Dropping method and system for unmanned ship-oriented dropping device

Abstract

The invention discloses a launching method and system of a launching device for an unmanned ship, and the method comprises the steps: defining a launching path of the launching device according to a current position of the launching device, a launching region of the launching device and a launching environment, positioning a drop point position of the launching device relative to a water surface along the launching path, and collecting a separation position of the unmanned ship; defining a navigation path of the unmanned ship relative to the water surface according to the separation position of the unmanned ship and the operation position of the unmanned ship; collecting surrounding environment characteristics based on the unmanned ship, and dynamically optimizing the attitude of the unmanned ship based on the surrounding environment characteristics and the navigation path until the unmanned ship is in the operation position; according to the method, the operation information of the unmanned surface vehicle is collected, the work list of the unmanned surface vehicle is defined based on information analysis of the operation information of the unmanned surface vehicle, autonomous operation of the unmanned surface vehicle is triggered for the work list of the unmanned surface vehicle and the operation environment of the unmanned surface vehicle, and autonomous operation and multi-stage protection of the unmanned surface vehicle are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned boats, and in particular to a launching method and system for an unmanned boat launching device. Background Art

[0002] With the development of science and technology, unmanned boats are sailing on the water surface or diving underwater. At this time, when the unmanned boats need to perform remote operations, they need to be transported to the corresponding operating positions by flying vehicles. In the existing technology, the unmanned boats are suspended on the flying vehicles and exposed to the external environment. The unmanned boats are prone to head-on impact with the water surface when dropped by the flying vehicles, and multi-stage protection of the unmanned boats cannot be achieved. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a delivery method and system for a delivery device for an unmanned boat, wherein the unmanned boat is built into the delivery device to collect the operating position of the unmanned boat; collect the current position of the delivery device, and define the delivery area of ​​the delivery device based on the current position of the delivery device and the operating position of the unmanned boat; define the delivery path of the delivery device according to the current position of the delivery device, the delivery area of ​​the delivery device, and the delivery environment, and locate the landing point of the delivery device relative to the water surface along the delivery path, so as to control the delivery of the delivery device, and perform multi-dimensional control based on the current position of the delivery device, the delivery area of ​​the delivery device, and the delivery environment, thereby ensuring the accuracy of the delivery path and the landing point.

[0004] At the same time, based on the comparison between the landing position of the launching device relative to the water surface and the operating position of the unmanned boat, the unmanned boat is triggered to detach from the launching device, and the detachment position of the unmanned boat is collected; the navigation path of the unmanned boat relative to the water surface is defined according to the detachment position of the unmanned boat and the operating position of the unmanned boat; the surrounding environment characteristics are collected based on the unmanned boat, and the posture of the unmanned boat is dynamically optimized based on the surrounding environment characteristics and the navigation path until the unmanned boat is in the operating position; the operating information of the unmanned boat is collected, and the work list of the unmanned boat is defined based on the information analysis of the operating information of the unmanned boat, and the autonomous operation of the unmanned boat is triggered according to the work list of the unmanned boat and the operating environment of the unmanned boat, so as to realize the launching of the launching device, the detachment of the unmanned boat and the autonomous operation of the unmanned boat, ensure the stability of the unmanned boat at each stage, and realize the autonomous operation and multi-stage protection of the unmanned boat to adapt to the compatibility of various environments.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a method for launching a launching device for an unmanned boat, which is applied to the launching scenario of an unmanned boat;

[0006] The method for delivering the delivery device for the unmanned boat comprises:

[0007] The unmanned boat is built into the launching device to collect the operating position of the unmanned boat;

[0008] Collect the current position of the delivery device, and define a delivery area of ​​the delivery device based on the current position of the delivery device and the operating position of the unmanned boat;

[0009] Defining a delivery path of the delivery device according to the current position of the delivery device, the delivery area of ​​the delivery device, and the delivery environment, and locating the landing point of the delivery device relative to the water surface along the delivery path;

[0010] According to the comparison between the landing point of the launching device relative to the water surface and the operating position of the unmanned boat, the unmanned boat is triggered to separate from the launching device, and the separation position of the unmanned boat is collected;

[0011] The navigation path of the unmanned boat relative to the water surface is defined according to the detachment position of the unmanned boat and the operating position of the unmanned boat; surrounding environment characteristics are collected based on the unmanned boat, and the posture of the unmanned boat is dynamically optimized based on the surrounding environment characteristics and the navigation path until the unmanned boat is in the operating position;

[0012] The operation information of the unmanned boat is collected, and a work list of the unmanned boat is defined based on information analysis of the operation information of the unmanned boat, and autonomous operation of the unmanned boat is triggered according to the work list of the unmanned boat and the operation environment of the unmanned boat.

[0013] Optionally, the unmanned boat is built into the launching device, and the operating position of the unmanned boat is collected, including:

[0014] Collect a three-dimensional model of the unmanned boat;

[0015] Define corresponding storage space according to the three-dimensional model of the unmanned boat;

[0016] Mark multiple positioning positions of the three-dimensional model of the unmanned boat;

[0017] Define corresponding positioning spaces according to multiple positioning positions, and associate storage spaces with positioning spaces;

[0018] The corresponding delivery device is matched according to the storage space, the positioning space and the three-dimensional model of the unmanned boat. At this time, the unmanned boat is built into the delivery device;

[0019] The operation signal of the unmanned boat is collected, and the operation position of the unmanned boat is defined according to the signal analysis of the operation signal of the unmanned boat.

[0020] Optionally, collecting the current position of the delivery device and defining a delivery area of ​​the delivery device based on the current position of the delivery device and the operating position of the unmanned boat includes:

[0021] The launching device protects the unmanned boat and adjusts its position in the air driven by the flying tool;

[0022] Collect the horizontal position of the delivery device and the height position of the delivery device relative to the water surface, and construct the current position of the delivery device based on the horizontal position and the height position;

[0023] Collect the operating position of the unmanned boat;

[0024] The current position of the associated delivery device and the operating position of the unmanned boat;

[0025] Defining a first three-dimensional distance based on a comparison between a current position of the launching device and an operating position of the unmanned boat;

[0026] The delivery area of ​​the delivery device is defined according to the deadweight of the delivery device, the first three-dimensional distance and the water surface area.

[0027] Optionally, defining a delivery path of the delivery device according to the current position of the delivery device, the delivery area of ​​the delivery device, and the delivery environment, and locating the landing point of the delivery device relative to the water surface along the delivery path includes:

[0028] The delivery area of ​​the fixed delivery device;

[0029] defining a first delivery sub-path based on a current position of the delivery device and a delivery area of ​​the delivery device;

[0030] Perform environmental detection along the first delivery sub-path and define the corresponding delivery environment;

[0031] Defining a delivery path of the delivery device according to the current position of the delivery device, the delivery area of ​​the delivery device, and the delivery environment;

[0032] The delivery path and the water surface area are associated, a water surface landing node is defined based on the delivery path and the water surface area, and the landing point position of the delivery device relative to the water surface is located according to the water surface landing node.

[0033] Optionally, the method of defining a delivery path of the delivery device according to the current position of the delivery device, the delivery area of ​​the delivery device, and the delivery environment, and locating the landing point of the delivery device relative to the water surface along the delivery path, further includes:

[0034] The delivery path is fixed and multiple landing nodes are marked based on the delivery path;

[0035] The parachute opening time is defined based on the screening of multiple landing nodes, at which time the parachute is connected to the delivery device and is triggered to open;

[0036] The launching device lands safely during the landing process, and the speed of the launching device at the time of entering the water is defined as the safe speed. The time for the parachute to open is calculated as follows:

[0037]

[0038] Where v(t) is the speed of the launch device during the landing process, γ is the air resistance coefficient during the landing process, h(t) is the current height from the sea surface, and v s The parachute opens when the speed of the launching device satisfies the above inequality, which is the safe speed for entering the water.

[0039] Optionally, triggering the unmanned boat to detach from the launching device based on a comparison between the landing point position of the launching device relative to the water surface and the operating position of the unmanned boat, and collecting the detachment position of the unmanned boat, includes:

[0040] Monitor the landing process of the launching device in real time, and collect the relative distance of the launching device to the water surface along the landing direction of the launching device;

[0041] If the relative distance of the launching device to the water surface is lower than the preset distance threshold, the water entry control logic of the launching device is triggered;

[0042] In the water entry control logic, multiple attitude parameters of the launching device relative to the water surface are collected;

[0043] Triggering dynamic regulation of the delivery device according to multiple posture parameters and the preset water entry part of the delivery device to ensure that the preset water entry part of the delivery device stably contacts the water surface and define the landing point position of the delivery device relative to the water surface;

[0044] Compare the landing point of the launch device relative to the water surface and the operating position of the unmanned boat;

[0045] If the position difference between the landing point of the delivery device relative to the water surface and the operating position of the unmanned boat is lower than the preset position difference threshold, the unmanned boat is triggered to detach from the delivery device and the detachment position of the unmanned boat is collected.

[0046] Optionally, defining a navigation path of the unmanned boat relative to the water surface according to the detachment position of the unmanned boat and the operating position of the unmanned boat; collecting surrounding environment characteristics based on the unmanned boat, and dynamically optimizing the posture of the unmanned boat based on the surrounding environment characteristics and the navigation path until the unmanned boat is in the operating position includes:

[0047] According to the water entry control logic, the launch device performs attitude adjustment during the landing process, so that the launch device is head-down at the moment of entering the water to reduce the impact of the water surface; in the process of adjusting the attitude of the launch device, the control algorithm is used to control the three sets of gyro adjustment devices respectively; first, the attitude of the launch device is stabilized, in which the rolling attitude is stabilized, and the controller is as follows:

[0048]

[0049] Among them, Fx is the rolling moment of the launching device, r x is the rolling angular velocity, To control the parameters;

[0050] To stabilize the pitch attitude, the controller is as follows:

[0051]

[0052] Among them, F y is the rolling moment of the launching device, r y is the rolling angular velocity, To control the parameters;

[0053] To stabilize the heading attitude, the controller is as follows:

[0054]

[0055] Among them, F z is the bow moment of the launching device, r z is the heading angular velocity, To control the parameters;

[0056] Secondly, the orientation of the launching device is stably controlled. Since the orientation is only affected by the pitch and heading angles, the pitch angle controller is designed as follows

[0057]

[0058] in is the rolling moment of the launching device, φ y The roll angle is 0 degrees downward To control the parameters;

[0059] The heading angle controller is designed as follows

[0060]

[0061] in, is the bow moment of the launching device, φ z The heading angle is 0 degrees downward. To control the parameters;

[0062] Finally, FX, It is input as control variable into three gyro adjustment devices respectively.

[0063] Optionally, defining a navigation path of the unmanned boat relative to the water surface according to the detachment position of the unmanned boat and the operating position of the unmanned boat; collecting surrounding environment characteristics based on the unmanned boat, and dynamically optimizing the posture of the unmanned boat based on the surrounding environment characteristics and the navigation path until the unmanned boat is in the operating position includes:

[0064] Collect the detachment position of the unmanned boat;

[0065] Associating the detachment position of the unmanned boat and the operating position of the unmanned boat;

[0066] Defining a navigation path of the unmanned boat relative to the water surface according to the detachment position of the unmanned boat and the operating position of the unmanned boat;

[0067] Conduct environmental detection along the navigation path and collect multiple surrounding environmental parameters;

[0068] The surrounding environment characteristics are defined based on multiple surrounding environment parameters. At this time, the surrounding environment characteristics are collected based on the unmanned boat;

[0069] It is related to the surrounding environment characteristics and the navigation path, and builds a posture balance relationship between the surrounding environment characteristics and the navigation path;

[0070] In this posture balance relationship, the posture of the unmanned boat is dynamically optimized based on the surrounding environment characteristics and the navigation path until the unmanned boat is in the operating position;

[0071] After collecting the detachment position of the unmanned boat, the delivery method of the delivery device facing the unmanned boat further includes:

[0072] When the delivery device lands in the designated area, it dives into the water and triggers water absorption based on the sinking and floating control module, so that the density of the delivery device is close to that of the water. At this time, a part of the shell of the delivery device is exposed, and the solar panel works to convert solar energy into electrical energy and store it in the lithium battery. The sinking and floating control algorithm is as follows:

[0073] e c =s 0 -s,

[0074]

[0075] Among them, s 0 is the set sinking depth, s is the current depth, e is c is the depth error, k p , k I , k D is the control parameter, u c It is the control quantity, positive value means water absorption and negative value means water extraction.

[0076] Optionally, the collecting of the operation information of the unmanned boat, defining a work list of the unmanned boat based on information analysis of the operation information of the unmanned boat, and triggering the autonomous operation of the unmanned boat according to the work list of the unmanned boat and the operation environment of the unmanned boat include:

[0077] Collecting the operation information of unmanned boats;

[0078] Divide multiple sub-tasks based on the operation information of the unmanned boat;

[0079] Define a work list of the unmanned boat according to the task priorities and the current working status of the unmanned boat by using multiple sub-tasks;

[0080] A work list associated with the unmanned boat and the operating environment of the unmanned boat;

[0081] Triggering autonomous operation of the unmanned boat based on the work list of the unmanned boat and the operating environment of the unmanned boat;

[0082] Before collecting the operation information of the unmanned boat, the delivery method of the delivery device for the unmanned boat further includes:

[0083] The stable navigation of the launching device on the water surface, the navigation control algorithm is as follows:

[0084] make Then solve the following optimization problem to get u k For control input:

[0085]

[0086] sty(i|k)=f(x(k),u k )

[0087]

[0088] Among them, yr(i) is the set track, is the estimated position, u k is the control input, Y>0 is the weight, f(x(k), u k ) is the dynamic function, w is the forward velocity, v is the lateral velocity, r is the angular velocity, k i , i = 1, 2, 3, 4, 5, 6, 7, 8, are the dynamic model parameters, and the control input u is obtained k Afterwards, it was used as a launching device to control the left and right propellers.

[0089] In addition, an embodiment of the present invention further provides a delivery system for a delivery device for an unmanned boat, the delivery system for a delivery device for an unmanned boat comprising:

[0090] The collection module is used for the unmanned boat to be built into the launching device to collect the operating position of the unmanned boat;

[0091] A delivery area module is used to collect the current position of the delivery device and define the delivery area of ​​the delivery device based on the current position of the delivery device and the operating position of the unmanned boat;

[0092] A positioning module, used to define a delivery path of the delivery device according to the current position of the delivery device, the delivery area of ​​the delivery device, and the delivery environment, and to locate the landing point of the delivery device relative to the water surface along the delivery path;

[0093] A disengagement position module is used to trigger the unmanned boat to disengage from the delivery device according to the comparison between the landing point of the delivery device relative to the water surface and the operating position of the unmanned boat, and collect the disengagement position of the unmanned boat;

[0094] A dynamic optimization module is used to define the navigation path of the unmanned boat relative to the water surface according to the detachment position of the unmanned boat and the operating position of the unmanned boat; collect surrounding environment characteristics based on the unmanned boat, and dynamically optimize the posture of the unmanned boat based on the surrounding environment characteristics and the navigation path until the unmanned boat is in the operating position;

[0095] The autonomous operation module is used to collect the operation information of the unmanned boat, define the work list of the unmanned boat based on the information analysis of the operation information of the unmanned boat, and trigger the autonomous operation of the unmanned boat according to the work list of the unmanned boat and the operating environment of the unmanned boat.

[0096] In an embodiment of the present invention, through the method in the embodiment of the present invention, the unmanned boat is built into the delivery device to collect the operating position of the unmanned boat; the current position of the delivery device is collected, and the delivery area of ​​the delivery device is defined based on the current position of the delivery device and the operating position of the unmanned boat; the delivery path of the delivery device is defined according to the current position of the delivery device, the delivery area of ​​the delivery device, and the delivery environment, and the landing point position of the delivery device relative to the water surface is located along the delivery path, so as to control the delivery of the delivery device, and perform multi-dimensional control based on the current position of the delivery device, the delivery area of ​​the delivery device, and the delivery environment, thereby ensuring the accuracy of the delivery path and the landing point position.

[0097] At the same time, based on the comparison between the landing position of the launching device relative to the water surface and the operating position of the unmanned boat, the unmanned boat is triggered to detach from the launching device, and the detachment position of the unmanned boat is collected; the navigation path of the unmanned boat relative to the water surface is defined according to the detachment position of the unmanned boat and the operating position of the unmanned boat; the surrounding environment characteristics are collected based on the unmanned boat, and the posture of the unmanned boat is dynamically optimized based on the surrounding environment characteristics and the navigation path until the unmanned boat is in the operating position; the operating information of the unmanned boat is collected, and the work list of the unmanned boat is defined based on the information analysis of the operating information of the unmanned boat, and the autonomous operation of the unmanned boat is triggered according to the work list of the unmanned boat and the operating environment of the unmanned boat, so as to realize the launching of the launching device, the detachment of the unmanned boat and the autonomous operation of the unmanned boat, ensure the stability of the unmanned boat at each stage, and realize the autonomous operation and multi-stage protection of the unmanned boat to adapt to the compatibility of various environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0098] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0099] Figure 1 is a flow chart of a method for delivering a delivery device for an unmanned boat in an embodiment of the present invention;

[0100] Figure 2 is a flow chart of S11 in the delivery method of the delivery device for unmanned boats in an embodiment of the present invention;

[0101] Figure 3 is a flow chart of S12 in the method for delivering a delivery device for an unmanned boat in an embodiment of the present invention;

[0102] Figure 4 is a flow chart of S13 in the method for delivering a delivery device for an unmanned boat in an embodiment of the present invention;

[0103] Figure 5 is a flow chart of S14 in the delivery method of the delivery device for the unmanned boat in the embodiment of the present invention;

[0104] Figure 6 is a flow chart of S15 in the method for delivering a delivery device for an unmanned boat in an embodiment of the present invention;

[0105] Figure 7 is a flow chart of S16 in the method for delivering a delivery device for an unmanned boat in an embodiment of the present invention;

[0106] Figure 8 is a schematic diagram of an intelligent collection device in a method for delivering a delivery device for an unmanned boat in an embodiment of the present invention;

[0107] Fig. 9 Schematic diagram of the structure of a delivery system for an unmanned boat delivery device in an embodiment of the present invention;

[0108] Fig.10 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0109] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0110] Method Embodiment

[0111] See also Figures 1 to 10 A method for delivering a delivery device 102 to an unmanned boat 101 is applied to a delivery scene of the unmanned boat 101; a method for delivering a delivery device 102 to an unmanned boat 101 includes:

[0112] Step S11: The unmanned boat 101 is built into the launching device 102, and the operating position of the unmanned boat 101 is collected;

[0113] Step S12: collecting the current position of the delivery device 102, and defining the delivery area of ​​the delivery device 102 based on the current position of the delivery device 102 and the operating position of the unmanned boat 101;

[0114] Step S13: defining a delivery path of the delivery device 102 according to the current position of the delivery device 102, the delivery area of ​​the delivery device 102, and the delivery environment, and locating the landing point of the delivery device 102 relative to the water surface along the delivery path;

[0115] Step S14: triggering the unmanned boat 101 to detach from the launching device 102 based on the comparison between the landing point of the launching device 102 relative to the water surface and the operating position of the unmanned boat 101, and collecting the detachment position of the unmanned boat 101;

[0116] Step S15: defining a navigation path of the unmanned boat 101 relative to the water surface according to the detachment position of the unmanned boat 101 and the operating position of the unmanned boat 101; collecting surrounding environment features based on the unmanned boat 101, and dynamically optimizing the posture of the unmanned boat 101 based on the surrounding environment features and the navigation path until the unmanned boat 101 is in the operating position;

[0117] Step S16: Collect the operation information of the unmanned boat 101, and define the work list of the unmanned boat 101 based on the information analysis of the operation information of the unmanned boat 101, and trigger the autonomous operation of the unmanned boat 101 according to the work list of the unmanned boat 101 and the operation environment of the unmanned boat 101.

[0118] In an embodiment of the present invention, through the method in the embodiment of the present invention, the unmanned boat 101 is built into the delivery device 102, and the operating position of the unmanned boat 101 is collected; the current position of the delivery device 102 is collected, and the delivery area of ​​the delivery device 102 is defined based on the current position of the delivery device 102 and the operating position of the unmanned boat 101; the delivery path of the delivery device 102 is defined according to the current position of the delivery device 102, the delivery area of ​​the delivery device 102, and the delivery environment, and the landing point position of the delivery device 102 relative to the water surface is located along the delivery path, so as to control the delivery of the delivery device 102, and perform multi-dimensional control based on the current position of the delivery device 102, the delivery area of ​​the delivery device 102, and the delivery environment, thereby ensuring the accuracy of the delivery path and the landing point position.

[0119] At the same time, based on the comparison between the landing point of the launching device 102 relative to the water surface and the operating position of the unmanned boat 101, the unmanned boat 101 is triggered to detach from the launching device 102, and the detachment position of the unmanned boat 101 is collected; the navigation path of the unmanned boat 101 relative to the water surface is defined according to the detachment position of the unmanned boat 101 and the operating position of the unmanned boat 101; the surrounding environment characteristics are collected based on the unmanned boat 101, and the posture of the unmanned boat 101 is dynamically optimized based on the surrounding environment characteristics and the navigation path until the unmanned boat 101 is in the operating position; the operating information of the unmanned boat 101 is collected, and the work list of the unmanned boat 101 is defined based on the information analysis of the operating information of the unmanned boat 101, and the autonomous operation of the unmanned boat 101 is triggered according to the work list of the unmanned boat 101 and the operating environment of the unmanned boat 101, so as to realize the launching of the launching device 102, the detachment of the unmanned boat 101 and the autonomous operation of the unmanned boat 101, ensure the stability of the unmanned boat 101 at each stage, and realize the autonomous operation and multi-stage protection of the unmanned boat 101 to adapt to the compatibility of various environments.

[0120] refer to Figure 2 , in step S1 1, the unmanned boat 101 is built into the launching device 102, and the operating position of the unmanned boat 101 is collected;

[0121] In the specific implementation process of the present invention, the specific steps may be:

[0122] S111: Collecting a three-dimensional model of the unmanned boat 101;

[0123] S1 12: defining a corresponding storage space according to the three-dimensional model of the unmanned boat 101;

[0124] S1 13: marking multiple positioning positions of the three-dimensional model of the unmanned boat 101;

[0125] S114: defining corresponding positioning spaces according to the multiple positioning positions, and associating the storage space and the positioning space;

[0126] S115: Matching a corresponding launching device 102 according to the storage space, the positioning space and the three-dimensional model of the unmanned boat 101. At this time, the unmanned boat 101 is built into the launching device 102;

[0127] S116: Collecting the operation signal of the unmanned boat 101 , and defining the operation position of the unmanned boat 101 according to the signal analysis of the operation signal of the unmanned boat 101 .

[0128] In an embodiment of the present application, a three-dimensional model of the unmanned boat 101 is collected, and the three-dimensional model of the unmanned boat 101 is further controlled to facilitate customized storage and management based on the three-dimensional model of the unmanned boat 101, thereby facilitating improving the protection effect of the launching device 102 on the unmanned boat 101.

[0129] At this time, the corresponding storage space is defined according to the three-dimensional model of the unmanned boat 101; multiple positioning positions of the three-dimensional model of the unmanned boat 101 are marked; the corresponding positioning space is defined according to the multiple positioning positions, and the storage space and the positioning space are associated to facilitate the introduction of the storage space and the positioning space, so as to manage the storage space and the positioning space, so as to facilitate the control of multiple temperatures for storage and positioning.

[0130] Furthermore, the corresponding delivery device 102 is matched according to the storage space, positioning space and the three-dimensional model of the unmanned boat 101. At this time, the unmanned boat 101 is built into the delivery device 102 and protected by the delivery device 102. The delivery device 102 is controlled based on the storage space and positioning space to ensure the control of the unmanned boat 101. At the same time, the operation signal of the unmanned boat 101 is collected, and the operation position of the unmanned boat 101 is defined according to the signal analysis of the operation signal of the unmanned boat 101, thereby freezing the operation position of the unmanned boat 101 and introducing the operation position of the unmanned boat 101.

[0131] refer to Figure 3 In step S12, the current position of the delivery device 102 is collected, and the delivery area of ​​the delivery device 102 is defined based on the current position of the delivery device 102 and the operating position of the unmanned boat 101;

[0132] In the specific implementation process of the present invention, the specific steps may be:

[0133] S121: The launching device 102 protects the unmanned boat 101 and adjusts its position in the air driven by the flying tool;

[0134] S122: collecting the horizontal position of the delivery device 102 and the height position of the delivery device 102 relative to the water surface, and constructing the current position of the delivery device 102 based on the horizontal position and the height position;

[0135] S123: collecting the operating position of the unmanned boat 101;

[0136] S124: Associating the current position of the launching device 102 and the operating position of the unmanned boat 101;

[0137] S125: defining a first three-dimensional distance based on a comparison between the current position of the launching device 102 and the operating position of the unmanned boat 101;

[0138] S126: defining a delivery area of ​​the delivery device 102 according to the deadweight of the delivery device 102, the first three-dimensional distance, and the water surface area.

[0139] In an embodiment of the present application, the launching device 102 protects the unmanned boat 101 and adjusts its position in the air driven by the flying vehicle, thereby driving the position adjustment of the launching device 102 through the flying vehicle, so as to facilitate the transfer of the launching device 102 and the unmanned boat 101 built into the launching device 102.

[0140] At this time, the horizontal position of the delivery device 102 and the height position of the delivery device 102 relative to the water surface are collected to introduce the horizontal position and the height position, so as to control the position tracking of the delivery device 102 driven by the flying vehicle, thereby constructing the current position of the delivery device 102 based on the horizontal position and the height position, thereby realizing the control of the current position of the delivery device 102.

[0141] Furthermore, the operating position of the unmanned boat 101 is collected; the current position of the delivery device 102 and the operating position of the unmanned boat 101 are associated to facilitate the management and control of the current position of the delivery device 102 and the operating position of the unmanned boat 101, thereby defining the first three-dimensional distance based on the comparison between the current position of the delivery device 102 and the operating position of the unmanned boat 101.

[0142] Furthermore, the deadweight of the delivery device 102, the first three-dimensional distance and the water surface area are introduced, and the association between the deadweight of the delivery device 102, the first three-dimensional distance and the water surface area is realized, so that the delivery area of ​​the delivery device 102 is defined according to the deadweight of the delivery device 102, the first three-dimensional distance and the water surface area, and control is performed based on multiple dimensions, thereby ensuring the accuracy of the delivery area of ​​the delivery device 102.

[0143] refer to Figure 4 In step S13, a delivery path of the delivery device 102 is defined according to the current position of the delivery device 102, the delivery area of ​​the delivery device 102, and the delivery environment, and the landing point position of the delivery device 102 relative to the water surface is located along the delivery path;

[0144] In the specific implementation process of the present invention, the specific steps may be:

[0145] S131: freeze the delivery area of ​​the delivery device 102;

[0146] S132: defining a first delivery sub-path based on the current position of the delivery device 102 and the delivery area of ​​the delivery device 102;

[0147] S133: Performing environmental detection along the first delivery sub-path and defining a corresponding delivery environment;

[0148] S134: defining a delivery path of the delivery device 102 according to the current position of the delivery device 102, the delivery area of ​​the delivery device 102, and the delivery environment;

[0149] S135: Associating the delivery path and the water surface area, defining a water surface landing node based on the delivery path and the water surface area, and locating the landing point of the delivery device 102 relative to the water surface according to the water surface landing node.

[0150] In an embodiment of the present application, the delivery area of ​​the delivery device 102 is frozen, and the delivery area of ​​the delivery device 102 is controlled, so as to associate the current position of the delivery device 102 and the delivery area of ​​the delivery device 102, so as to define a first delivery sub-path based on the current position of the delivery device 102 and the delivery area of ​​the delivery device 102, thereby introducing the first delivery sub-path and further processing the first delivery sub-path.

[0151] At this time, environmental detection is performed along the first delivery sub-path, and the corresponding delivery environment is defined to facilitate the introduction of the delivery environment, thereby associating the current position of the delivery device 102, the delivery area of ​​the delivery device 102, and the delivery environment, and then defining the delivery path of the delivery device 102 according to the current position of the delivery device 102, the delivery area of ​​the delivery device 102, and the delivery environment, thereby realizing the output of the delivery path of the delivery device 102.

[0152] Furthermore, the delivery path and the water surface area are associated, a water surface landing node is defined based on the delivery path and the water surface area, and the landing point of the delivery device 102 relative to the water surface is located according to the water surface landing node, thereby controlling the landing point of the delivery device 102 relative to the water surface, thereby ensuring the accuracy of the landing point of the delivery device 102 relative to the water surface.

[0153] In addition, the method of defining a delivery path of the delivery device 102 according to the current position of the delivery device 102, the delivery area of ​​the delivery device 102, and the delivery environment, and locating the landing point of the delivery device 102 relative to the water surface along the delivery path also includes:

[0154] The delivery path is fixed and multiple landing nodes are marked based on the delivery path;

[0155] The parachute opening time is defined based on the screening of multiple landing nodes. At this time, the parachute is connected to the delivery device 102 and is triggered to open.

[0156] The launching device 102 lands safely during the landing process, and the speed of the launching device 102 at the time of entering the water is defined as the safe speed. The time for opening the parachute is calculated as follows:

[0157]

[0158] Wherein, v(t) is the speed of the launching device 102 during the landing process, γ is the air resistance coefficient during the landing process, h(t) is the current height from the sea surface, and v s For a safe speed for entering the water, when the speed of the launching device 102 satisfies the above inequality, the parachute opens.

[0159] refer to Figure 5 S14: triggering the unmanned boat 101 to separate from the launching device 102 according to the comparison between the landing point position of the launching device 102 relative to the water surface and the operating position of the unmanned boat 101, and collecting the separation position of the unmanned boat 101;

[0160] In the specific implementation process of the present invention, the specific steps may be:

[0161] S141: monitoring the landing process of the launching device 102 in real time, and collecting the relative distance of the launching device 102 to the water surface along the landing direction of the launching device 102;

[0162] S 142: If the relative distance of the delivery device 102 to the water surface is lower than a preset distance threshold, triggering the water entry control logic of the delivery device 102;

[0163] S 143: In the water entry control logic, collecting multiple attitude parameters of the launching device 102 relative to the water surface;

[0164] S 144: triggering dynamic regulation of the delivery device 102 according to the plurality of posture parameters and the preset water-entering portion of the delivery device 102 to ensure that the preset water-entering portion of the delivery device 102 stably contacts the water surface, and defining a landing point position of the delivery device 102 relative to the water surface;

[0165] S145: Compare the landing position of the launching device 102 relative to the water surface and the operating position of the unmanned boat 101;

[0166] S146: If the position difference between the landing point of the launching device 102 relative to the water surface and the operating position of the unmanned boat 101 is lower than the preset position difference threshold, the unmanned boat 101 is triggered to detach from the launching device 102, and the detachment position of the unmanned boat 101 is collected.

[0167] In an embodiment of the present application, the landing process of the delivery device 102 is monitored in real time, and the relative distance of the delivery device 102 to the water surface is collected along the landing direction of the delivery device 102, so as to control the relative distance of the delivery device 102 to the water surface, and further control the accuracy of the relative distance of the delivery device 102 to the water surface.

[0168] At this time, if the relative distance of the delivery device 102 to the water surface is lower than the preset distance threshold, the water entry control logic of the delivery device 102 is triggered to facilitate control of the water entry control logic. Therefore, in the water entry control logic, multiple posture parameters of the delivery device 102 relative to the water surface are collected to facilitate association of multiple posture parameters and the preset water entry part of the delivery device 102.

[0169] Furthermore, according to multiple posture parameters and the preset water-entering part in the launching device 102, dynamic regulation of the launching device 102 is triggered to ensure that the preset water-entering part in the launching device 102 stably contacts the water surface, and define the landing point position of the launching device 102 relative to the water surface; the landing point position of the launching device 102 relative to the water surface and the operating position of the unmanned boat 101 are compared, so as to define the position difference between the landing point position of the launching device 102 relative to the water surface and the operating position of the unmanned boat 101.

[0170] Therefore, if the position difference between the landing point of the delivery device 102 relative to the water surface and the operating position of the unmanned boat 101 is lower than the preset position difference threshold, the unmanned boat 101 is triggered to detach from the delivery device 102, and the detachment position of the unmanned boat 101 is collected, so as to reasonably arrange the detachment position of the unmanned boat 101, make full use of the navigation of the delivery device 102 on the water surface, complete the overall control of the delivery of the delivery device 102 and the detachment of the unmanned boat 101, and realize intelligent control.

[0171] In addition, the triggering of the unmanned boat 101 to separate from the launching device 102 according to the comparison between the landing position of the launching device 102 relative to the water surface and the operating position of the unmanned boat 101, and collecting the separation position of the unmanned boat 101, further includes:

[0172] According to the water entry control logic, the launching device 102 performs attitude adjustment during the landing process, so that the attitude of the launching device 102 at the time of entering the water is head down to reduce the impact of the water surface; in the process of adjusting the attitude of the launching device 102, the three sets of gyro adjustment devices are controlled respectively by the control algorithm; first, the attitude of the launching device 102 is stabilized, wherein the rolling attitude is stabilized, and the controller is as follows:

[0173]

[0174] Among them, F x is the rolling moment of the launching device 102, r x is the rolling angular velocity, To control the parameters;

[0175] To stabilize the pitch attitude, the controller is as follows:

[0176]

[0177] Among them, F y is the rolling moment of the delivery device 102, r y is the rolling angular velocity, To control the parameters;

[0178] To stabilize the heading attitude, the controller is as follows:

[0179]

[0180] Among them, F z is the bow moment of the launching device 102, r z is the heading angular velocity, To control the parameters;

[0181] Secondly, the orientation of the launching device 102 is stably controlled. Since the orientation is only affected by the pitch and heading angles, the pitch angle controller is designed as follows:

[0182]

[0183] in is the rolling moment of the launching device, φ y The roll angle is 0 degrees downward To control the parameters;

[0184] The heading angle controller is designed as follows

[0185]

[0186] in is the bow moment of the launching device, φ z The heading angle is 0 degrees downward To control the parameters;

[0187] Finally, Fx, It is input as control variable into three gyro adjustment devices respectively.

[0188] refer to Figure 6S15: defining a navigation path of the unmanned boat 101 relative to the water surface according to the detachment position of the unmanned boat 101 and the operating position of the unmanned boat 101; collecting surrounding environment features based on the unmanned boat 101, and dynamically optimizing the posture of the unmanned boat 101 based on the surrounding environment features and the navigation path until the unmanned boat 101 is in the operating position;

[0189] In the specific implementation process of the present invention, the specific steps may be:

[0190] S151: collecting the detachment position of the unmanned boat 101;

[0191] S152: Associating the detachment position of the unmanned boat 101 and the operation position of the unmanned boat 101;

[0192] S153: defining a navigation path of the unmanned boat 101 relative to the water surface according to the detachment position of the unmanned boat 101 and the operating position of the unmanned boat 101;

[0193] S154: Performing environmental detection along the navigation path and collecting multiple surrounding environmental parameters;

[0194] S155: defining surrounding environment characteristics based on multiple surrounding environment parameters. At this time, the surrounding environment characteristics are collected based on the unmanned boat 101;

[0195] S156: associating with surrounding environment characteristics and the navigation path, and establishing a posture balance relationship between the surrounding environment characteristics and the navigation path;

[0196] S157: In this posture balance relationship, the posture of the unmanned boat 101 is dynamically optimized based on the surrounding environment characteristics and the navigation path until the unmanned boat 101 is in the operating position.

[0197] In an embodiment of the present application, the detachment position of the unmanned boat 101 is collected so as to introduce the detachment position of the unmanned boat 101 and the operating position of the unmanned boat 101, thereby associating the detachment position of the unmanned boat 101 and the operating position of the unmanned boat 101.

[0198] At this time, the navigation path of the unmanned boat 101 relative to the water surface is defined according to the detachment position of the unmanned boat 101 and the operating position of the unmanned boat 101, so as to control the navigation path of the unmanned boat 101 relative to the water surface, thereby ensuring the accuracy of the navigation path of the unmanned boat 101 relative to the water surface.

[0199] Furthermore, environmental detection is performed along the navigation path, and multiple surrounding environmental parameters are collected so as to define surrounding environmental characteristics based on the multiple surrounding environmental parameters. At this time, surrounding environmental characteristics are collected based on the unmanned boat 101, thereby introducing surrounding environmental characteristics and the navigation path.

[0200] Therefore, it is associated with the surrounding environment characteristics and the navigation path, and a posture balance relationship is constructed between the surrounding environment characteristics and the navigation path; in this posture balance relationship, the posture of the unmanned boat 101 is dynamically optimized based on the surrounding environment characteristics and the navigation path until the unmanned boat 101 is in the operating position, so as to ensure the dynamic control of the surrounding environment characteristics by the unmanned boat 101 during surface navigation, and realize the balance adjustment of the posture, so as to dynamically optimize the posture of the unmanned boat 101 based on the surrounding environment characteristics and the navigation path until the unmanned boat 101 is in the operating position.

[0201] In addition, after collecting the detached position of the unmanned boat 101, the delivery method of the delivery device 102 facing the unmanned boat 101 further includes:

[0202] When the delivery device 102 lands in the designated area, it dives into the water and triggers water absorption based on the sinking and floating control module, so that the density of the delivery device 102 is close to that of the water. At this time, a part of the shell of the delivery device 102 is exposed, and the solar panel works to convert solar energy into electrical energy and store it in the lithium battery. The sinking and floating control algorithm is as follows:

[0203] e c =s 0 -s,

[0204]

[0205] Among them, s 0 is the set sinking depth, s is the current depth, e is c is the depth error, k p , k I , k D is the control parameter, u c It is the control quantity, positive value means water absorption and negative value means water extraction.

[0206] refer to Figure 7 S16: collecting operation information of the unmanned boat 101, defining a work list of the unmanned boat 101 based on information analysis of the operation information of the unmanned boat 101, and triggering autonomous operation of the unmanned boat 101 according to the work list of the unmanned boat 101 and the operation environment of the unmanned boat 101;

[0207] In the specific implementation process of the present invention, the specific steps may be:

[0208] S161: Collecting operation information of the unmanned boat 101;

[0209] S162: Divide the operation information of the unmanned boat 101 into multiple sub-tasks;

[0210] S163: defining a work list of the unmanned boat 101 according to the task priorities and the current working status of the unmanned boat 101 by using the multiple sub-work tasks;

[0211] S164: Associating the work list of the unmanned boat 101 and the operation environment of the unmanned boat 101;

[0212] S165: Triggering autonomous operation of the unmanned boat 101 based on the work list of the unmanned boat 101 and the operating environment of the unmanned boat 101.

[0213] In the specific implementation process of the present invention, the unmanned boat 101 is triggered to detach from the launching device 102 according to the comparison between the landing point position of the launching device 102 relative to the water surface and the operating position of the unmanned boat 101, and the detachment position of the unmanned boat 101 is collected; the navigation path of the unmanned boat 101 relative to the water surface is defined according to the detachment position of the unmanned boat 101 and the operating position of the unmanned boat 101; the surrounding environment characteristics are collected based on the unmanned boat 101, and the posture of the unmanned boat 101 is dynamically optimized based on the surrounding environment characteristics and the navigation path until the unmanned boat 101 is in the operating position. collecting the operating information of the unmanned boat 101, defining the work list of the unmanned boat 101 based on the information analysis of the operating information of the unmanned boat 101, and triggering the autonomous operation of the unmanned boat 101 according to the work list of the unmanned boat 101 and the operating environment of the unmanned boat 101, so as to realize the launching of the launching device 102, the detachment of the unmanned boat 101 and the autonomous operation of the unmanned boat 101, ensure the stability of the unmanned boat 101 at each stage, and realize the autonomous operation and multi-stage protection of the unmanned boat 101 to adapt to the compatibility of various environments.

[0214] At this time, the operation information of the unmanned boat 101 is collected; multiple sub-work tasks are divided based on the operation information of the unmanned boat 101 to facilitate the management and control of the multiple sub-work tasks, thereby defining the work list of the unmanned boat 101 according to the task priority and the current working status of the unmanned boat 101, thereby freezing the work list of the unmanned boat 101 and ensuring the management and control of the work list of the unmanned boat 101.

[0215] Therefore, the work list of the unmanned boat 101 and the operating environment of the unmanned boat 101 are associated; the autonomous operation of the unmanned boat 101 is triggered according to the work list of the unmanned boat 101 and the operating environment of the unmanned boat 101, so as to realize the deployment of the deployment device 102, the detachment of the unmanned boat 101 and the autonomous operation of the unmanned boat 101, thereby ensuring the stability of the unmanned boat 101 at each stage, and realizing the autonomous operation and multi-stage protection of the unmanned boat 101 to adapt to the compatibility of various environments.

[0216] In addition, before collecting the operation information of the unmanned boat 101, the delivery method of the delivery device 102 facing the unmanned boat 101 also includes:

[0217] The stable navigation of the launching device 102 on the water surface, the navigation control algorithm is as follows:

[0218] make Then solve the following optimization problem to get u k For control input:

[0219]

[0220] sty(i|k)=f(x(k),u k )

[0221]

[0222] Among them, y r (i) To set the track, is the estimated position, u k is the control input, Y>0 is the weight, f(x(k), u k ) is the dynamic function, w is the forward velocity, v is the lateral velocity, r is the angular velocity, k i , i = 1, 2, 3, 4, 5, 6, 7, 8, are the dynamic model parameters, and the control input u is obtained k Afterwards, it is used as a launching device 102 to control the left and right propellers.

[0223] Specific:

[0224] The unmanned boat 101 is loaded in the launching device 102; the launching device 102 includes a shell, a power module 202, an energy module 203, a communication module 204, a sensing module 205, a control module 206, a sinking and floating module 207, and a separation module 208, wherein the energy module 203, the communication module 204, the sensing module 205, the control module 206, the sinking and floating module 207, and the separation module 208 are arranged inside the shell, and the power module 202 is installed outside the tail end of the shell;

[0225] The front end of the shell is cone-shaped and the rear end is cylindrical. It is made of high-strength composite material and is axially symmetrical as a whole. It can be divided into two symmetrical pieces. One side of the two pieces is connected by a hinge, and a silicone skin is connected to the joint to bond the gap between the two pieces. A silicone pad is installed on the edge of the other side. By locking the two pieces, the silicone pad can be squeezed to achieve overall waterproofing inside the shell cavity.

[0226] The power module 202 is divided into two motors and two propellers. The motors are internally driven, and the control cables are connected to the controller inside through the outer shell. The propellers are placed on the output shafts of the motors. The left and right motors can realize the steering of the delivery device 102 through the differential speed. The two motors jointly propel the delivery device 102 forward and backward.

[0227] The control module 206 includes a power module, a processor, and a peripheral circuit, which are all integrated on a circuit board of the control module 206. The power module provides accurate and clean power to the control module 206, the processor processes and controls data of other system modules, and the peripheral circuit is connected with other system modules to realize data transmission and control;

[0228] The control system is connected to the power system, communication system, perception system, sinking and floating system, and detachment system through wired connections, and is connected to the delivery shell through wireless connections. It can receive control instructions from the unmanned boat 101 device through the communication module 204, and then control the power module 202 to move to the specified position. At the same time, the data of the perception module 205 is sent to the control system of the unmanned boat 101 device to continuously correct the motion trajectory and the moving target to reach the target position, control the sinking and floating module 207 to rise to a certain water level, and control the detachment module 208 to detach the unmanned boat 101 from the delivery device 102, and then the unmanned boat 101 floats on the water and quickly maneuvers to perform the task.

[0229] The energy module 203 includes a solar panel, a lithium storage battery and a power management board. The solar panel is laid on the upper surface of the outer shell, which can absorb solar energy and charge the lithium battery. The lithium battery absorbs the electricity from the solar panel and provides stable electricity to other components at the same time. The power management board realizes power management for the stable operation of the entire unmanned boat 101 device.

[0230] The communication module 204 includes a radio and a communication antenna. The radio is placed inside the shell and can use different methods such as Bluetooth, WIFI, LORA, satellite communication, etc. to process the received and sent data to communicate with the control personnel, obtain the key position and motion status information of the unmanned boat 101 device for control, and the communication antenna is placed on the upper surface of the shell to send and receive communication data.

[0231] The perception module 205 includes an inertial navigation module, a GNSS module, a water immersion monitoring module, a radar and an optoelectronic module. The inertial navigation module is installed inside the shell to detect the current attitude angle of the delivery device 102, the GNSS module is installed inside the shell to obtain the current position information of the delivery device 102, and the water immersion is installed outside the shell to detect whether it enters the water. The radar and optoelectronic modules are installed on the front side of the unmanned boat device to obtain the surrounding environment information.

[0232] The sinking and floating module 207 includes a water storage tank and a water pump, wherein the water storage tank is placed inside the shell and is a soft structure, one end of the water pump is connected to the outside through the shell, and the other end is connected to the water tank, and the water pump can drain water from the water tank to the outside, and can also pump water from the outside into the water tank. By controlling the volume of the liquid in the water tank, the sinking and floating control of the delivery device 102 on the water surface is achieved.

[0233] The disengagement module 208 includes a plurality of fixings, latches and servos. The latches are used to clamp the fixings of the outer shell, thereby fixing the two shells and the unmanned boat 101. The servos are used to control the angle of the latches so that the latches are disengaged from the fixings, the two shells are opened, and the unmanned boat 101 is released.

[0234] In an embodiment of the present invention, through the method in the embodiment of the present invention, the unmanned boat 101 is built into the delivery device 102, and the operating position of the unmanned boat 101 is collected; the current position of the delivery device 102 is collected, and the delivery area of ​​the delivery device 102 is defined based on the current position of the delivery device 102 and the operating position of the unmanned boat 101; the delivery path of the delivery device 102 is defined according to the current position of the delivery device 102, the delivery area of ​​the delivery device 102, and the delivery environment, and the landing point position of the delivery device 102 relative to the water surface is located along the delivery path, so as to control the delivery of the delivery device 102, and perform multi-dimensional control based on the current position of the delivery device 102, the delivery area of ​​the delivery device 102, and the delivery environment, thereby ensuring the accuracy of the delivery path and the landing point position.

[0235] At the same time, based on the comparison between the landing point of the launching device 102 relative to the water surface and the operating position of the unmanned boat 101, the unmanned boat 101 is triggered to detach from the launching device 102, and the detachment position of the unmanned boat 101 is collected; the navigation path of the unmanned boat 101 relative to the water surface is defined according to the detachment position of the unmanned boat 101 and the operating position of the unmanned boat 101; the surrounding environment characteristics are collected based on the unmanned boat 101, and the posture of the unmanned boat 101 is dynamically optimized based on the surrounding environment characteristics and the navigation path until the unmanned boat 101 is in the operating position; the operating information of the unmanned boat 101 is collected, and the work list of the unmanned boat 101 is defined based on the information analysis of the operating information of the unmanned boat 101, and the autonomous operation of the unmanned boat 101 is triggered according to the work list of the unmanned boat 101 and the operating environment of the unmanned boat 101, so as to realize the launching of the launching device 102, the detachment of the unmanned boat 101 and the autonomous operation of the unmanned boat 101, ensure the stability of the unmanned boat 101 at each stage, and realize the autonomous operation and multi-stage protection of the unmanned boat 101 to adapt to the compatibility of various environments.

[0236] System Example

[0237] See also Fig. 9 , Fig. 9 It is a schematic diagram of the structural composition of the launching system of the launching device 102 for the unmanned boat 101 in an embodiment of the present invention.

[0238] like Fig. 9 As shown, a delivery system for a delivery device 102 for an unmanned boat 101, the delivery system for a delivery device 102 for an unmanned boat 101 comprises:

[0239] The collection module 21 is used when the unmanned boat 101 is built into the launching device 102 to collect the operating position of the unmanned boat 101;

[0240] The delivery area module 22 is used to collect the current position of the delivery device 102 and define the delivery area of ​​the delivery device 102 based on the current position of the delivery device 102 and the operating position of the unmanned boat 101;

[0241] The positioning module 23 is used to define the delivery path of the delivery device 102 according to the current position of the delivery device 102, the delivery area of ​​the delivery device 102, and the delivery environment, and locate the landing point of the delivery device 102 relative to the water surface along the delivery path;

[0242] The separation position module 24 is used to trigger the unmanned boat 101 to separate from the launching device 102 according to the comparison between the landing point position of the launching device 102 relative to the water surface and the operating position of the unmanned boat 101, and collect the separation position of the unmanned boat 101;

[0243] The dynamic optimization module 25 is used to define the navigation path of the unmanned boat 101 relative to the water surface according to the detachment position of the unmanned boat 101 and the operating position of the unmanned boat 101; collect the surrounding environment characteristics based on the unmanned boat 101, and dynamically optimize the posture of the unmanned boat 101 based on the surrounding environment characteristics and the navigation path until the unmanned boat 101 is in the operating position;

[0244] The autonomous operation module 26 is used to collect the operation information of the unmanned boat 101, define the work list of the unmanned boat 101 based on the information analysis of the operation information of the unmanned boat 101, and trigger the autonomous operation of the unmanned boat 101 according to the work list of the unmanned boat 101 and the operating environment of the unmanned boat 101.

[0245] Example

[0246] See also Fig.10 , refer to the following Fig.10 The electronic device 40 according to this embodiment of the present invention will be described. Fig.10 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0247] like Fig.10 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0248] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0249] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0250] The storage unit 42 may also include a program / utility 424 having a set (at least one) of autonomous operating modules 425, such autonomous operating modules 425 including but not limited to: an operating system, one or more application programs, other autonomous operating modules, and program data, each of which or some combination may include the implementation of a network environment.

[0251] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0252] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 45. Fig.10 As shown, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Fig.10 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0253] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0254] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0255] In addition, the above provides a detailed introduction to the delivery method and system of the delivery device 102 for the unmanned boat 101 provided in the embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for launching a launching device for an unmanned boat, characterized in that: Applied to the deployment scenario of unmanned boats; The method for delivering the delivery device for the unmanned boat comprises: The unmanned boat is built into the launching device to collect the operating position of the unmanned boat; Collecting the current position of the delivery device, and determining the delivery area of ​​the delivery device based on the current position of the delivery device and the operating position of the unmanned boat; Defining a delivery path of the delivery device according to the current position of the delivery device, the delivery area of ​​the delivery device, and the delivery environment, and locating the landing point of the delivery device relative to the water surface along the delivery path; According to the comparison between the landing point of the launching device relative to the water surface and the operating position of the unmanned boat, the unmanned boat is triggered to separate from the launching device, and the separation position of the unmanned boat is collected; The navigation path of the unmanned boat relative to the water surface is defined according to the detachment position of the unmanned boat and the operating position of the unmanned boat; surrounding environment characteristics are collected based on the unmanned boat, and the posture of the unmanned boat is dynamically optimized based on the surrounding environment characteristics and the navigation path until the unmanned boat is in the operating position; The operation information of the unmanned boat is collected, and a work list of the unmanned boat is defined based on information analysis of the operation information of the unmanned boat, and autonomous operation of the unmanned boat is triggered according to the work list of the unmanned boat and the operation environment of the unmanned boat.

2. The method for launching a launching device for an unmanned boat according to claim 1, characterized in that: The unmanned boat is built into the launching device, and the operating position of the unmanned boat is collected, including: Collect a three-dimensional model of the unmanned boat; Define corresponding storage space according to the three-dimensional model of the unmanned boat; Mark multiple positioning positions of the three-dimensional model of the unmanned boat; Define corresponding positioning spaces according to multiple positioning positions, and associate storage spaces with positioning spaces; The corresponding delivery device is matched according to the storage space, the positioning space and the three-dimensional model of the unmanned boat. At this time, the unmanned boat is built into the delivery device; The operation signal of the unmanned boat is collected, and the operation position of the unmanned boat is defined according to the signal analysis of the operation signal of the unmanned boat.

3. The method for launching a launching device for an unmanned boat according to claim 2, characterized in that: The collecting the current position of the delivery device and determining the delivery area of ​​the delivery device based on the current position of the delivery device and the operation position of the unmanned boat include: The launching device protects the unmanned boat and adjusts its position in the air driven by the flying tool; Collect the horizontal position of the delivery device and the height position of the delivery device relative to the water surface, and construct the current position of the delivery device based on the horizontal position and the height position; Collect the operating position of the unmanned boat; The current position of the associated delivery device and the operating position of the unmanned boat; Defining a first three-dimensional distance based on a comparison between a current position of the launching device and an operating position of the unmanned boat; The delivery area of ​​the delivery device is determined according to the deadweight of the delivery device, the first three-dimensional distance and the water surface area.

4. The method for launching a launching device for an unmanned boat according to claim 1, characterized in that: The method of defining a delivery path of the delivery device according to the current position of the delivery device, the delivery area of ​​the delivery device, and the delivery environment, and locating the landing point of the delivery device relative to the water surface along the delivery path, includes: The delivery area of ​​the fixed delivery device; defining a first delivery sub-path based on a current position of the delivery device and a delivery area of ​​the delivery device; Perform environmental detection along the first delivery sub-path and define the corresponding delivery environment; Defining a delivery path of the delivery device according to the current position of the delivery device, the delivery area of ​​the delivery device, and the delivery environment; The delivery path and the water surface area are associated, a water surface landing node is defined based on the delivery path and the water surface area, and the landing point position of the delivery device relative to the water surface is located according to the water surface landing node.

5. The method for launching a launching device for an unmanned boat according to claim 4, characterized in that: The method further includes defining a delivery path of the delivery device according to the current position of the delivery device, the delivery area of ​​the delivery device, and the delivery environment, and locating the landing point of the delivery device relative to the water surface along the delivery path. The delivery path is fixed and multiple landing nodes are marked based on the delivery path; The parachute opening time is defined based on the screening of multiple landing nodes, at which time the parachute is connected to the delivery device and is triggered to open; The launching device lands safely during the landing process, and the speed of the launching device at the time of entering the water is defined as the safe speed. The time for the parachute to open is calculated as follows: Where v(t) is the speed of the launch device during the landing process, γ is the air resistance coefficient during the landing process, h(t) is the current height from the sea surface, and v s The parachute opens when the speed of the launching device satisfies the above inequality, which is the safe speed for entering the water.

6. The method for launching a launching device for an unmanned boat according to claim 5, characterized in that: The triggering of the unmanned boat to separate from the launching device according to the comparison between the landing point position of the launching device relative to the water surface and the operating position of the unmanned boat, and collecting the separation position of the unmanned boat, comprises: Monitor the landing process of the launching device in real time, and collect the relative distance of the launching device to the water surface along the landing direction of the launching device; If the relative distance of the launching device to the water surface is lower than the preset distance threshold, the water entry control logic of the launching device is triggered; In the water entry control logic, multiple attitude parameters of the launching device relative to the water surface are collected; Triggering dynamic regulation of the delivery device according to multiple posture parameters and the preset water entry part of the delivery device to ensure that the preset water entry part of the delivery device stably contacts the water surface and define the landing point position of the delivery device relative to the water surface; Compare the landing point of the launch device relative to the water surface and the operating position of the unmanned boat; If the position difference between the landing point of the delivery device relative to the water surface and the operating position of the unmanned boat is lower than the preset position difference threshold, the unmanned boat is triggered to detach from the delivery device and the detachment position of the unmanned boat is collected.

7. The method for launching a launching device for an unmanned boat according to claim 6, characterized in that: The triggering of the unmanned boat to separate from the launching device according to the comparison between the landing point position of the launching device relative to the water surface and the operating position of the unmanned boat, and collecting the separation position of the unmanned boat, further includes: According to the water entry control logic, the launch device performs attitude adjustment during the landing process, so that the launch device is head-down at the moment of entering the water to reduce the impact of the water surface; in the process of adjusting the attitude of the launch device, the control algorithm is used to control the three sets of gyro adjustment devices respectively; first, the attitude of the launch device is stabilized, in which the rolling attitude is stabilized, and the controller is as follows: Among them, F x is the rolling moment of the launching device, r x is the rolling angular velocity, To control the parameters; To stabilize the pitch attitude, the controller is as follows: Among them, F y is the rolling moment of the launching device, r y is the rolling angular velocity, To control the parameters; To stabilize the heading attitude, the controller is as follows: Among them, F z is the bow moment of the launching device, r z is the heading angular velocity, To control the parameters; Secondly, the orientation of the launching device is stably controlled. Since the orientation is only affected by the pitch and heading angles, the pitch angle controller is designed as follows in, is the rolling moment of the launching device, φ y The roll angle is 0 degrees downward To control the parameters; The heading angle controller is designed as follows in, is the bow moment of the launching device, φ z The heading angle is 0 degrees downward. To control the parameters; Finally, F x , It is input as control variable into three gyro adjustment devices respectively.

8. The method for launching a launching device for an unmanned boat according to claim 7, characterized in that: The step of defining the navigation path of the unmanned boat relative to the water surface according to the detachment position of the unmanned boat and the operating position of the unmanned boat; Based on the collection of surrounding environment features by the unmanned boat, the posture of the unmanned boat is dynamically optimized based on the surrounding environment features and the navigation path until the unmanned boat is in the operating position, including: Collect the detachment position of the unmanned boat; Associating the detachment position of the unmanned boat and the operating position of the unmanned boat; Defining a navigation path of the unmanned boat relative to the water surface according to the detachment position of the unmanned boat and the operating position of the unmanned boat; Conduct environmental detection along the navigation path and collect multiple surrounding environmental parameters; The surrounding environment characteristics are defined based on multiple surrounding environment parameters. At this time, the surrounding environment characteristics are collected based on the unmanned boat; It is related to the surrounding environment characteristics and the navigation path, and builds a posture balance relationship between the surrounding environment characteristics and the navigation path; In this posture balance relationship, the posture of the unmanned boat is dynamically optimized based on the surrounding environment characteristics and the navigation path until the unmanned boat is in the operating position; After collecting the detachment position of the unmanned boat, the delivery method of the delivery device facing the unmanned boat further includes: When the delivery device lands in the designated area, it dives into the water and triggers water absorption based on the sinking and floating control module, so that the density of the delivery device is close to that of the water. At this time, a part of the shell of the delivery device is exposed, and the solar panel works to convert solar energy into electrical energy and store it in the lithium battery. The sinking and floating control algorithm is as follows: e c =s0-s, Among them, s0 is the set sinking depth, s is the current depth, e is the c is the depth error, k p , k I , k D is the control parameter, u c It is the control quantity, positive value means water absorption and negative value means water extraction.

9. The method for launching a launching device for an unmanned boat according to claim 8, characterized in that: The collecting of the operation information of the unmanned boat, defining a work list of the unmanned boat based on information analysis of the operation information of the unmanned boat, and triggering the autonomous operation of the unmanned boat according to the work list of the unmanned boat and the operation environment of the unmanned boat include: Collecting the operation information of unmanned boats; Divide multiple sub-tasks based on the operation information of the unmanned boat; Define a work list of the unmanned boat according to the task priorities and the current working status of the unmanned boat by using multiple sub-tasks; A work list associated with the unmanned boat and the operating environment of the unmanned boat; Triggering autonomous operation of the unmanned boat based on the work list of the unmanned boat and the operating environment of the unmanned boat; Before collecting the operation information of the unmanned boat, the delivery method of the delivery device for the unmanned boat further includes: The stable navigation of the launching device on the water surface, the navigation control algorithm is as follows: make Then solve the following optimization problem to get u k For control input: s.t.y(i|k)=f(x(k),u k ) Among them, yr(i) is the set track, is the estimated position, uk is the control input, Y>0 is the weight, f(x(k), u k ) is the dynamic function, w is the forward velocity, v is the lateral velocity, r is the angular velocity, k i , i = 1, 2, 3, 4, 5, 6, 7, 8, are the dynamic model parameters, and the control input u is obtained k Afterwards, it was used as a launching device to control the left and right propellers.

10. A delivery system for a delivery device for an unmanned boat, characterized in that: The delivery system of the delivery device for unmanned boats is applied to the delivery method of the delivery device for unmanned boats as claimed in any one of claims 1 to 9, and the delivery system of the delivery device for unmanned boats comprises: The collection module is used for the unmanned boat to be built into the launching device to collect the operating position of the unmanned boat; A delivery area module is used to collect the current position of the delivery device and define the delivery area of ​​the delivery device based on the current position of the delivery device and the operating position of the unmanned boat; A positioning module, used to define a delivery path of the delivery device according to the current position of the delivery device, the delivery area of ​​the delivery device, and the delivery environment, and to locate the landing point of the delivery device relative to the water surface along the delivery path; A disengagement position module is used to trigger the unmanned boat to disengage from the delivery device according to the comparison between the landing point of the delivery device relative to the water surface and the operating position of the unmanned boat, and collect the disengagement position of the unmanned boat; A dynamic optimization module is used to define the navigation path of the unmanned boat relative to the water surface according to the detachment position of the unmanned boat and the operating position of the unmanned boat; collect surrounding environment characteristics based on the unmanned boat, and dynamically optimize the posture of the unmanned boat based on the surrounding environment characteristics and the navigation path until the unmanned boat is in the operating position; The autonomous operation module is used to collect the operation information of the unmanned boat, define the work list of the unmanned boat based on the information analysis of the operation information of the unmanned boat, and trigger the autonomous operation of the unmanned boat according to the work list of the unmanned boat and the operating environment of the unmanned boat.

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