizontal line, and the intersection of the ending horizontal line and the ending vertical line is recorded as the analysis group FX c1 The end point of the analysis group FX c1 The line connecting the starting point and the ending point is recorded as the analysis group FX c1 The drop line DZ c1 ;

[0057] In the specific implementation process, for example, in an analysis, the sequence number of the analysis group FX to be analyzed is 3, then the analysis group FX 2 The end point is set to the analysis group FX 3 The starting point of the analysis group FX 2 The coordinates of the end point are (60, 3); get the analysis group FX 3 The time interval between the acquisition of the velocity detection results of the two drop points DL is 10s, then the value of T is 70, and the analysis group FX 3 The drop speed of the smaller drop point DL is 2m / s, so the value of P is 20m, and the value of R is 23m. Therefore, the coordinates of the end point of analysis group FX3 are (70, 23); see Figure 4 As shown, the broken line LL1 is a falling broken line composed of a plurality of falling sub-segments DZ;

[0058] Obtain the drop sub-lines DZ corresponding to all analysis groups FX, and record the broken line formed by all the drop sub-lines DZ as the drop broken line;

[0059] Establish a spatial coordinate system, where the units of the X-axis, Y-axis and Z-axis of the spatial coordinate system are all in m; record the straight line parallel to the Y-axis where the rightmost point of the drop line is located as the horizontal calibration line; place the drop line in the ZX plane of the spatial coordinate system, where the X-axis of the drop line coincides with the Z-axis of the spatial coordinate system and the horizontal calibration line is in the XY plane;

[0060] In the spatial coordinate system: record the highest point of the falling polyline as the horizontal point. When the Z coordinate of the horizontal point is not equal to L, scale the falling polyline along the Z axis so that the Z coordinate of the horizontal point is equal to L. Rotate the falling polyline with the Z axis as the axis, and record the obtained irregular cone as the salvage edge cone. Record the distance between any point on the bottom edge of the salvage edge cone and the coordinate origin as r. The cylinder made with the coordinate origin and (0,0,L) as the bottom center, r as the bottom radius, and L as the height is recorded as the salvage cylinder. In the specific implementation process, please refer to Figure 5As shown, the irregular cone ZZ1 is a salvage edge cone obtained by scaling the falling fold line LL1 as the side LL2 along the Z axis. Figure 6 It is the salvage cylinder ZZ2 corresponding to the irregular cone ZZ1; by obtaining the salvage edge cone and the salvage cylinder, the approximate location of the foreign object can be more accurately selected, which helps to shorten the distance between the subsequently placed sensor and the foreign object, thereby locating the foreign object more accurately.

[0061] The foreign body simulation module is used to build an underwater simulation environment based on a salvage cylinder, and use foreign body collection equipment to simulate in the underwater simulation environment, obtain edge auxiliary points inside the salvage cylinder based on the simulation results, and place sensors in the ocean below the equipment salvage point based on the edge auxiliary points, wherein the sensors are used to detect foreign bodies in the surrounding seawater; in the specific implementation process, the sensors are equipped with edge computing, and the positions of the detected foreign bodies are analyzed and uploaded through edge computing. Edge computing can improve the processing speed and response speed of the sensor when detecting foreign bodies, thereby improving the foreign body detection efficiency and the collection efficiency of the foreign body collection equipment;

[0062] The foreign body simulation module includes a foreign body distribution simulation unit, which is configured with a foreign body distribution simulation strategy. The foreign body distribution simulation strategy includes: building an ocean simulation environment based on the composition of seawater at the equipment salvage point and the flow velocity detection result of the flow velocity detector, and obtaining an area of ​​the size of a salvage cylinder in the ocean simulation environment, which is recorded as a salvage simulation area, wherein the two bottom surfaces of the cylinder corresponding to the salvage simulation area coincide with the surface and bottom surface of the ocean simulation environment respectively;

[0063] The foreign matter collected by the foreign matter collection equipment is recorded as salvaged foreign matter DY 1 To salvage foreign matter DY u , for any salvaged foreign body DY u1 , salvage foreign matter DY u1 It is placed from the midpoint of the surface of the salvage simulation area and based on the salvage foreign body DY u1 The trajectory in the salvage simulation area is drawn in real time on the salvage cylinder in the space coordinate system, and the curve drawn is recorded as the sinking curve XC u1 ; When the sinking curve intersects with the salvage edge cone, the intersection of the sinking curve and the salvage edge cone is recorded as the sinking divergence point and the salvaged foreign body DY u1 It is recorded as offset foreign matter. When the sinking curve does not intersect with the salvage edge, the salvaged foreign matter DY u1 Recorded as a hanging foreign body;

[0064] In the specific implementation process, when the sinking curve intersects with the salvage edge cone, it means that the salvaged foreign body DY may be offset outward from the sinking divergence point. However, because the salvage edge cone is an irregular cone established based on the flow velocity of the water in the ocean, even if the salvaged foreign body DY is outside the salvage edge cone, the distance between the salvaged foreign body DY and the salvage edge cone is still close in a short time. Therefore, in the subsequent analysis process, the sensor installed at the sinking analysis point can meet the position detection of the salvaged foreign body DY. When the salvaged foreign body DY is in the ocean for a long time, other methods can be used to search for the salvaged foreign body DY, such as radar.

[0065] Put the salvaged foreign body DYu1 into the container k times, and after k times of putting it into the container, salvage the foreign body DY u1 If none of them are recorded as offset foreign objects, the foreign objects will be salvaged DY u1 It is recorded as a completely sunken foreign body; when the foreign body is salvaged after k times of placement, DY u1 When there is a foreign object recorded as an offset, use the offset analysis algorithm to obtain the salvaged foreign object DY u1 The coordinates of the corresponding edge auxiliary points, where the offset analysis algorithm is: , where point (x0, y0, z0) is the salvaged foreign body DY u1 The corresponding edge auxiliary point, x i DY for salvaging foreign objects u1 The horizontal coordinate of the corresponding i-th sinking divergence point, x min DY for salvaging foreign objects u1 The minimum value of the horizontal coordinates of all corresponding sinking divergence points, x max DY for salvaging foreign objects u1 The maximum value of the horizontal coordinates of all corresponding sinking divergence points, y i is the ordinate of the i-th sinking divergence point corresponding to the salvaged foreign body DYu1, y min DY for salvaging foreign objects u1 The minimum value of the ordinate of all corresponding divergence points, y max DY for salvaging foreign objects u1 The maximum value of the ordinate of all corresponding sinking divergence points, z i DY for salvaging foreign objects u1 The corresponding Z-axis coordinate of the i-th sinking divergence point, z min DY for salvaging foreign objects u1 The minimum value of the Z-axis coordinates of all corresponding sinking divergence points, z max DY for salvaging foreign objects u1 The maximum value of the Z-axis coordinates of all corresponding sinking divergence points;

[0066] In the specific implementation process, the value of k can be set according to the actual number of times the salvaged foreign body DY can be analyzed. For example, in one data processing, the coordinates of all sinking analysis points corresponding to the salvaged foreign body DY are obtained as follows: (3, 5, 4), (2, 5, 4), (4, 4, 4) (3, 4, 5) and (4, 4, 5). Then, by calculation, the edge auxiliary point corresponding to the salvaged foreign body DY is (3.3, 4.3, 4.3).

[0067] When salvaging foreign matter DY u1 When the number of times the edge auxiliary point is recorded as an offset foreign body is greater than or equal to k / 2, the edge auxiliary point is recorded as a hard edge point. u1 When the number of times the offset foreign body is recorded is less than k / 2, the edge auxiliary point is recorded as a gentle edge point; the salvaged foreign body DY u1 The number of times recorded as offset foreign matter divided by k is recorded as the edge ratio;

[0068] In specific implementation, for example, in a data analysis, the value of k is set to 10, and the number of times the salvaged foreign body DY is recorded as the offset foreign body is 5, then through analysis, it can be obtained that the edge auxiliary point is recorded as a hard auxiliary point;

[0069] The number of sensors that can be placed is recorded as g, all salvaged foreign bodies DY are analyzed and all hard edge points and soft edge points are obtained. When the number of hard edge points is equal to g, all hard edge points are recorded as sensor installation points. When the number of hard edge points is greater than g, g hard edge points with larger edge ratios among all hard edge points are recorded as sensor installation points. When the number of hard edge points is less than g, the value of g minus the number of hard edge points is recorded as g1, and all hard edge points and g1 soft edge points with larger edge ratios are recorded as sensor installation points. In the specific implementation process, for example, in actual application, the number of sensors that can be placed is 4, the number of hard edge points is 3, and the number of soft edge points is 4. Then, through analysis, it can be obtained that g1 is 1, and all hard edge points and 1 soft edge point with a larger edge ratio among the soft edge points are recorded as the sensor installation point.

[0070] The midpoint of the surface of the salvage simulation area is aligned with the equipment salvage point, and sensors are installed at corresponding positions of all sensor installation points in the ocean below the equipment salvage point.

[0071] The foreign body grabbing module is used to place the foreign body collecting equipment at the equipment salvage point and obtain the position data of the foreign body collecting equipment in real time based on the sensor when the foreign body collecting equipment is used to collect foreign bodies, and simulate the trajectory of the foreign body collecting equipment based on the obtained data;

[0072] The foreign body grasping module includes a grasping trajectory simulation unit, which is configured with a grasping trajectory simulation strategy. The grasping trajectory simulation strategy includes: when collecting foreign bodies, for any sensor, based on the location of the foreign body obtained by the sensor, a mark is made in the spatial coordinate system, and when the marks of any two sensors coincide, the coincident point is recorded as the location of the foreign body;

[0073] In the spatial coordinate system, the point (0, 0, L) is recorded as the grabbing starting point of the foreign object collection equipment, and the point where the foreign object is located is recorded as the grabbing end point of the foreign object collection equipment. The trajectory of the foreign object collection equipment is simulated based on the grabbing starting point and the grabbing end point. In the specific implementation process, when performing trajectory simulation, the shortest path method can be used or the trajectory of the foreign object collection equipment can be simulated based on the actual situation in the ocean.

[0074] Example 2, second aspect, please refer to Figure 2 As shown, the present application also provides a foreign body collection equipment positioning trajectory simulation method based on edge computing, comprising the following steps:

[0075] Step S1, recording the point on the sea surface where the foreign body collection equipment is placed during foreign body salvage as the equipment salvage point, and establishing a salvage cylinder in the spatial coordinate system based on the equipment salvage point and underwater data, wherein the underwater data includes the distance from the bottom of the water to the equipment salvage point and the flow rate of the underwater water flow; Step S1 includes the following sub-steps:

[0076] Step S101, establish a plane rectangular coordinate system, recorded as a flow velocity analysis coordinate system, wherein the unit of the X-axis of the flow velocity analysis coordinate system is flow velocity, and the unit of the Y-axis is meter; record the distance from the water bottom to the equipment salvage point in the underwater data as L, and place a flow velocity detector vertically downward from the equipment salvage point, wherein the flow velocity detector is used to detect the flow velocity of the water flow directly below the equipment salvage point;

[0077] Step S102: based on the velocity detection result of the velocity detector and the distance between the velocity detector and the bottom of the water directly below the equipment salvage point, a scatter plot is drawn in the velocity analysis coordinate system, and all the points obtained are recorded as drop points DL from top to bottom. 1 To drop point DL c ;

[0078] Step S103, for any drop point DL, mark the horizontal coordinate of the drop point DL as the drop speed of the drop point DL;

[0079] Step S104, establish a plane rectangular coordinate system, recorded as the drop analysis coordinate system, wherein the unit of the X axis of the drop analysis coordinate system is seconds, and the unit of the Y axis is meters; record the adjacent drop points in all the drop points DL as a drop analysis group, and based on the sum of the serial numbers of the drop points DL in the drop analysis group, record all the drop analysis groups in order from small to large as analysis groups FX1 To Analysis Group FX c-1 , where the analysis group FX 1 The drop point DL within is the drop point DL 1 And the drop point DL 2 , Analysis Group FX 2 The drop point DL within is the drop point DL 2 And the drop point DL 3 , and so on;

[0080] Step S105: Based on the sequence number of the analysis group FX, the analysis groups are analyzed in sequence using a drop analysis method. The drop analysis method is: for any analysis group FX c1 , when c1 is 1, the analysis group FX c1 The starting point is set to the coordinate origin. c1 When not 1, the analysis group FX c1 The starting point is set to the analysis group FX c1-1 The end point of the analysis group FX c1 The time interval between the velocity detection results corresponding to the two drop points DL is recorded as the drop interval time, the sum of the horizontal coordinate of the starting point and the drop interval is recorded as T, and the straight line X=T in the drop analysis coordinate system is recorded as the end vertical line; the analysis group FX c1 The drop speed of the drop point DL with the smaller sequence number is recorded as the starting speed, the product of the starting speed and the drop interval time is recorded as P, the sum of the ordinate of the starting point and P is recorded as R, the straight line Y=R in the drop analysis coordinate system is recorded as the ending horizontal line, and the intersection of the ending horizontal line and the ending vertical line is recorded as the analysis group FX c1 The end point of the analysis group FX c1 The line connecting the starting point and the ending point is recorded as the analysis group FX c1 The drop line DZ c1 ;

[0081] Step S106, obtaining the drop sub-lines DZ corresponding to all analysis groups FX, and recording the broken line formed by all the drop sub-lines DZ as the drop broken line;

[0082] Step S107, establish a spatial coordinate system, wherein the units of the X-axis, Y-axis and Z-axis of the spatial coordinate system are all in m; record the straight line parallel to the Y-axis where the rightmost point of the drop line is located as the horizontal calibration line; place the drop line in the ZX plane of the spatial coordinate system, wherein the X-axis of the drop line coincides with the Z-axis of the spatial coordinate system and the horizontal calibration line is in the XY plane;

[0083] Step S108, in the spatial coordinate system: record the highest point of the falling broken line as the horizontal point. When the Z coordinate of the horizontal point is not equal to L, scale the falling broken line along the Z axis in proportion so that the Z coordinate of the horizontal point is equal to L. Rotate the falling broken line with the Z axis as the axis, and record the obtained irregular cone as the salvage edge cone. Record the distance between any point on the bottom edge of the salvage edge cone and the coordinate origin as r. Record the cylinder made with the coordinate origin and (0,0,L) as the bottom center, r as the bottom radius, and L as the height as the salvage cylinder.

[0084] Step S2, building an underwater simulation environment based on the salvage cylinder, and using foreign body collection equipment to perform simulation in the underwater simulation environment, obtaining edge auxiliary points inside the salvage cylinder based on the simulation results, and placing sensors in the ocean below the equipment salvage point based on the edge auxiliary points, wherein the sensors are used to detect foreign bodies in the surrounding seawater; Step S2 includes the following sub-steps:

[0085] Step S201, building an ocean simulation environment based on the composition of seawater at the equipment salvage point and the flow velocity detection result of the flow velocity detector, and obtaining an area of ​​the size of a salvage cylinder in the ocean simulation environment, recorded as a salvage simulation area, wherein two bottom surfaces of the cylinder corresponding to the salvage simulation area coincide with the surface and bottom surface of the ocean simulation environment respectively;

[0086] Step S202: The foreign matter collected by the foreign matter collecting equipment is recorded as salvaged foreign matter DY 1 To salvage foreign matter DY u , for any salvaged foreign body DY u1 , salvage foreign matter DY u1 It is placed from the midpoint of the surface of the salvage simulation area and based on the salvage foreign body DY u1 The trajectory in the salvage simulation area is drawn in real time on the salvage cylinder in the space coordinate system, and the curve drawn is recorded as the sinking curve XC u1 ; When the sinking curve intersects with the salvage edge cone, the intersection of the sinking curve and the salvage edge cone is recorded as the sinking divergence point and the salvaged foreign body DY u1 It is recorded as offset foreign matter. When the sinking curve does not intersect with the salvage edge, the salvaged foreign matter DY u1 Recorded as a hanging foreign body;

[0087] Step S203: DY the salvaged foreign matter u1 Put it in k times, and salvage the foreign matter after k times. u1 If none of them are recorded as offset foreign objects, the foreign objects will be salvaged DY u1 It is recorded as a completely sunken foreign body; when the foreign body is salvaged after k times of placement, DY u1When there is a foreign object recorded as an offset, the offset analysis algorithm is used to obtain the coordinates of the edge auxiliary point corresponding to the salvaged foreign object DYu1, where the offset analysis algorithm is: , where point (x0, y0, z0) is the edge auxiliary point corresponding to the salvaged foreign body DYu1, x i DY for salvaging foreign objects u1 The horizontal coordinate of the corresponding i-th sinking divergence point, x min DY for salvaging foreign objects u1 The minimum value of the horizontal coordinates of all corresponding sinking divergence points, x max is the maximum value of the horizontal coordinates of all the divergence points corresponding to the salvaged foreign body DYu1, y i DY for salvaging foreign objects u1 The corresponding ordinate of the i-th sinking divergence point, y min DY for salvaging foreign objects u1 The minimum value of the ordinate of all corresponding divergence points, y max DY for salvaging foreign objects u1 The maximum value of the ordinate of all corresponding sinking divergence points, z i DY for salvaging foreign objects u1 The corresponding Z-axis coordinate of the i-th sinking divergence point, z min DY for salvaging foreign objects u1 The minimum value of the Z-axis coordinates of all corresponding sinking divergence points, z max DY for salvaging foreign objects u1 The maximum value of the Z-axis coordinates of all corresponding sinking divergence points;

[0088] Step S204, when the foreign body DY is salvaged u1 When the number of times the edge auxiliary point is recorded as an offset foreign body is greater than or equal to k / 2, the edge auxiliary point is recorded as a hard edge point. u1 When the number of times the offset foreign body is recorded is less than k / 2, the edge auxiliary point is recorded as a gentle edge point; the salvaged foreign body DY u1 The number of times recorded as offset foreign matter divided by k is recorded as the edge ratio;

[0089] Step S205, record the number of sensors that can be placed as g, analyze all salvaged foreign objects DY and obtain all hard edge points and soft edge points, when the number of hard edge points is equal to g, record all hard edge points as sensor installation points, when the number of hard edge points is greater than g, record g hard edge points with larger edge ratios among all hard edge points as sensor installation points, when the number of hard edge points is less than g, record the value of g minus the number of hard edge points as g1, and record all hard edge points and g1 soft edge points with larger edge ratios as sensor installation points.

[0090] Step S206, the midpoint of the surface of the salvage simulation area is made to correspond to the equipment salvage point, and sensors are installed at corresponding positions of all sensor installation points in the ocean below the equipment salvage point.

[0091] Step S3, when using foreign matter collection equipment to collect foreign matter, the foreign matter collection equipment is placed at the equipment salvage point and the position data of the foreign matter collection equipment is acquired in real time based on the sensor, and the trajectory of the foreign matter collection equipment is simulated based on the acquired data; Step S3 includes:

[0092] Step S301, when collecting foreign objects, for any sensor, based on the location of the foreign object obtained by the sensor, mark the location in the spatial coordinate system. When the marks of any two sensors coincide, the coincident point is recorded as the location of the foreign object.

[0093] Step S302, in the spatial coordinate system, record the point (0, 0, L) as the grabbing starting point of the foreign object collection equipment, record the point where the foreign object is located as the grabbing end point of the foreign object collection equipment, and simulate the trajectory of the foreign object collection equipment based on the grabbing starting point and the grabbing end point.

[0094] Example 3, please refer to Figure 7 As shown, Figure 7 The structural schematic diagram of an electronic device is illustrated, and the electronic device may include: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus. The memory stores computer-readable instructions, and the processor can call the instructions in the memory. When the computer-readable instructions are executed by the processor, the steps in the method for simulating the positioning trajectory of foreign object collection equipment based on edge computing are executed to achieve the following functions: first, the point where the foreign object collection equipment is placed on the sea surface during foreign object salvage is recorded as the equipment salvage point, and a salvage cylinder is established in the spatial coordinate system based on the equipment salvage point and underwater data, and then an underwater simulation environment is built based on the salvage cylinder, and the foreign object collection equipment is used to simulate in the underwater simulation environment, and the edge auxiliary points inside the salvage cylinder are obtained based on the simulation results, and sensors are placed in the ocean below the equipment salvage point based on the edge auxiliary points; finally, the foreign object collection equipment is placed at the equipment salvage point and the position data of the foreign object collection equipment is obtained in real time based on the sensor, and the trajectory of the foreign object collection equipment is simulated based on the obtained data.

[0095] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0096] Embodiment 4, the present application also provides a computer-readable storage medium, the present application provides a storage medium, on which a computer program is stored. When the computer program is executed by the processor, the steps in the foreign object collection equipment positioning trajectory simulation method based on edge computing are executed to achieve the following functions: first, the point where the foreign object collection equipment is placed on the sea surface during foreign object salvage is recorded as the equipment salvage point, and a salvage cylinder is established in the spatial coordinate system based on the equipment salvage point and underwater data. Then, an underwater simulation environment is built based on the salvage cylinder, and the foreign object collection equipment is used to perform simulation in the underwater simulation environment. Based on the simulation results, the edge auxiliary points inside the salvage cylinder are obtained, and based on the edge auxiliary points, sensors are placed in the ocean below the equipment salvage point; finally, the foreign object collection equipment is placed at the equipment salvage point and the position data of the foreign object collection equipment is obtained in real time based on the sensor, and the trajectory of the foreign object collection equipment is simulated based on the obtained data.

[0097] Through the description of the above implementation methods, the embodiments of the present invention can be provided as methods, systems or computer program products. Based on such an understanding, the above technical solutions can be essentially or partly contributed to the prior art in the form of software products, which can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and include several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0098] In the embodiments provided in the present application, it should be understood that the disclosed system or method can be implemented in other ways. The embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of systems, modules and units can be electrical, mechanical or other forms.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for simulating the positioning trajectory of foreign object collection equipment based on edge computing, characterized in that: The steps include: The point where the foreign body collecting equipment is placed on the sea surface during foreign body salvage is recorded as the equipment salvage point, and a salvage cylinder is established in the spatial coordinate system based on the equipment salvage point and underwater data, wherein the underwater data includes the distance from the water bottom to the equipment salvage point and the flow rate of the underwater water flow; An underwater simulation environment is built based on the salvage cylinder, and a foreign body collection device is used to perform simulation in the underwater simulation environment, edge auxiliary points inside the salvage cylinder are obtained based on the simulation results, and sensors are placed in the ocean below the equipment salvage point based on the edge auxiliary points, wherein the sensors are used to detect foreign bodies in the surrounding seawater; When using foreign matter collection equipment to collect foreign matter, the foreign matter collection equipment is placed at the equipment salvage point and the position data of the foreign matter collection equipment is acquired in real time based on the sensor, and the trajectory of the foreign matter collection equipment is simulated based on the acquired data; The establishment of a salvage cylinder in a spatial coordinate system based on equipment salvage points and underwater data includes: Establish a plane rectangular coordinate system, recorded as the velocity analysis coordinate system, where the unit of the X-axis of the velocity analysis coordinate system is velocity, and the unit of the Y-axis is meter; record the distance from the water bottom to the equipment salvage point in the underwater data as L, and place a velocity detector vertically downward from the equipment salvage point, where the velocity detector is used to detect the velocity of the water flow directly below the equipment salvage point; Based on the velocity detection results of the velocity detector and the distance between the velocity detector and the bottom of the water directly below the equipment salvage point, a scatter plot is drawn in the velocity analysis coordinate system, and all the points obtained are recorded from top to bottom as drop points DL1 to DL c ; For any drop point DL, the horizontal coordinate of the drop point DL is marked as the drop speed of the drop point DL; The establishment of a salvage cylinder in a spatial coordinate system based on the equipment salvage point and underwater data also includes: Establish a plane rectangular coordinate system, recorded as the drop analysis coordinate system, where the unit of the X axis of the drop analysis coordinate system is seconds, and the unit of the Y axis is meters; record the adjacent drop points in all drop points DL as drop analysis groups, and based on the sum of the serial numbers of the drop points DL in the drop analysis group, record all drop analysis groups in order from small to large as analysis group FX1 to analysis group FX c-1 , wherein the drop points DL in the analysis group FX1 are drop points DL1 and DL2, the drop points DL in the analysis group FX2 are drop points DL2 and DL3, and so on; The establishment of a salvage cylinder in a spatial coordinate system based on the equipment salvage point and underwater data also includes: Based on the sequence number of the analysis group FX, the analysis groups are analyzed in turn using the drop analysis method. The drop analysis method is: for any analysis group FX c1 , when c1 is 1, the analysis group FX c1 The starting point is set to the coordinate origin. c1 When not 1, the analysis group FX c1 The starting point is set to the analysis group FX c1-1 The end point of The analysis group FX c1 The time interval between the acquisition of the velocity detection results corresponding to the two drop points DL is recorded as the drop interval time, the sum of the horizontal coordinate of the starting point and the drop interval is recorded as T, and the straight line X=T in the drop analysis coordinate system is recorded as the end vertical line; The analysis group FX c1 The drop speed of the drop point DL with the smaller sequence number is recorded as the starting speed, the product of the starting speed and the drop interval time is recorded as P, the sum of the ordinate of the starting point and P is recorded as R, the straight line Y=R in the drop analysis coordinate system is recorded as the ending horizontal line, and the intersection of the ending horizontal line and the ending vertical line is recorded as the analysis group FX c1 The end point of the analysis group FX c1 The line connecting the starting point and the ending point is recorded as the analysis group FX c1 The drop line DZ c1 ; Obtain the drop sub-lines DZ corresponding to all analysis groups FX, and record the broken line formed by all the drop sub-lines DZ as the drop broken line; The establishment of a salvage cylinder in a spatial coordinate system based on the equipment salvage point and underwater data also includes: Establish a spatial coordinate system, where the units of the X-axis, Y-axis and Z-axis of the spatial coordinate system are all in m; record the straight line parallel to the Y-axis where the rightmost point of the drop line is located as the horizontal calibration line; place the drop line in the ZX plane of the spatial coordinate system, where the X-axis of the drop line coincides with the Z-axis of the spatial coordinate system and the horizontal calibration line is in the XY plane; In the spatial coordinate system: the highest point of the falling broken line is recorded as the horizontal point. When the Z coordinate of the horizontal point is not equal to L, the falling broken line is scaled proportionally along the Z axis so that the Z coordinate of the horizontal point is equal to L. With the Z axis as the axis, the falling broken line is rotated, and the obtained irregular cone is recorded as the salvage edge cone. The distance between any point on the base of the salvage edge cone and the coordinate origin is recorded as r. The cylinder made with the coordinate origin and (0,0,L) as the base center, r as the base radius, and L as the height is recorded as the salvage cylinder.

2. The method for simulating the positioning trajectory of foreign object collection equipment based on edge computing according to claim 1 is characterized in that: An underwater simulation environment is built based on the salvage cylinder, and foreign body collection equipment is used to simulate in the underwater simulation environment. The edge auxiliary points inside the salvage cylinder are obtained based on the simulation results, including: Based on the composition of seawater at the equipment salvage point and the flow velocity detection result of the flow velocity detector, an ocean simulation environment is built, and an area of ​​the size of a salvage cylinder is obtained in the ocean simulation environment, which is recorded as the salvage simulation area, wherein the two bottom surfaces of the cylinder corresponding to the salvage simulation area coincide with the surface and bottom surface of the ocean simulation environment respectively; The foreign matter collected by the foreign matter collection equipment is recorded as salvaged foreign matter DY1 to salvaged foreign matter DY u , for any salvaged foreign body DY u1 , salvage foreign matter DY u1 It is placed from the midpoint of the surface of the salvage simulation area and based on the salvage foreign body DY u1 The trajectory in the salvage simulation area is drawn in real time on the salvage cylinder in the space coordinate system, and the curve drawn is recorded as the sinking curve XC u1 ; When the sinking curve intersects with the salvage edge cone, the intersection of the sinking curve and the salvage edge cone is recorded as the sinking divergence point and the salvaged foreign body DY u1 It is recorded as offset foreign matter. When the sinking curve does not intersect with the salvage edge, the salvaged foreign matter DY u1 Recorded as a sinking foreign body.

3. The method for simulating the positioning trajectory of foreign object collection equipment based on edge computing according to claim 2 is characterized in that: An underwater simulation environment is built based on the salvage cylinder, and foreign body collection equipment is used to simulate in the underwater simulation environment. The edge auxiliary points inside the salvage cylinder are obtained based on the simulation results, and the following are also included: DY for salvaging foreign objects u1 Put it in k times, and salvage the foreign matter after k times. u1 If none of them are recorded as offset foreign objects, the foreign objects will be salvaged DY u1 It is recorded as a completely sunken foreign body; when the foreign body is salvaged after k times of placement, DY u1 When there is a foreign object recorded as an offset, use the offset analysis algorithm to obtain the salvaged foreign object DY u1 The coordinates of the corresponding edge auxiliary points, where the offset analysis algorithm is: , where point (x0, y0, z0) is the salvaged foreign body DY u1 The corresponding edge auxiliary point, x i To salvage foreign objects DY u1 The horizontal coordinate of the corresponding i-th sinking divergence point, x min To salvage foreign objects DY u1 The minimum value of the horizontal coordinates of all corresponding sinking divergence points, x max To salvage foreign objects DY u1 The maximum value of the horizontal coordinates of all corresponding sinking divergence points, y i To salvage foreign objects DY u1 The corresponding ordinate of the i-th sinking divergence point, y min To salvage foreign objects DY u1 The minimum value of the ordinate of all corresponding divergence points, y max To salvage foreign objects DY u1 The maximum value of the ordinate of all corresponding sinking divergence points, z i To salvage foreign objects DY u1 The corresponding Z-axis coordinate of the i-th sinking divergence point, z min To salvage foreign objects DY u1 The minimum value of the Z-axis coordinates of all corresponding sinking divergence points, z max To salvage foreign objects DY u1 The maximum value of the Z-axis coordinates of all corresponding sinking divergence points.

4. The method for simulating the positioning trajectory of foreign object collection equipment based on edge computing according to claim 3 is characterized in that: The placement of sensors in the ocean below the equipment recovery point based on edge auxiliary points includes: When salvaging foreign matter DY u1 When the number of times the edge auxiliary point is recorded as an offset foreign body is greater than or equal to k / 2, the edge auxiliary point is recorded as a hard edge point. u1 When the number of times the offset foreign body is recorded is less than k / 2, the edge auxiliary point is recorded as a gentle edge point; the salvaged foreign body DY u1 The number of times recorded as offset foreign matter divided by k is recorded as the edge ratio; The number of sensors that can be placed is recorded as g, and all salvaged foreign bodies DY are analyzed to obtain all hard edge points and soft edge points. When the number of hard edge points is equal to g, all hard edge points are recorded as sensor installation points. When the number of hard edge points is greater than g, g hard edge points with a larger edge ratio among all hard edge points are recorded as sensor installation points. When the number of hard edge points is less than g, the value of g minus the number of hard edge points is recorded as g1, and all hard edge points and g1 soft edge points with a larger edge ratio are recorded as sensor installation points. The midpoint of the surface of the salvage simulation area is aligned with the equipment salvage point, and sensors are installed at corresponding positions of all sensor installation points in the ocean below the equipment salvage point.

5. The method for simulating the positioning trajectory of foreign object collection equipment based on edge computing according to claim 4 is characterized in that: A foreign body collection device is placed at the equipment salvage point and the position data of the foreign body collection device is acquired in real time based on the sensor. The trajectory of the foreign body collection device is simulated based on the acquired data, including: When collecting foreign objects, for any sensor, the location of the foreign object obtained by the sensor is marked in the spatial coordinate system. When the marks of any two sensors coincide, the coincident point is recorded as the location of the foreign object. In the spatial coordinate system, the point (0, 0, L) is recorded as the grabbing starting point of the foreign object collection equipment, and the point where the foreign object is located is recorded as the grabbing end point of the foreign object collection equipment. The trajectory of the foreign object collection equipment is simulated based on the grabbing starting point and the grabbing end point.

6. A foreign body collection equipment positioning trajectory simulation system based on edge computing, used to implement the foreign body collection equipment positioning trajectory simulation method based on edge computing according to any one of claims 1 to 5, characterized in that: It includes salvage analysis module, foreign body simulation module and foreign body grabbing module; The salvage analysis module is used to record the point where the foreign body collection equipment is placed on the sea surface during foreign body salvage as the equipment salvage point, and to establish a salvage cylinder in the spatial coordinate system based on the equipment salvage point and underwater data, wherein the underwater data includes the distance from the bottom of the water to the equipment salvage point and the flow rate of the underwater water flow; The foreign body simulation module is used to build an underwater simulation environment based on a salvage cylinder, and use foreign body collection equipment to simulate in the underwater simulation environment, obtain edge auxiliary points inside the salvage cylinder based on the simulation results, and place sensors in the ocean below the equipment salvage point based on the edge auxiliary points, wherein the sensors are used to detect foreign bodies in the surrounding seawater; The foreign object grabbing module is used when foreign object collection equipment is used to collect foreign objects. The foreign object collection equipment is placed at the equipment salvage point and the position data of the foreign object collection equipment is acquired in real time based on the sensor, and the trajectory of the foreign object collection equipment is simulated based on the acquired data.

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