UUV mission construction method, device, equipment and storage medium

Abstract

The present application provides a method, device, equipment and storage medium for constructing a UUV task, which specifically relates to the technical field of constructing a UUV task. The method includes: generating K corresponding UUV control nodes according to each UUV control requirement, determining the UUV control node according to a first mapping relationship, connecting each UUV behavior node with the UUV control node, determining the next UUV control node according to a second mapping relationship, connecting each UUV control node with the next UUV control node, and obtaining a UUV behavior tree; generating a UUV task block according to the UUV behavior tree corresponding to each UUV task requirement; visually arranging the UUV task blocks corresponding to each UUV task requirement to generate a first UUV task description file to construct the first UUV task. The method is suitable for asynchronous scenarios and greatly improves the efficiency of constructing the first UUV task.

Description

Technical Field

[0001] The present application relates to the technical field of UUV mission construction, and in particular to a method, device, equipment and storage medium for constructing a UUV mission. Background Art

[0002] The low-code development platform LCDP (Low-Code Development Platform) provides developers with a development environment for creating application software. Compared with the traditional IDE (Integrated Development Environment), the low-code development platform can provide a higher-dimensional and easy-to-use visual IDE. In most cases, developers do not need to use traditional handwritten code for programming, but can complete development work through more efficient methods such as graphical drag and drop and parameter configuration. At present, low-code technology has been widely used in games, Internet front-end application construction, ERP (Enterprise Resource Planning) business flows, the Internet of Things, and industrial control.

[0003] However, in the existing UUV (Unmanned Underwater Vehicle) task construction, multiple execution nodes are created as a behavior tree through LCDP. In an asynchronous scenario, simply creating a behavior tree to build a UUV task will block the execution of the behavior tree, that is, after a UUV task is completed, the behavior tree cannot start the execution step of the next UUV task.

[0004] Therefore, in asynchronous scenarios, simply creating a behavior tree to build a UUV task will cause the execution of the behavior tree to be blocked, which is an urgent problem to be solved. Summary of the invention

[0005] In view of this, the purpose of the present application is to provide a method, device, equipment and storage medium for constructing a UUV task to solve the above-mentioned problems and avoid the situation where the execution of the behavior tree is blocked in an asynchronous scenario.

[0006] In a first aspect, an embodiment of the present application provides a method for constructing a UUV task, which is applied to a low-code development platform, and the method includes:

[0007] Obtaining a UUV task requirement set; the UUV task requirement set includes multiple UUV task requirements, each UUV task requirement includes J UUV behavior requirements and K UUV control requirements;

[0008] According to each UUV behavior requirement in the J UUV behavior requirements, a corresponding UUV behavior node is generated; according to each UUV control requirement in the K UUV control requirements, a corresponding K UUV control node is generated;

[0009] According to the first mapping relationship, determine the UUV control node corresponding to each UUV behavior node, connect each UUV behavior node with the corresponding UUV control node, and the first mapping relationship is the mapping relationship between the reference UUV behavior node and the reference UUV control node; according to the second mapping relationship, determine the next UUV control node corresponding to each UUV control node, connect each UUV control node with the next UUV control node, and obtain the UUV behavior tree corresponding to each UUV task requirement, and the second mapping relationship is the mapping relationship between adjacent reference UUV control nodes;

[0010] According to the UUV behavior tree corresponding to each UUV task requirement, generate the corresponding UUV task blocks;

[0011] Visually arrange the UUV task blocks corresponding to each UUV task requirement to generate a first UUV task description file, and construct the first UUV task according to the first UUV task description file.

[0012] Preferably, the step of connecting each UUV behavior node to a corresponding UUV control node includes:

[0013] Obtaining a first execution order of a preconfigured UUV behavior node and a UUV control node corresponding to the UUV behavior node;

[0014] Connect each UUV behavior node to its corresponding UUV control node according to the first execution order;

[0015] Connect each UUV control node to the next UUV control node to obtain the UUV behavior tree corresponding to each UUV mission requirement, including:

[0016] Obtaining a second execution order between pre-configured adjacently located UUV control nodes;

[0017] According to the second execution order, each UUV control node is connected to the next UUV control node to obtain a UUV behavior tree corresponding to each UUV task requirement.

[0018] Preferably, generating the corresponding UUV task blocks according to the UUV behavior tree corresponding to each UUV task requirement includes:

[0019] Get the execution start condition and execution end condition of each UUV behavior tree;

[0020] According to the execution start condition and the execution end condition of each UUV behavior tree, the corresponding UUV task blocks are generated; wherein the execution start condition is used to determine the data input port of the UUV task block, and the execution end condition is used to determine the data output port of the UUV task block.

[0021] Preferably, the low-code development platform includes: a task application generator and a task executor;

[0022] The step of constructing the first UUV task according to the first UUV task description file includes:

[0023] The task application generator compiles the first UUV task description file to obtain a first UUV task construction program, and sends the first UUV task construction program to the task executor; wherein the first UUV task construction program is used to characterize the content of the first UUV task description file;

[0024] The task executor constructs the first UUV task through the first UUV task construction program.

[0025] Preferably, the low-code development platform includes: an extended script library and a block discovery manager; the method further includes:

[0026] The extended script library obtains at least one script file corresponding to a new UUV mission requirement;

[0027] The extended script library sends the script file corresponding to at least one new UUV mission requirement to the block discovery manager, so that the block discovery manager generates a new UUV task block corresponding to at least one new UUV mission requirement according to the script file corresponding to the at least one new UUV mission requirement.

[0028] Preferably, the low-code development platform further includes: a front-end code builder; the method further includes:

[0029] The front-end code builder obtains at least one new UUV task block;

[0030] The front-end code builder visually arranges the UUV task block corresponding to each UUV task requirement and at least one new UUV task block to generate a second UUV task description file;

[0031] The front-end code builder builds the second UUV task according to the second UUV task description file.

[0032] Preferably, visually arranging the UUV task blocks corresponding to each UUV task requirement to generate a first UUV task description file includes:

[0033] According to the third mapping relationship, the next UUV task block corresponding to each UUV task block is determined; each UUV task block is connected to the next UUV task block to obtain the first UUV task description file; wherein the third mapping relationship is a mapping relationship between a reference UUV task block, a data output port of the reference UUV task block, a next data input port, and a next reference UUV task block.

[0034] The UUV mission construction method provided in this application brings the following beneficial effects:

[0035] The present application provides a method for constructing a UUV task. The method generates corresponding UUV task blocks according to the UUV behavior tree corresponding to each UUV task requirement, and visually arranges the UUV task blocks corresponding to each UUV task requirement to generate a first UUV task description file. The method is applicable to asynchronous scenarios, which not only ensures the autonomous decision-making of a single UUV task block, but also ensures the non-blocking execution of the UUV behavior tree in asynchronous scenarios. The efficiency of the first UUV task construction is greatly improved.

[0036] In a second aspect, the present application also provides a UUV mission construction device, the device comprising:

[0037] An acquisition module is used to acquire a UUV task requirement set; the UUV task requirement set includes multiple UUV task requirements, and each UUV task requirement includes J UUV behavior requirements and K UUV control requirements;

[0038] A data processing module is used to generate a corresponding UUV behavior node according to each UUV behavior requirement in the J UUV behavior requirements; and to generate a corresponding K UUV control node according to each UUV control requirement in the K UUV control requirements;

[0039] The data processing module is further used to determine the UUV control node corresponding to each UUV behavior node according to a first mapping relationship, and connect each UUV behavior node with the respective corresponding UUV control node, wherein the first mapping relationship is a mapping relationship between a reference UUV behavior node and a reference UUV control node; determine the next UUV control node corresponding to each UUV control node according to a second mapping relationship, and connect each UUV control node with the next UUV control node to obtain a UUV behavior tree corresponding to each UUV task requirement, wherein the second mapping relationship is a mapping relationship between adjacent reference UUV control nodes;

[0040] The data processing module is also used to generate the corresponding UUV task blocks according to the UUV behavior tree corresponding to each UUV task requirement;

[0041] The data processing module is also used to visually arrange the UUV task blocks corresponding to each UUV task requirement to generate a first UUV task description file, and construct the first UUV task according to the first UUV task description file.

[0042] The UUV mission construction device provided in the embodiment of the present application has the same technical features as the UUV mission construction method provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0043] In a third aspect, the present application provides a computing device, including a memory and a processor;

[0044] One or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the computing device executes the method as described in any one of the first aspects.

[0045] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method as described in any one of the first aspects.

[0046] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0047] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 A schematic diagram of a method for constructing a UUV mission provided in an embodiment of the present application;

[0050] Figure 2 A schematic diagram of a UUV detection task behavior tree structure provided in an embodiment of the present application;

[0051] Figure 3 A schematic diagram of the UUV detection task block structure provided in an embodiment of the present application;

[0052] Figure 4 A schematic diagram of the connection relationship of the six UUV task blocks provided in the embodiment of the present application;

[0053] Figure 5 A schematic diagram of a UUV mission construction device provided in an embodiment of the present application;

[0054] Figure 6 A schematic diagram of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0056] To facilitate understanding of this embodiment, the embodiments of the present application are described in detail below.

[0057] The present application embodiment provides a method for constructing a UUV task, which is applied to a low-code development platform, such as Figure 1 As shown, Figure 1 A schematic diagram of a method for constructing a UUV mission provided in an embodiment of the present application. The method comprises the following steps:

[0058] S101, obtaining a UUV task requirement set; the UUV task requirement set includes multiple UUV task requirements, and each UUV task requirement includes J UUV behavior requirements and K UUV control requirements.

[0059] Specifically, the staff constructs the UUV task according to the multiple UUV task requirements included in the UUV task requirement set. The following is an introduction to the 6 UUV task requirements. As shown in Table 1, Table 1 is a UUV task requirement table. The 6 UUV task requirements are of 4 types, namely fixed-point navigation task requirements, detection task requirements, cruising task requirements, and clearing task requirements.

[0060] Table 1:

[0061]

[0062] The second UUV mission requirement in Table 1 is the detection mission requirement, which includes UUV behavior requirements and UUV control requirements. It should be noted that the above is only an introduction to the UUV mission requirements using the detection mission requirements as an example. As shown in Tables 2 and 3, Table 2 is the UUV behavior requirement table, and Table 3 is the UUV control requirement table.

[0063] Table 2:

[0064]

[0065] Table 3:

[0066]

[0067] S102, generating a corresponding UUV behavior node according to each UUV behavior requirement in the J UUV behavior requirements; generating a corresponding K UUV control node according to each UUV control requirement in the K UUV control requirements.

[0068] Specifically, the above UUV behavior node corresponds to the content of the UUV behavior requirement one by one. It can be understood that the low-code development platform stores the UUV behavior requirement in the form of a UUV behavior node. The above UUV control node corresponds to the content of the UUV control requirement one by one. It can be understood that the low-code development platform stores the UUV control requirement in the form of a UUV control node.

[0069] S103, according to the first mapping relationship, determine the UUV control node corresponding to each UUV behavior node, and connect each UUV behavior node with its corresponding UUV control node; according to the second mapping relationship, determine the next UUV control node corresponding to each UUV control node, connect each UUV control node with the next UUV control node, and obtain a UUV behavior tree corresponding to each UUV task requirement.

[0070] The first mapping relationship is a mapping relationship between a reference UUV behavior node and a reference UUV control node, and the second mapping relationship is a mapping relationship between reference UUV control nodes that are adjacent in position.

[0071] Specifically, the adjacent reference UUV control nodes may be the current reference UUV control node and the next reference UUV control node. The UUV control requirements and UUV behavior requirements in the detection mission requirements are used as an example for introduction. Figure 2 , as shown in Table 4 and Table 5, Table 4 is a first mapping relationship table, and Table 5 is a second mapping relationship table, Figure 2 A schematic diagram of the behavior tree structure of a UUV detection task provided in an embodiment of the present application.

[0072] Table 4:

[0073]

[0074] Table 5:

[0075]

[0076] Specifically, the behavior tree uses well-defined symbols, such as connecting lines, to clearly express complex natural language requirements. The above-mentioned UUV behavior nodes and UUV control nodes are connected by connecting lines, and the above-mentioned UUV control nodes are connected by connecting lines to form a tree structure, namely the UUV behavior tree. The UUV behavior nodes and UUV control nodes of the UUV behavior tree are interconnected according to the first mapping relationship to meet the UUV behavior requirements and UUV control requirements. The UUV control nodes of the UUV behavior tree are interconnected according to the second mapping relationship to meet the UUV control requirements. Since the UUV task requirements include UUV behavior requirements and UUV control requirements, the UUV behavior tree also meets the UUV task requirements.

[0077] It can be seen from Tables 2 and 3 above that since the second UUV mission requirement (UUV detection mission requirement) includes 8 UUV behavior requirements and 6 UUV control requirements, the UUV detection mission behavior tree also meets the second UUV mission requirement (UUV detection mission requirement). Each UUV behavior node and each UUV control node, as well as each UUV control node, interact with each other according to the second UUV mission requirement (UUV detection mission requirement) to complete the construction of the UUV detection mission.

[0078] The above UUV behavior tree allows information to be shared between different nodes, realizes collaborative work between nodes, and intuitively displays complex behaviors through a tree structure, which is easy to understand and maintain.

[0079] S104, the low-code development platform generates corresponding UUV task blocks according to the UUV behavior tree corresponding to each UUV task requirement.

[0080] Specifically, generating a UUV task block based on a UUV behavior tree is a way to abstract complex logic and automatically generate code or configuration. Since each of the above UUV task requirements corresponds to a UUV behavior tree, the generated UUV task block can also meet the UUV task requirements. The following is an introduction using the UUV detection task block 500 as an example. Figure 3 As shown, Figure 3A schematic diagram of the UUV detection task block structure provided in an embodiment of the present application. As can be seen from the above, the above UUV detection task behavior tree meets the second UUV task requirement (UUV detection task requirement), so the UUV detection task block 500 generated according to the UUV detection task behavior tree also meets the second UUV task requirement (UUV detection task requirement).

[0081] The above-mentioned UUV mission blocks can modularize complex UUV mission requirements, making them easy for staff to understand and maintain.

[0082] S105, the low-code development platform visually arranges the UUV task blocks corresponding to each UUV task requirement to generate a first UUV task description file, and constructs the first UUV task according to the first UUV task description file.

[0083] Specifically, the low-code development platform is a development platform that can quickly generate applications without coding (0 code) or with a small amount of code. The low-code development platform uses a graphical user interface, drag-and-drop components and model-driven logic to visually arrange each UUV task block to obtain the first UUV task description file. The first UUV task description file can be used to describe the specific content of building the first UUV task.

[0084] The above-mentioned visual arrangement setting uses the drag-and-drop method to visually arrange each UUV task block, making the UUV task requirements more concrete, allowing non-professional developers to participate in the construction of the application. The first UUV task description file can be quickly generated without coding or with a small amount of code, which greatly reduces the workload and significantly improves the efficiency of the first UUV task construction.

[0085] It should be noted that, in an embodiment of the present application, in the process of visually arranging the UUV task block to generate the first UUV task description file, the UUV task block can be generated by the UUV behavior tree corresponding to the UUV task requirements, or it can be pre-configured or system default, for example, a pre-configured program unit, a pre-configured executable program block, a pre-configured script program, etc.

[0086] The embodiment of the present application provides a method for constructing a UUV task, in which a low-code development platform determines the UUV control node corresponding to each UUV behavior node according to a first mapping relationship, connects each UUV behavior node with the corresponding UUV control node, determines the next UUV control node corresponding to each UUV control node according to a second mapping relationship, connects each UUV control node with the next UUV control node, obtains a UUV behavior tree corresponding to each UUV task requirement, generates a corresponding UUV task block according to the UUV behavior tree corresponding to each UUV task requirement; visualizes the UUV task blocks corresponding to each UUV task requirement to generate a first UUV task description file, and constructs the first UUV task according to the first UUV task description file. In the prior art, the construction of the first UUV task is completed by setting a UUV behavior tree separately. Since the execution principle of the UUV behavior tree is to traverse (execute) all UUV behavior nodes and UUV control nodes according to the preset strategy (UUV behavior requirements and UUV control requirements), that is, after executing the current UUV behavior node or UUV control node, the next UUV behavior node or UUV control node is executed after checking the status of the next UUV behavior node or UUV control node. This process is completely based on the preset strategy (UUV behavior requirements and UUV control requirements). It can be seen that in an asynchronous scenario, simply building a UUV task by creating a UUV behavior tree will block the execution of the UUV behavior tree.

[0087] Compared with the prior art, this method generates the corresponding UUV task blocks according to the UUV behavior tree corresponding to each UUV task requirement, and visually arranges the UUV task blocks corresponding to each UUV task requirement to generate the setting of the first UUV task description file. It can be understood that all UUV behavior nodes and UUV control nodes are traversed (executed) according to the preset strategy (UUV behavior requirements and UUV control requirements) within each UUV task block, and visual arrangement is performed between each UUV task block. Among them, the setting of visual arrangement between each UUV task block is the construction of the data-driven (condition-driven) first UUV task. The construction of the data-driven (condition-driven) first UUV task is a responsive processing mode. The principle of the construction of the data-driven first UUV task is that the UUV will execute the next UUV task block as long as the data that meets the execution conditions is obtained. This method is suitable for asynchronous scenarios, which not only ensures the autonomous decision-making of a single UUV task block, but also ensures the non-blocking execution of the UUV behavior tree in asynchronous scenarios. The efficiency of the construction of the first UUV task is greatly improved.

[0088] The following is an introduction to the generation method of the UUV behavior tree. The low-code development platform obtains the first execution order of the pre-configured UUV behavior nodes and the UUV control nodes corresponding to the UUV behavior nodes; according to the first execution order, each UUV behavior node is connected to its corresponding UUV control node. The second execution order between the pre-configured adjacent UUV control nodes is obtained; according to the second execution order, each UUV control node is connected to the next UUV control node to obtain the UUV behavior tree corresponding to each UUV task requirement.

[0089] Specifically, UUV behavior nodes correspond to UUV behavior requirements one by one, and UUV control nodes correspond to UUV control requirements one by one. There is a sequential logic between each UUV behavior requirement and each UUV control requirement, so the first execution order between the UUV behavior node and the UUV control node can be determined through the sequential logic between the UUV behavior requirement and the UUV control requirement, and then each UUV behavior node is connected to the corresponding UUV control node according to the first execution order. Figure 2 As shown in Table 4, Figure 2 A schematic diagram of the UUV detection task behavior tree structure provided in this application. In the UUV detection task behavior tree, between the obstacle determination node 202 with sequence number 2 and the navigation node 201 with sequence number 4, the execution order of the obstacle determination node 202 with sequence number 2 is before the navigation node 201 with sequence number 4. Therefore, the obstacle determination node 202 with sequence number 2 is connected to the navigation node 201 with sequence number 4.

[0090] UUV control nodes correspond to UUV control requirements one by one. There is a sequential logic between each UUV control requirement, so the second execution order between UUV control nodes can be determined by the sequential logic between UUV control requirements, and then each UUV control node is connected to the next UUV control node according to the second execution order. Figure 2 As shown in Table 5, Figure 2 Schematic diagram of the UUV detection task behavior tree structure provided in the embodiment of the present application. The execution order of the node 202 for determining whether there is an obstacle, which is numbered 2, in the UUV detection task behavior tree is before the sequential execution node 204, which is numbered 3. Therefore, the node 202 for determining whether there is an obstacle, which is numbered 2, is connected to the sequential execution node 204, which is numbered 3.

[0091] In this method, according to the first execution order between the UUV behavior nodes and the UUV control nodes, and the second execution order between the UUV control nodes, the connection relationship between the UUV behavior nodes and the UUV control nodes and between the UUV control nodes is clarified to obtain the UUV behavior tree.

[0092] The following is an introduction to the way the low-code development platform generates corresponding UUV task blocks according to the UUV behavior tree corresponding to each UUV task requirement. The low-code development platform obtains the execution start condition and execution end condition of each UUV behavior tree; according to the execution start condition and execution end condition of each UUV behavior tree, the corresponding UUV task block is generated; among them, the execution start condition is used to determine the data input port of the UUV task block, and the execution end condition is used to determine the data output port of the UUV task block.

[0093] Specifically, the UUV task block encapsulates the UUV behavior tree engine, which supports the definition of the number and type of data input from the data input port, as well as the number and type of data output from the data output port. Take the UUV detection task block as an example. Figure 3 As shown, Figure 3 A schematic diagram of the structure of a UUV detection task block provided in an embodiment of the present application. The data input port of the UUV detection task block 500 includes: a center position data input port 501, an area radius data input port 502, and a detection model data input port 503. When the UUV sensor obtains the center position data, the center position data is input into the center position data input port 501 as an execution start condition. When the UUV sensor obtains the area radius data, the area radius data is input into the area radius data input port 502 as an execution start condition. When the UUV sensor obtains the detection model data, the detection model data is input into the detection model data input port as an execution start condition of the UUV detection task block 500. The data output port of the UUV detection task block 500 is the target position data output port 504. When the UUV sensor obtains the target position data, the target position data is output from the target position data output port 504 as an execution end condition.

[0094] In this method, the corresponding UUV task blocks are generated according to the execution start conditions and execution end conditions of each UUV behavior tree, so as to modularize the complex UUV task requirements, and visualize the data input and data output ports of the UUV task blocks, so that the staff can easily understand and maintain them.

[0095] The following is an introduction to the way in which the low-code development platform constructs the first UUV task according to the first UUV task description file. The low-code development platform includes: a task application generator and a task executor; the task application generator compiles the first UUV task description file to obtain a first UUV task construction program, and sends the first UUV task construction program to the task executor; wherein the first UUV task construction program is used to characterize the content of the first UUV task description file; the task executor constructs the UUV task through the first UUV task construction program.

[0096] Specifically, the mission application generator is an efficient and convenient application development tool that allows developers and non-technical personnel to quickly build and deploy applications through a visual interface and pre-built modules. The mission executor is an automation tool that can automatically perform a series of operations, such as data processing, status update, data transmission, etc., according to the user-defined mission process. The above-mentioned first UUV mission description file can be used to describe the specific content of building the first UUV mission. By compiling the first UUV mission description file, the first UUV mission description file can be converted into a language supported by the mission executor, such as C language, so that the mission executor can build the first UUV mission.

[0097] In this method, the task application generator can automatically compile the first UUV task description file, and can quickly and accurately send the compiled data (first UUV task construction program) to the task executor in a timely manner, so that the task executor can build the first UUV task according to the first UUV task construction program. This method improves the efficiency of building the first UUV task.

[0098] In one embodiment, the low-code development platform includes: an extended script library and a block discovery manager; the extended script library obtains a script file corresponding to at least one new UUV mission requirement; the extended script library sends the script file corresponding to at least one new UUV mission requirement to the block discovery manager, so that the block discovery manager generates a new UUV task block corresponding to at least one new UUV task requirement based on the script file corresponding to the at least one new UUV task requirement.

[0099] Specifically, since the above-mentioned extended script library supports third-party modification and supports scripting languages, after the first UUV task is built, if the user wants to add new UUV task requirements, the script file of the new UUV task requirements can be input into the extended script library. When the extended script library receives the script file of the new UUV task requirements, it will promptly feedback to the block discovery manager of the low-code development platform. The block discovery manager generates a new UUV task block corresponding to the new UUV task requirements based on the script file.

[0100] This method realizes the reconstruction of UUV task blocks, allowing users to increase the number of UUV task blocks according to actual project requirements, thereby improving the flexibility of UUV task block construction.

[0101] The construction of the second UUV task is introduced below. The low-code development platform also includes: a front-end code builder, which obtains at least one new UUV task block, visually arranges the UUV task block corresponding to each UUV task requirement with at least one new UUV task block to generate a second UUV task description file, and constructs the second UUV task according to the second UUV task description file.

[0102] Specifically, the front-end code builder can quickly generate an application with zero code or a small amount of code. The front-end code builder uses a graphical user interface, drag-and-drop components and model-driven logic to visually arrange new UUV task blocks to obtain a second UUV task description file. The second UUV task description file can be used to describe the specific content of building the second UUV task.

[0103] The above-mentioned visual arrangement setting uses drag-and-drop to visually arrange the UUV task blocks, making the UUV task requirements more concrete, allowing non-professional developers to participate in the construction of the application. The second UUV task description file can be quickly generated without coding or with a small amount of code, which greatly reduces the workload and significantly improves the efficiency of the second UUV task construction.

[0104] The following introduces the method of visually arranging the UUV task blocks corresponding to each UUV task requirement to generate the first UUV task description file. The low-code development platform determines the next UUV task block corresponding to each UUV task block based on the third mapping relationship; connects each UUV task block with the next UUV task block to obtain the first UUV task description file; wherein the third mapping relationship is the mapping relationship between the reference UUV task block, the data output port of the reference UUV task block, the next data input port, and the next reference UUV task block.

[0105] Specifically, the visual arrangement of the UUV fixed-point navigation mission, the UUV detection mission, the UUV cruising mission and the UUV clearing mission is introduced as an example. As shown in Table 6, Table 6 is the third mapping relationship table.

[0106] Table 6:

[0107]

[0108] like Figure 4 As shown, Figure 4Schematic diagram of the connection relationship of 6 UUV task blocks provided for the embodiment of the present application. The end position data output port 401 of the UUV fixed-point navigation task block 400 is connected to the center position data input port 501 of the UUV detection task block 500, the target position data output port 504 of the UUV detection task block 500 is connected to the target position data input port 601 of the UUV removal task block 600, the end position data output port 602 of the UUV removal task block 600 is connected to the starting position data input port 402 of the UUV fixed-point navigation task block 400, the end position data output port 401 of the UUV fixed-point navigation task block 400 is connected to the starting position data input port 801 of the UUV cruise task block 800, and the position information data output port 802 of the UUV cruise task block 800 is connected to the starting position data input port 402 of the UUV fixed-point navigation task block 400. With such settings, the first UUV task description file is obtained. The first UUV task description file can be used to describe the specific content of constructing the first UUV task.

[0109] In this method, each UUV task block is visually arranged. Among them, the setting of visual arrangement between each UUV task block is the construction of the first UUV task driven by data (condition driven). As long as the UUV obtains data that meets the execution conditions, it will execute the next UUV task block. This method is suitable for asynchronous scenarios and greatly improves the efficiency of the first UUV task construction.

[0110] Based on the above method embodiment, the present application embodiment also provides a UUV task construction device, such as Figure 5 As shown, Figure 5 A schematic diagram of a UUV mission construction device provided in an embodiment of the present application. The device includes an acquisition module 51 and a data processing module 52. The functions of each module of the device are as follows:

[0111] An acquisition module 51 is used to acquire a UUV task requirement set; the UUV task requirement set includes multiple UUV task requirements, and each UUV task requirement includes J UUV behavior requirements and K UUV control requirements;

[0112] The data processing module 52 is used to generate a corresponding UUV behavior node according to each UUV behavior requirement in the J UUV behavior requirements; and to generate a corresponding K UUV control node according to each UUV control requirement in the K UUV control requirements;

[0113] The data processing module 52 is further used to determine the UUV control node corresponding to each UUV behavior node according to the first mapping relationship, and connect each UUV behavior node with the respective corresponding UUV control node, wherein the first mapping relationship is the mapping relationship between the reference UUV behavior node and the reference UUV control node; determine the next UUV control node corresponding to each UUV control node according to the second mapping relationship, and connect each UUV control node with the next UUV control node to obtain a UUV behavior tree corresponding to each UUV task requirement, wherein the second mapping relationship is the mapping relationship between adjacent reference UUV control nodes;

[0114] The data processing module 52 is further used to generate respective corresponding UUV task blocks according to the UUV behavior tree corresponding to each UUV task requirement;

[0115] The data processing module 52 is further used to visually arrange the UUV task blocks corresponding to each UUV task requirement to generate a first UUV task description file, and construct the first UUV task according to the first UUV task description file.

[0116] Preferably, the acquisition module 51 is specifically used to acquire a pre-configured UUV behavior node and a first execution order of a UUV control node corresponding to the UUV behavior node;

[0117] The data processing module 52 is specifically used to connect each UUV behavior node with the corresponding UUV control node according to the first execution order;

[0118] An acquisition module 51 is specifically used to acquire a second execution order between pre-configured UUV control nodes that are adjacent in position;

[0119] The data processing module 52 is specifically used to connect each UUV control node with the next UUV control node according to the second execution order to obtain a UUV behavior tree corresponding to each UUV task requirement.

[0120] Preferably, the acquisition module 51 is specifically used to acquire the execution start condition and the execution end condition of each UUV behavior tree;

[0121] The data processing module 52 is specifically used to generate the corresponding UUV task blocks according to the execution start condition and the execution end condition of each UUV behavior tree; wherein the execution start condition is used to determine the data input port of the UUV task block, and the execution end condition is used to determine the data output port of the UUV task block.

[0122] Preferably, the low-code development platform includes: a task application generator and a task executor;

[0123] A task application generator, used for compiling the first UUV task description file to obtain a first UUV task construction program, and sending the first UUV task construction program to a task executor; wherein the first UUV task construction program is used to characterize the content of the first UUV task description file;

[0124] A task executor is used to construct the first UUV task through the first UUV task construction program.

[0125] Preferably, the low-code development platform includes: an extension script library and a block discovery manager;

[0126] The extended script library is used to obtain the script file corresponding to at least one new UUV mission requirement;

[0127] The extended script library is further used to send a script file corresponding to at least one new UUV mission requirement to the block discovery manager;

[0128] The block discovery manager is used to generate a new UUV task block corresponding to at least one new UUV task requirement according to a script file corresponding to at least one new UUV task requirement.

[0129] Preferably, the low-code development platform also includes: a front-end code builder;

[0130] A front-end code builder for acquiring at least one new UUV mission block;

[0131] The front-end code builder is also used to visually arrange the UUV task block corresponding to each UUV task requirement and at least one new UUV task block to generate a second UUV task description file;

[0132] The front-end code builder is also used to build the second UUV task according to the second UUV task description file.

[0133] Preferably, the data processing module 52 is specifically used to determine the next UUV task block corresponding to each UUV task block according to the third mapping relationship; connect each UUV task block with the next UUV task block to obtain the first UUV task description file; wherein the third mapping relationship is a mapping relationship between a reference UUV task block, a data output port of the reference UUV task block, a next data input port, and a next reference UUV task block.

[0134] The UUV mission construction device provided in the embodiment of the present application has the same technical features as the UUV mission construction method provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0135] The present application also provides a computing device. Figure 6 As shown, this figure is a schematic diagram of a computing device provided in an embodiment of the present application, and the computing device 700 includes a bus 701, a processor 702, a communication interface 703 and a memory 704. The processor 702, the memory 704 and the communication interface 703 communicate with each other through the bus 701.

[0136] The bus 701 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0137] The processor 702 may be any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0138] The communication interface 703 is used for communicating with the outside. The memory 704 may include a volatile memory, such as a random access memory (RAM). The memory 704 may also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid state drive (SSD).

[0139] The memory 704 stores executable codes, and the processor 702 executes the executable codes to perform the aforementioned method.

[0140] The embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium that can be stored by a computing device or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid-state hard disk). The computer-readable storage medium includes instructions that instruct the computing device to execute the above method.

[0141] The embodiment of the present application further provides a computer program product, which includes one or more computer instructions. When the computer instructions are loaded and executed on a computing device, the process or function described in the embodiment of the present application is generated in whole or in part.

[0142] The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer or data center to another website, computer or data center via wired (e.g., coaxial cable, optical fiber) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0143] When the computer program product is executed by a computer, the computer executes any of the aforementioned methods. The computer program product may be a software installation package, and when any of the aforementioned methods is needed, the computer program product may be downloaded and executed on a computer.

[0144] The descriptions of the processes or structures corresponding to the above-mentioned figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0145] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A method for constructing an unmanned underwater vehicle (UUV) mission, characterized in that: Applied to a low-code development platform, the method includes: Obtaining a UUV task requirement set; the UUV task requirement set includes multiple UUV task requirements, each UUV task requirement includes multiple UUV behavior requirements and multiple UUV control requirements; According to each UUV behavior requirement in the multiple UUV behavior requirements, a corresponding UUV behavior node is generated; according to each UUV control requirement in the multiple UUV control requirements, a corresponding multiple UUV control nodes are generated; According to the first mapping relationship, determine the UUV control node corresponding to each UUV behavior node, connect each UUV behavior node with the corresponding UUV control node, and the first mapping relationship is the mapping relationship between the reference UUV behavior node and the reference UUV control node; according to the second mapping relationship, determine the next UUV control node corresponding to each UUV control node, connect each UUV control node with the next UUV control node, and obtain the UUV behavior tree corresponding to each UUV task requirement, and the second mapping relationship is the mapping relationship between adjacent reference UUV control nodes; According to the UUV behavior tree corresponding to each UUV task requirement, the corresponding UUV task blocks are generated; generating UUV task blocks according to the UUV behavior tree is a way to abstract complex logic and automatically generate code or configuration; Visually arrange the UUV task blocks corresponding to each UUV task requirement to generate a first UUV task description file, and construct the first UUV task according to the first UUV task description file; the first UUV task description file is used to describe the specific content of constructing the first UUV task; The low-code development platform includes: an extended script library and a block discovery manager; the extended script library obtains at least one script file corresponding to a new UUV mission requirement; The extended script library sends the script file corresponding to at least one new UUV task requirement to the block discovery manager, so that the block discovery manager generates a new UUV task block corresponding to at least one new UUV task requirement according to the script file corresponding to the at least one new UUV task requirement; The low-code development platform also includes: a front-end code builder; The front-end code builder obtains at least one new UUV task block; The front-end code builder visually arranges the UUV task block corresponding to each UUV task requirement and at least one new UUV task block to generate a second UUV task description file; The front-end code builder constructs a second UUV task according to the second UUV task description file; According to the third mapping relationship, the next UUV task block corresponding to each UUV task block is determined; each UUV task block is connected to the next UUV task block to obtain the first UUV task description file; wherein the third mapping relationship is a mapping relationship between a reference UUV task block, a data output port of the reference UUV task block, a next data input port, and a next reference UUV task block.

2. The method for constructing a UUV mission according to claim 1, characterized in that: The step of connecting each UUV behavior node to the corresponding UUV control node includes: Obtaining a first execution order of a preconfigured UUV behavior node and a UUV control node corresponding to the UUV behavior node; Connect each UUV behavior node to its corresponding UUV control node according to the first execution order; Connect each UUV control node to the next UUV control node to obtain the UUV behavior tree corresponding to each UUV mission requirement, including: Obtaining a second execution order between pre-configured adjacently located UUV control nodes; According to the second execution order, each UUV control node is connected to the next UUV control node to obtain a UUV behavior tree corresponding to each UUV task requirement.

3. The method for constructing a UUV mission according to claim 1, characterized in that: The UUV behavior tree corresponding to each UUV task requirement generates the corresponding UUV task blocks, including: Get the execution start condition and execution end condition of each UUV behavior tree; According to the execution start condition and the execution end condition of each UUV behavior tree, the corresponding UUV task blocks are generated; wherein the execution start condition is used to determine the data input port of the UUV task block, and the execution end condition is used to determine the data output port of the UUV task block.

4. The method for constructing a UUV mission according to claim 1, characterized in that: The low-code development platform includes: a task application generator and a task executor; The step of constructing the first UUV task according to the first UUV task description file includes: The task application generator compiles the first UUV task description file to obtain a first UUV task construction program, and sends the first UUV task construction program to the task executor; wherein the first UUV task construction program is used to characterize the content of the first UUV task description file; The task executor constructs the first UUV task through the first UUV task construction program.

5. A UUV mission construction device, characterized in that: The device comprises: An acquisition module is used to acquire a UUV task requirement set; the UUV task requirement set includes multiple UUV task requirements, and each UUV task requirement includes multiple UUV behavior requirements and multiple UUV control requirements; A data processing module is used to generate a corresponding UUV behavior node according to each UUV behavior requirement in the multiple UUV behavior requirements; and to generate a corresponding multiple UUV control nodes according to each UUV control requirement in the multiple UUV control requirements; The data processing module is further used to determine the UUV control node corresponding to each UUV behavior node according to a first mapping relationship, and connect each UUV behavior node with the respective corresponding UUV control node, wherein the first mapping relationship is a mapping relationship between a reference UUV behavior node and a reference UUV control node; determine the next UUV control node corresponding to each UUV control node according to a second mapping relationship, and connect each UUV control node with the next UUV control node to obtain a UUV behavior tree corresponding to each UUV task requirement, wherein the second mapping relationship is a mapping relationship between adjacent reference UUV control nodes; The data processing module is also used to generate the corresponding UUV task blocks according to the UUV behavior tree corresponding to each UUV task requirement. Generating UUV task blocks according to the UUV behavior tree is a way to abstract complex logic and automatically generate code or configuration; The data processing module is also used to visually arrange the UUV task blocks corresponding to each UUV task requirement to generate a first UUV task description file, and build the first UUV task according to the first UUV task description file; the first UUV task description file is used to describe the specific content of building the first UUV task; the low-code development platform includes: an extended script library and a block discovery manager; the extended script library obtains at least one script file corresponding to a new UUV task requirement; the script file corresponding to at least one new UUV task requirement is sent to the block discovery manager, so that the block discovery manager generates at least one new UUV task requirement according to the script file corresponding to the at least one new UUV task requirement. A corresponding new UUV task block; obtaining at least one new UUV task block; visually arranging the UUV task block corresponding to each UUV task requirement with at least one new UUV task block to generate a second UUV task description file; constructing a second UUV task according to the second UUV task description file; determining the next UUV task block corresponding to each UUV task block according to a third mapping relationship; connecting each UUV task block with the next UUV task block to obtain the first UUV task description file; wherein the third mapping relationship is a mapping relationship between a reference UUV task block, a data output port of the reference UUV task block, a next data input port, and a next reference UUV task block.

6. A computing device, characterized in that including memory and processor; One or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the computing device executes the method as claimed in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method according to any one of claims 1 to 4.

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