Cooperative control method and system and readable storage medium

Abstract

The invention discloses a cooperative control method and system and a readable storage medium, and the method can receive the data of an unmanned ship and an underwater vehicle through a transmission layer, sets a navigation route for the unmanned ship through a supporting layer according to the received data, and controls the unmanned ship to execute a corresponding lowering operation on the underwater vehicle. According to the cooperative control method provided by the invention, various data of the unmanned surface vehicles and the underwater vehicles can be acquired, so that the data between the underwater vehicles and the unmanned surface vehicles can be shared, in addition, the control end can control the unmanned surface vehicles and the underwater vehicles at the same time, data exchange and information sharing between the equipment end and the control end can be realized, and the control efficiency is improved. The task execution environment and condition can be adjusted in a short time, the adaptability and flexibility to the complex environment are improved, the repeated investment of manpower and equipment is reduced, and the cost and resources are saved.

Description

Technical Field

[0001] The present disclosure generally relates to the field of automated control, and in particular to a collaborative control method, system, and readable storage medium. Background Art

[0002] An unmanned underwater vehicle (USV) is a ship that can navigate on the water surface in an autonomous manner and can also carry out designated mission operations by carrying an underwater vehicle (UUV). It has the advantages of high safety performance, strong survivability, and fast response speed.

[0003] Traditional ocean observation and execution missions usually require the use of a variety of different types of unmanned boats and submersibles. The lack of effective coordinated control and information sharing between these devices leads to low operational efficiency and inability to fully utilize the advantages of each device to meet the diverse needs of ocean observation and execution missions and achieve the integrated operational goal of "one system controlling the overall situation." Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a collaborative control method for performing collaborative control and information sharing.

[0005] A first aspect provides a collaborative control method, the method comprising:

[0006] Receiving first position data transmitted by the unmanned boat through the transmission layer, where the first position data is data acquired by the unmanned boat through the perception layer;

[0007] Determine a first navigation route of the unmanned boat based on the set first navigation mission and the first position data through a data processing technology provided by a support layer;

[0008] If it is determined that the unmanned boat has reached the first target position specified by the first navigation route, the target lowering depth of the submersible is determined by the data processing technology provided by the support layer based on the set first navigation mission and the second position data of the submersible, wherein the second position data is data obtained by the submersible through the perception layer;

[0009] Controlling the unmanned boat to lower the submersible through the application layer;

[0010] If it is determined that the submersible has been lowered to the target lowering depth, a work instruction is sent to the unmanned boat through the application layer, and the work instruction is used to instruct the submersible to perform corresponding underwater operations.

[0011] The collaborative control method provided by the present application takes into account the lack of effective collaborative control and information sharing between unmanned boats and submersibles during existing ocean observations and mission execution, resulting in low operating efficiency. Therefore, the present application provides a new collaborative control method, which can receive data from unmanned boats and submersibles through the transmission layer, and set a navigation route for the unmanned boat through the support layer according to the received data and control the unmanned boat to perform corresponding operations on the submersible. The collaborative control method provided by the present application can obtain various data from unmanned boats and submersibles, so that the data between the submersible and the unmanned boat can be shared. In addition, the control end can control the unmanned boat and the submersible at the same time, so that data exchange and information sharing between the device end and the control end can be realized, which is conducive to adjusting the execution environment and conditions of the task in a short time, improving the adaptability and flexibility to complex environments, reducing the repeated investment of manpower and equipment, and saving costs and resources.

[0012] A second aspect provides a collaborative control system, which is used to execute the method of the first aspect.

[0013] A third aspect provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the method of the first aspect when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0015] Figure 1 An application scenario diagram of a collaborative control method provided in this application;

[0016] Figure 2 A flowchart of the steps of a collaborative control method provided in this application;

[0017] Figure 3 An architectural diagram of a collaborative control system provided for this application;

[0018] Figure 4 A flowchart of the steps of a collaborative control method provided in this application;

[0019] Figure 5 A flowchart of the steps of a collaborative control method provided in this application;

[0020] Figure 6 A flowchart of the steps of a collaborative control method provided in this application;

[0021] Figure 7 A flowchart of the steps of a collaborative control method provided in this application;

[0022] Figure 8 A flowchart of the steps of a collaborative control method provided in this application;

[0023] Fig. 9 A flowchart of the steps of a collaborative control method provided in this application. DETAILED DESCRIPTION

[0024] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] Please refer to Figure 1 , Figure 1 This is an application scenario diagram of a collaborative control method provided by the present application, which includes a control terminal 100, an unmanned boat 200 and a submersible 300. The control terminal 100, the unmanned boat 200 and the submersible 300 can communicate with each other through a wireless network. The control terminal 100 sends various instructions to the unmanned boat 200 and the submersible 300 through the network to instruct the unmanned boat 200 and the submersible 300 to perform corresponding operations. The control terminal 100 is, for example, a server, a host computer and other devices.

[0027] Combine the following Figure 2 The collaborative control method provided in this application is exemplarily described. Figure 2 A flowchart of the steps of a collaborative control method provided in this application, in which the method is applied to Figure 1 The method is described by taking the control end in an example, and the method includes the following steps:

[0028] Step S20, receiving first position data transmitted by the unmanned boat through the transmission layer, where the first position data is data acquired by the unmanned boat through the perception layer;

[0029] Among them, Figure 3As shown, the control end may be provided with a transmission layer, and the transmission layer includes, for example, at least one of 4G / 5G network, ad hoc network, shortwave / ultra-short wave, satellite communication, etc. 4G / 5G network can provide high-speed data transmission and low latency, and is used for data transmission between systems; ad hoc network, as a wireless network, can be quickly deployed to realize data transmission between two devices; shortwave / ultra-short wave and satellite communication can realize long-distance communication. When the unmanned boat and the submersible sail far, shortwave / ultra-short wave and satellite communication can be enabled for data transmission between the two devices and the system. Therefore, the control end can arbitrarily arrange the transmission layer according to the application scenario to facilitate the communication between the control end and the unmanned boat, and the communication between the control end and the submersible.

[0030] Continue as Figure 3 As shown, the control end may also be provided with a perception layer, which may be provided on the unmanned boat and / or the submersible. The unmanned boat and the submersible can obtain their respective data in real time by providing the perception layer. The perception layer includes, for example, sonar, automatic identification system, radar, camera, optoelectronic system and positioning device. The unmanned boat can perform operations such as detecting the distance between the water target and itself, tracking underwater targets, identifying the identities of other ships sailing at sea, locating the target object, detecting targets in the surrounding waters, positioning itself, and taking images of the marine environment through the perception layer.

[0031] The first position data is used to represent the coordinates of the current position of the unmanned boat, which can be acquired by, for example, a positioning device provided on the unmanned boat, and transmitted to the control end through the transmission layer.

[0032] The control end collects data from unmanned boats and submersibles by setting up a perception layer, providing basic data support for the operation handling and data visualization of the integrated collaborative control system. The real-time transmission of data and instructions is achieved by setting up a transmission layer to intervene in different networks.

[0033] Step S30, determining a first navigation route of the unmanned boat based on the set first navigation mission and the first position data through a data processing technology provided by the support layer;

[0034] The first navigation task represents the purpose of the unmanned boat's navigation. The first navigation task is, for example, to sail to position A to detect the surrounding environment, to sail to position B to determine whether there are obstacles on the navigation route, to sail to position C to conduct underwater detection, to sail to position D to lower the submersible to perform underwater operations, etc.

[0035] Based on this, the first navigation mission may carry information such as the target location of the unmanned boat, the navigation route, etc. The first position data is the current location information obtained by the unmanned boat through the perception layer set thereon, and the position information may be expressed in the form of coordinates.

[0036] Continue as Figure 3 As shown, the control end may also be provided with a support layer, and the support layer may include, for example, an intelligent service module, a basic function module, a GIS service module, a data resource module, and the like.

[0037] The intelligent service module may have functions such as intelligent obstacle avoidance, intelligent identification, intelligent positioning and intelligent control. The intelligent service module may be designed through particle swarm algorithm, feedback linearization control strategy, safety improved genetic algorithm, etc., to provide support for application layer equipment control, operation handling and path planning management.

[0038] The basic functional modules may have functions such as log service, unified authentication, unified time, data visualization, system management and message queue, which can provide support for data visualization.

[0039] GIS service modules can include electronic charts, big data trajectory services, map cache services, real-time location services, POI big data retrieval services and layer overlay modules. GIS service modules provide a variety of data visualization support for the application layer. The electronic chart service can digitize the charts and ensure the accuracy and availability of the electronic charts by correcting, classifying, copying attributes and other processing of the data; the big data trajectory service realizes path planning and device-side traffic monitoring by cleaning, formatting, and aggregating the received data; the map cache service improves the map access speed by pre-processing the data into image cache. This process includes steps such as map slicing, image compression and storage optimization; the real-time location service involves receiving and processing data from sonar, radar and other positioning technologies. After processing, these data can provide accurate location information; the POI big data retrieval service processes data by converting addresses into geographic coordinates and index construction through geocoding for fast retrieval. Application personnel can query specific types of POIs and obtain navigation instructions; the layer overlay performs coordinate system conversion and attribute matching on the data of different layers to ensure correct overlay between layers.

[0040] The data resource module includes the functions of data access and data storage, among which data access includes real-time data access and unstructured data access, and data storage includes business library, resource library and dynamic library. The data resource module is used to obtain and store device data transmitted from the perception layer.

[0041] The control end provides powerful data processing, storage and basic capability support by setting up a support layer, providing effective support for the information processing fusion and collaborative operation of unmanned equipment and control terminals.

[0042] Based on the above description of the control end support layer, it can be seen that the support layer can provide a series of services including data processing, data storage, data reception, path planning, positioning, etc.

[0043] When the control end receives the first navigation mission input by the user through the data resource module and obtains the first position data sent by the unmanned boat, the data is first processed by the big data planning service, such as cleaning, formatting, and aggregation; then the big data trajectory service plans the path of the unmanned boat based on the first navigation mission and the first position data according to the reliable geographic location data provided by the electronic nautical chart provided by the support layer, and obtains the first navigation route of the unmanned boat.

[0044] Exemplarily, the control end may convert the target position in the first navigation route into geographic coordinates based on the POI big data retrieval service, and then calculate the navigation distance, navigation speed, etc. of the unmanned boat based on the geographic coordinates and the first position data through the algorithm provided by the intelligent service module of the control end, and then plan a drivable route between the geographic coordinates and the first position data based on the reliable geographic location data provided by the electronic nautical chart as the first navigation route of the unmanned boat.

[0045] In an optional embodiment, if Figure 4 As shown, Figure 4 An optional method embodiment for determining a first navigation route of an unmanned boat provided by an exemplary embodiment of the present application includes the following steps:

[0046] Step S301, analyzing the first navigation mission to obtain the first target position that the unmanned boat needs to reach;

[0047] Among them, the big data trajectory service in the control end support layer can process the data, so after obtaining the first navigation task, the first navigation task can be analyzed to obtain the first target position.

[0048] Step S302, performing coordinate conversion on the first target position to obtain first coordinates according to the POI big data retrieval service provided by the support layer;

[0049] The POI big data retrieval service in the control end support layer can convert the address of the first target location into geographic coordinates to obtain the first coordinates. By doing so, the first target location and the first location data can be processed into the same format, which is convenient for subsequent joint processing.

[0050] Step S303: Based on the first position data and the first coordinate, trajectory planning is performed through the big data trajectory service and the electronic nautical chart provided by the support layer to generate a first navigation route.

[0051] Among them, the big data trajectory service in the control end support layer can perform path planning. Of course, when the big data planning service performs path planning, it is also necessary to use the digital navigation charts provided by the electronic nautical charts in the support layer as data support for corresponding path planning. Since the path planning is for the unmanned boat, the current first position data of the unmanned boat and the first coordinate that the unmanned boat needs to reach are also required.

[0052] The control end provided in this application can provide path planning and other services for the unmanned boat based on the data provided by the unmanned boat according to the functions corresponding to the various layers set thereon, and can perform path planning for the unmanned boat in real time to improve the driving efficiency of the unmanned boat.

[0053] Step S40, if it is determined that the unmanned boat has reached the first target position specified by the first navigation route, the target lowering depth of the submersible is determined by the data processing technology provided by the support layer based on the set first navigation mission and the second position data of the submersible, where the second position data is data obtained by the submersible through the perception layer;

[0054] Among them, if the first navigation task only instructs the unmanned boat to reach the first target position, then when the unmanned boat reaches the first target position, the first navigation task is completed.

[0055] The control end can determine whether the first target position has been reached based on the position information sent by the unmanned boat; the control end can also determine whether the unmanned boat has reached the first target position based on the corresponding feedback information sent by the unmanned boat; the control end can also compare the current position information of the unmanned boat with the coordinates corresponding to the first target position, and determine whether the first target position has been reached based on the comparison results, etc., which are not limited here.

[0056] In an optional embodiment, if Figure 5 As shown, Figure 5 An optional method embodiment of determining whether an unmanned boat has reached a first target position is provided in accordance with an exemplary embodiment of the present application. The method embodiment comprises the following steps:

[0057] Step S401, sending a navigation instruction to the unmanned boat through the application layer, the navigation instruction is used to instruct the unmanned boat to navigate to a first target position;

[0058] The control end may be an application layer set by the control end after determining the first navigation route. The setting of the application layer is described below and will not be repeated here. A corresponding navigation instruction is sent to the unmanned boat, and the navigation instruction carries the first navigation route. When the unmanned boat receives the navigation instruction, it may parse the navigation instruction to obtain the first navigation route, and travel from the position corresponding to the first position data to the first target position based on the first navigation route.

[0059] Step S402: If a feedback signal sent by the unmanned boat based on the navigation instruction is received through the transmission layer, it is determined that the unmanned boat has reached the first target position.

[0060] The control end may determine that the unmanned boat has reached the first target position when receiving a feedback signal sent by the unmanned boat based on the navigation instruction through the transmission layer. By determining whether the unmanned boat has reached the first target position based on the feedback signal, no other calculation process is required, so the result of whether the unmanned boat has reached the first target position can be quickly obtained, which can improve the control efficiency of the unmanned boat.

[0061] The first navigation task in this application includes not only tasks assigned to unmanned boats, but also tasks assigned to submersibles, so the first navigation task includes underwater operation tasks that the submersible needs to perform. Then, the first navigation task can also include the second target location that the submersible needs to reach, as well as specific tasks. The first navigation task, for example, includes: taking images of the surrounding environment of the second target location, detecting target objects, locating target objects, identifying target objects, anchoring markers, and releasing markers.

[0062] Since the submersible is mounted in the cage of the unmanned boat, it is necessary to first lower the submersible underwater and then remove the submersible from the cage, so that the submersible can perform at least one of the underwater operations mentioned above.

[0063] Then we need to determine the depth to which the submersible needs to be lowered underwater in order to accurately control the unmanned boat to perform the lowering operation.

[0064] Next, combine Figure 6 The present application provides a method for lowering a submersible to a target lowering depth, the method comprising the following steps:

[0065] Step S501, analyzing the first navigation mission to obtain a second target position where the submersible needs to perform underwater operations;

[0066] Among them, based on the above description, after analyzing the first navigation mission, not only the first target position that the unmanned boat needs to reach can be obtained, but also the second target position that the submersible needs to reach can be obtained.

[0067] Step S502, performing coordinate conversion on the second target position to obtain second coordinates according to the POI big data retrieval service provided by the support layer;

[0068] Among them, in order to perform corresponding calculations, processing and other operations on the first target position and the second position data obtained by the submersible, the formats of the two need to be processed into the same format first, so the control end converts the coordinates of the second target position to obtain the second coordinates through the POI big data retrieval service provided by the support layer. The second position data is the data obtained by the submersible through the perception layer. The perception layer corresponding to the control end can not only be set on the unmanned boat to obtain the data of the unmanned boat, but also on the submersible to obtain the data of the submersible, so that the control of the two device ends can be realized.

[0069] Step S503, calculating the difference between the second position data and the second coordinate by an algorithm provided by the support layer to obtain a target lowering depth.

[0070] The second position data is the current position data of the submersible, so the corresponding target lowering depth can be obtained by subtracting the two according to the algorithm provided by the support layer. Specifically, the vertical coordinates of the two can be subtracted.

[0071] In another optional embodiment, Figure 7 As shown, Figure 7 An optional method embodiment of a control terminal providing obstacle avoidance service for an unmanned boat provided in the present application includes the following steps:

[0072] Step S601, in the process of the unmanned boat sailing according to the first navigation route, first data transmitted by the unmanned boat through the transmission layer is received in real time, where the first data is data collected by the unmanned boat through the perception layer;

[0073] Among them, the first data represents the real-time position data of the unmanned boat, that is, the first data not only includes one position data, but may include multiple position data. The control end receives the first data transmitted by the unmanned boat through the transmission layer in real time, and makes real-time judgments to adjust the execution environment and conditions of the task in a short time, thereby improving the adaptability and flexibility to complex environments.

[0074] Similarly, the first data is still the data obtained by the unmanned boat through the perception layer.

[0075] Step S602, processing the first data by using an algorithm provided by the support layer, and determining whether there is an obstacle on the first navigation route according to the processing result;

[0076] The support layer of the control end provides a variety of algorithms, so the control end can process the first data through the algorithm provided by the support layer, and determine whether there is an obstacle on the first navigation route according to the processing result. Exemplarily, the first data is sonar data, and the support layer of the control end can compare the sonar data with the obstacle sonar data through a comparison algorithm. If the comparison is successful, it is determined that there is an obstacle on the first navigation route, and further determines that there is an obstacle in front of the unmanned boat.

[0077] Step S603: if it is determined that there is an obstacle, receiving fifth position data transmitted by the unmanned boat through the transmission layer;

[0078] Among them, since the unmanned boat is controlled by the first navigation route provided by the control end, if the unmanned boat is to be safely driven to the first target position, it is necessary to plan a new navigation route for the unmanned boat in a timely manner when it is determined that there are obstacles on the first navigation route. When planning a new navigation route, it is necessary to obtain the current position data of the unmanned boat (that is, the fifth position data). Similarly, the fifth position data is still the data collected by the unmanned boat through the perception layer and transmitted to the control end through the transmission layer.

[0079] Step S604, generating a third navigation route by performing trajectory planning based on the fifth position data and the first coordinate through the big data trajectory service provided by the support layer;

[0080] Among them, since the first target position that the unmanned boat needs to reach remains unchanged regardless of how the navigation route is adjusted, it is necessary to perform trajectory planning based on the current fifth position data of the unmanned boat and the first coordinate corresponding to the first target position through the big data trajectory service provided by the support layer to generate a third navigation route, so as to continue to travel towards the first target position based on the third navigation route.

[0081] Step S605: transmitting warning information to the unmanned boat through the transport layer, wherein the warning information includes the third navigation route.

[0082] When the control end determines that a new navigation route is determined for the unmanned boat according to the above steps, it can be transmitted to the unmanned boat through the transmission layer to control the unmanned boat to travel according to the new third navigation route. In addition, the control end can also provide an early warning service to encapsulate the third navigation route into the early warning information and send it to the unmanned boat.

[0083] In another embodiment, the control end is also provided with an interaction layer, which includes a smart large screen, a PC end, and a controller, etc. The control end provides diversified data display services and control mode services by setting up the interaction layer.

[0084] Therefore, the control end can also display the warning information through the smart large screen.

[0085] Step S50, controlling the unmanned boat to lower the submersible through the application layer;

[0086] Among them, continue as Figure 3 As shown, the control end is also provided with an application layer, which includes a basic configuration module, an equipment debugging module, an operation processing module, a data visualization module, a cruise path management module, an equipment control module, and an alarm module.

[0087] The basic configuration module consists of video configuration and log configuration, which can adjust the display parameters. The log configuration involves system logs, application logs, security logs, etc.

[0088] The equipment debugging module consists of calibration settings and functional tests. It can obtain various information of the equipment in real time and perform calibration settings and functional tests on the equipment.

[0089] The data visualization module consists of real-time location, historical track, equipment status, statistical analysis, video display and operating environment. It can collect data from unmanned boats or submersibles through the perception layer, analyze the data, and select visualization tools for display based on the analysis results.

[0090] The operation handling module consists of target positioning, target identification, marker anchoring and marker release; the cruise path management module consists of path planning, path management and path playback; the equipment control module consists of unmanned boat control, submersible control and payload equipment control; the alarm module consists of stop alarm, offline alarm, obstacle alarm, recovery failure alarm and alarm details.

[0091] Since the submersible is arranged in the cage of the unmanned boat, the lowering operation of the submersible needs to operate the telescopic bracket connected to the cage. Specifically, the control end controls the telescopic bracket of the unmanned boat to extend underwater through the application layer.

[0092] The unmanned boat also includes a traction device, which includes an electric winch, a cable and a fixed pulley. One end of the cable is connected to the unmanned boat, and the other end is wound around the electric winch and connected to the submersible through the fixed pulley.

[0093] The electric winch has the function of automatic cable arrangement. It adopts a bidirectional reciprocating screw mechanism to arrange and control the cable. The servo motor transmits torque to the screw to push the screw pair to move horizontally along the guide rod. Due to the tension in the cable, it is always in a relatively tight state. The cable moves in the same direction as the cable arrangement bracket. The servo motor cooperates with the reel to accurately control the angle and speed, so that the cables can be arranged tightly and neatly. The electric winch can automatically retract and release long-distance cables to ensure that the cables are neat and orderly and prevent cable entanglement, thereby enhancing the safety of the operation.

[0094] The fixed pulley is fixed to the outside of the cage and is used to clamp the cable and effectively change the force direction of the cable. It reduces the risk of cable vibration and falling off during operation and enhances the stability of the submersible during deployment and recovery.

[0095] As the telescopic bracket of the unmanned boat extends underwater, the distance between the submersible and the unmanned boat increases continuously. If the cable connecting the submersible and the unmanned boat remains at its original length, the cable will break. Therefore, as the telescopic bracket of the unmanned boat extends underwater, the traction device will be controlled to release along the extension direction of the telescopic bracket, that is, the electric winch will be controlled to release the cable.

[0096] Step S60: If it is determined that the submersible has been lowered to the target lowering depth, a work instruction is sent to the unmanned boat through the application layer. The work instruction is used to instruct the submersible to perform corresponding underwater operations.

[0097] Among them, the control end can be determined by the position data sent by the submersible and forwarded by the unmanned boat through the transmission layer to determine whether the submersible is lowered to the target lowering depth; the control end can be determined by the feedback information sent by the submersible and forwarded by the unmanned boat through the transmission layer to determine whether the submersible is lowered to the target lowering depth, etc., which is not limited in this application.

[0098] In an optional embodiment, if Figure 8 As shown, the following steps are included:

[0099] Step S701, receiving third position data sent by the submersible through the transport layer;

[0100] The third position information is the current position information collected by the submersible through the perception layer set by the control end. It can be understood that during the navigation of the submersible, the third position information of the submersible can be transmitted to the control end through the transmission layer in real time, so that the control end can determine whether the submersible has reached the second target position or reached the corresponding target lowering depth according to the third position information.

[0101] Step S702, calculating the lowering depth according to the second position data and the third position data by using an algorithm provided by the support layer;

[0102] The second position data is the current position data of the submersible when the unmanned boat reaches the first target position, so the corresponding lowering depth can be obtained by subtracting the two according to the algorithm provided by the support layer. Specifically, the longitudinal coordinates of the two can be subtracted.

[0103] Step S703: If the lowering depth is equal to the target lowering depth, it is determined that the submersible is lowered to the target lowering depth.

[0104] The control end may determine the lowering of the submersible to the target lowering depth based on calculation of the support layer and determination that the lowering depth is equal to the target lowering depth.

[0105] It is understandable that lowering the submersible to the target lowering depth does not mean that the submersible has reached the second target position. Further judgment is required.

[0106] Optionally, the control end may send a corresponding opening control instruction to the device for controlling the opening and closing of the cage through the transmission layer when determining that the submersible is lowered to the target lowering depth, so as to control the cage to open and realize the deployment operation of the submersible. In this way, the submersible enters underwater and can perform corresponding underwater operations. After the submersible enters underwater, it needs to move further in the direction of the second target position, so the controller needs to plan a path for it.

[0107] Optionally, when the submersible reaches the second target position, the control end can also generate a second navigation route by performing trajectory planning based on the second position data and the second coordinates through the big data trajectory service provided by the support layer, and transmit the second navigation route to the submersible through the transmission layer. The control end can not only control the unmanned boat, but also the submersible, realizing the coordinated control of multiple devices, improving the adaptability and flexibility to complex environments, reducing the duplication of manpower and equipment, and saving costs and resources.

[0108] In an optional method embodiment, Fig. 9 As shown, the following steps are also included:

[0109] Step S801, receiving in real time fourth position data sent by the submersible during navigation of the submersible according to the second navigation route, where the fourth position data is data collected by the submersible through the perception layer;

[0110] Step S802, calculating the difference between the fourth position data and the second target position through the algorithm provided by the support layer, and determining whether the submersible has reached the second target position based on the difference.

[0111] Among them, the fourth position data is the current position data of the submersible collected by the perception layer set by the control end. Based on the same method as above, the control end can receive the position data sent by the submersible in real time when the submersible is traveling towards the second target position based on the second navigation route, and make a judgment in real time to determine whether the submersible has reached the second target position.

[0112] When the submersible reaches the second target position, it can perform corresponding underwater operations according to the work instructions sent by the control end through the application layer.

[0113] Optionally, when it is determined that the submersible has completed the underwater operation, the control end sends a recovery instruction to the unmanned boat through the transmission layer, and the recovery instruction is used to instruct the unmanned boat to perform a recovery operation on the submersible.

[0114] The recovery process of the submersible includes: the submersible first moves to the central position of the cage, the bottom grille of the cage is closed, and the submersible sits firmly on the bottom grille of the cage, and then the telescopic bracket of the cage is retracted upward to bring the submersible and the cage back to the unmanned boat deck, thus completing the recovery operation of the submersible. Therefore, the recovery instruction can be to carry the preset second distance, and the telescopic bracket retracts the preset second distance upward to bring the submersible and the cage back to the unmanned boat deck.

[0115] Similarly, during the recovery operation of the unmanned boat, the distance between the unmanned boat and the submersible is constantly decreasing. If the cable connecting the submersible and the unmanned boat remains at its original length, the cable will be too long, causing it to be entangled in the cage or the submersible, which may further cause safety problems. Therefore, when the control end controls the unmanned boat to recover the submersible, it will also control the traction equipment to retract along the retracting direction of the telescopic bracket, that is, control the electric winch to retract the cable.

[0116] Optionally, in order to avoid the situation that the cable is entangled or broken due to the cable being too short during the process of releasing the traction device along the extension direction of the telescopic bracket and storing the traction device along the contraction direction of the telescopic bracket, the application may perform the following operations:

[0117] The control end receives the tension data sent by the strain gauge sensor in the traction equipment through the transmission layer;

[0118] The control end determines and adjusts the length of the cable in the traction device according to the tension data through the support layer to keep the cable in a taut state, and sends corresponding control instructions to the traction device through the application layer.

[0119] The traction equipment also includes a strain gauge sensor installed on the surface of the cable to monitor the tension of the cable in real time. The strain gauge sensor is set to monitor the tension of the cable in real time, so that the surface unmanned boat can adjust the length of the cable in real time based on the data to ensure the stability of the cable force and avoid entanglement or breakage caused by too little or too much tension.

[0120] Therefore, the control end can receive the tension data sent by the strain gauge sensor in real time during the process of controlling the release of the unmanned boat's traction equipment along the extension direction of the telescopic bracket and controlling the storage of the unmanned boat's traction equipment along the contraction direction of the telescopic bracket, so as to determine the cable adjustment strategy according to the tension data and control the electric winch to retract and release the cable, so as to maintain a certain length of the cable and ensure that it is in a taut state, thereby achieving a stable connection between the unmanned boat and the submersible, thereby ensuring the safety of the submersible during underwater operations.

[0121] Optionally, the control end may also perform the following operations to avoid obstacles for the submersible:

[0122] During the navigation of the submersible according to the second navigation route, receiving second data transmitted by the submersible through the transmission layer, wherein the second data is position data collected by the submersible through the perception layer set by the control end;

[0123] Processing the second data by an algorithm provided by the support layer, and determining whether there is an obstacle on the second navigation route according to the processing result;

[0124] If it is determined that there is an obstacle, receiving sixth position data sent by the submersible through the transmission layer;

[0125] Based on the sixth position data and the second coordinate, trajectory planning is performed through the big data trajectory service provided by the support layer to generate a fourth navigation route;

[0126] The application layer sends a navigation instruction to the submersible, and the navigation instruction carries the fourth navigation route, so that the submersible navigates toward the second target location according to the new fourth navigation route after receiving the navigation instruction. It is understandable that the control end can also display the warning information of the submersible encountering obstacles through the smart large screen of the interactive layer.

[0127] Optionally, when the control end determines that the submersible has arrived at the second target position, the device control module and the operation handling module based on the application layer may control the submersible to perform underwater operations.

[0128] It should be noted that although the operations of the method of the present invention are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. On the contrary, the steps depicted in the flow chart can change the execution order.

[0129] Reference below Fig. 9 , which shows a network scanning device suitable for implementing the embodiment of the present application, the network scanning device includes a memory and a processor, the memory stores a computer program, and the processor executes the computer program to implement Figure 2-7 Any method step.

[0130] In particular, according to the embodiments of the present disclosure, the above reference Figure 2 , 4 -9 The process described can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program tangibly embodied on a machine-readable medium, the computer program including a computer program for executing Figure 2 , 4 -9 method program code.

[0131] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a different order from the order marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0132] The units or modules involved in the embodiments described in the present application may be implemented by software or hardware. The units or modules described may also be arranged in a processor, for example, may be described as: a processor includes an XX unit, a YY unit, and a ZZ unit. The names of these units or modules do not, in some cases, constitute a limitation on the unit or module itself, for example, the XX unit may also be described as a "unit for XX".

[0133] As another aspect, the present application further provides a computer-readable storage medium, which may be a computer-readable storage medium included in the device described in the above embodiment; or a computer-readable storage medium that exists independently and is not assembled into the device. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the formula input method described in the present application.

[0134] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A collaborative control method, characterized in that: The method comprises: Receiving first position data transmitted by the unmanned boat through the transmission layer, where the first position data is data acquired by the unmanned boat through the perception layer; Determine a first navigation route of the unmanned boat based on the set first navigation mission and the first position data through a data processing technology provided by a support layer; If it is determined that the unmanned boat has reached the first target position specified by the first navigation route, the target lowering depth of the submersible is determined by the data processing technology provided by the support layer based on the set first navigation mission and the second position data of the submersible, wherein the second position data is data obtained by the submersible through the perception layer; Controlling the unmanned boat to lower the submersible through the application layer; If it is determined that the submersible is lowered to the target lowering depth, a work instruction is sent to the unmanned boat through the application layer, and the work instruction is used to instruct the submersible to perform corresponding underwater operations.

2. The method according to claim 1, characterized in that The determining of the first navigation route of the unmanned boat based on the set first navigation task and the first position data by using the data processing technology provided by the support layer includes: Analyzing the first navigation mission to obtain the first target position that the unmanned boat needs to reach; According to the POI big data retrieval service provided by the support layer, the first target position is coordinate-converted to obtain a first coordinate; The first navigation route is generated by performing trajectory planning based on the first position data and the first coordinates through the big data trajectory service and electronic nautical chart provided by the support layer.

3. The method according to claim 1, characterized in that The method further comprises: Sending a navigation instruction to the unmanned boat through the application layer, wherein the navigation instruction is used to instruct the unmanned boat to navigate to the first target position; If a feedback signal sent by the unmanned boat based on the navigation instruction is received through the transmission layer, it is determined that the unmanned boat has arrived at the first target position.

4. The method according to claim 1, characterized in that: The method of determining the target lowering depth of the submersible based on the set first navigation mission and the second position data of the submersible by using the data processing technology provided by the support layer includes: parsing the first navigation mission to obtain a second target position where the submersible needs to perform the underwater operation; According to the POI big data retrieval service provided by the support layer, the second target position is coordinate-converted to obtain a second coordinate; The difference between the second position data and the second coordinate is calculated by an algorithm provided by the support layer to obtain the target lowering depth.

5. The method according to claim 1, characterized in that The step of controlling the unmanned boat to lower the submersible through the application layer includes: The application layer controls the telescopic bracket of the unmanned boat to extend underwater, and controls the traction device of the unmanned boat to be released along the extension direction of the telescopic bracket, one end of the traction device is connected to the unmanned boat, and the other end is connected to the submersible placed in the cage of the unmanned boat.

6. The method according to claim 1, characterized in that The method further comprises: receiving, through the transmission layer, third position data transmitted by the underwater vehicle; Calculate the lowering depth according to the second position data and the third position data by using an algorithm provided by the support layer; If the lowering depth is equal to the target lowering depth, it is determined that the submersible is lowered to the target lowering depth.

7. The method according to claim 4, characterized in that The work order carries a second navigation route of the underwater vehicle, and the method further includes: The second navigation route is generated by performing trajectory planning based on the second position data and the second coordinates through the big data trajectory service provided by the support layer.

8. The method according to claim 7, characterized in that The method further comprises: In the process of the submersible navigating according to the second navigation route, receiving in real time through the transmission layer fourth position data transmitted by the submersible, the fourth position data being data collected by the submersible through the perception layer; The difference between the fourth position data and the second target position is calculated by an algorithm provided by the support layer, and whether the submersible has reached the second target position is determined according to the difference.

9. The method according to claim 1, characterized in that: The method further comprises: When it is determined that the submersible has completed the underwater operation, a recovery instruction is sent to the unmanned boat through the application layer, and the recovery instruction is used to instruct the unmanned boat to perform a recovery operation on the submersible.

10. The method according to claim 2, characterized in that The method further comprises: In the process of the unmanned boat sailing according to the first navigation route, first data transmitted by the unmanned boat through the transmission layer is received in real time, where the first data is data collected by the unmanned boat through the perception layer; Processing the first data by using an algorithm provided by the support layer, and determining whether there is an obstacle on the first navigation route according to the processing result; If it is determined that the obstacle exists, receiving fifth position data transmitted by the unmanned boat through the transmission layer; Based on the fifth position data and the first coordinate, trajectory planning is performed through the big data trajectory service provided by the support layer to generate a third navigation route; The warning information is transmitted to the unmanned boat through the transmission layer, and the warning information includes the third navigation route.

11. A collaborative control system, characterized in that: The system is used to execute the method according to any one of claims 1 to 10.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

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