Method, device and equipment for determining route of unmanned ship

Abstract

The invention provides a method, a device and equipment for determining a route of an unmanned ship, and relates to the field of route planning of the unmanned ship. The method for determining the route of the unmanned ship comprises the following steps: acquiring a navigation range, starting point position information and terminal point position information of the unmanned ship; determining a global grid map according to the navigation range of the unmanned ship; determining at least one local encrypted grid map in the global grid map; and according to the starting point position information, the terminal point position information, the global grid map and the local encrypted grid map, determining a target route of the unmanned ship. According to the scheme of the invention, rapid route planning of the unmanned ship on different grid maps is realized, through encryption processing of the local area, the features of the local water area can be better reflected, meanwhile, the number of grids is effectively reduced, and the route planning efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned boat route planning, and in particular to a method, device and equipment for determining an unmanned boat route. Background Art

[0002] Route planning is the first step for unmanned boats to perform navigation tasks. Through the route planning algorithm, finding a route with the shortest distance and safe navigation on the map is the key to completing the task. When the starting point and the end point of the unmanned boat are very far apart, or the type of water area is complex, it is necessary to establish a high-precision grid map for the local area to meet the basic needs of planning. For example, an unmanned boat departs from a port and passes through the open sea to reach another port. Since the port waters are very narrow, if a larger grid is used, it is impossible to plan a route. Therefore, it is necessary to establish a high-precision grid map to search for the route. In the open sea waters, a low-precision grid map can be established to reduce the number of grids to increase the speed of path search and save time for route planning. This requires considering the route planning problem with the starting point and the end point on different grid maps. The existing search algorithms used for path planning and map search, such as the A* search algorithm (heuristic algorithm), can only search on a single grid map, and cannot simultaneously search on multiple different maps to realize the planning of the route of the unmanned boat. Summary of the invention

[0003] The present invention provides a method, device and equipment for determining the route of an unmanned boat, which solves the problem that in the existing unmanned boat route planning, when the starting point, end point or navigation route of the unmanned boat passes through multiple different grid maps, the route of the unmanned boat cannot be accurately planned.

[0004] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0005] An embodiment of the present invention provides a method for determining a route of an unmanned boat, comprising:

[0006] Obtain the navigation range, starting point location information and end point location information of the unmanned boat;

[0007] Determine the global grid map according to the navigation range of the unmanned boat;

[0008] Determining at least one local encrypted grid map within the global grid map;

[0009] The target route of the unmanned boat is determined based on the starting point location information, the end point location information, the global grid map and the local encrypted grid map.

[0010] Optionally, a global grid map is determined according to the navigation range of the unmanned boat, including:

[0011] According to the navigation range of the unmanned boat, determine the reference point, height, width and initial environment information of the global grid map;

[0012] Determine the number of global grids of the global grid map according to the reference point, height, width of the global grid map and the preset size of the global grid;

[0013] Based on the number of global grids of the global grid map, initializing the data container of the global grid map to determine a first blank grid map;

[0014] The environmental information is projected into a first blank grid map, and all grids of the projected first blank grid map are assigned values ​​to obtain a global grid map.

[0015] Optionally, within the global grid map, determining at least one local encrypted grid map includes:

[0016] Determining preliminary range information of at least one local encrypted grid map according to the difference area between the global grid map and the actual satellite map;

[0017] Determining the area range of the local encrypted grid map according to the preliminary range information and the preset size of the global grid;

[0018] Determine the encrypted grid size of the local encrypted grid map according to the preset size of the global grid and the area range of the local encrypted grid map;

[0019] Determine the number of encrypted grids of the local encrypted grid map according to the area range and the size of the encrypted grids of the local encrypted grid map;

[0020] Based on the number of encrypted grids, initializing the data container of the local encrypted grid map to determine a second blank grid map;

[0021] The environmental information is projected into a second blank grid map, and all grids of the projected second blank grid map are assigned values ​​to obtain a local encrypted grid map.

[0022] Optionally, determining the area range of the local encrypted grid map according to the preliminary range information and a preset size of the global grid includes:

[0023] According to the preliminary range information and the preset size of the global grid, taking the global grid boundary line of the global grid map as a reference, in the global grid map, the smallest global grid area surrounding the preliminary range information is determined as the core area of ​​the local encrypted grid map;

[0024] Taking the global grid boundary line of the global grid map as a reference, in the global grid map, the smallest global grid area surrounding the core area is determined as a transition area of ​​the local encrypted grid map;

[0025] The area range of the local encrypted grid map is determined according to the core area and the transition area.

[0026] Optionally, the target route of the unmanned boat is determined according to the starting point location information, the end point location information, the global grid map and the local encrypted grid map, including:

[0027] Marking the transition areas of all local encrypted grid maps to generate marked transition areas;

[0028] According to the starting point position information, determining a first initial starting point position of the unmanned boat and a type of a current grid map where the first initial starting point position is located, wherein the type of the current grid map includes: a global grid map and a local encrypted grid map;

[0029] Searching the grids of the current grid map, when a marked transition area is detected, switching the current grid map according to the type of the current grid map and / or the mark of the marked transition area, and continuing the search until the end position is detected, and outputting the first search route information corresponding to each grid map in the search process;

[0030] All the first search route information is smoothed and pruned to determine the target route of the unmanned boat.

[0031] Optionally, determining the first initial starting position of the unmanned boat and the type of the current grid map where the first initial starting position is located according to the starting position information includes:

[0032] Determine the first position information of the unmanned boat in the global grid map according to the starting position information of the unmanned boat;

[0033] Determine the second position information corresponding to the unmanned boat in each local encrypted grid map according to the starting position information of the unmanned boat;

[0034] Determine whether the second position information is within the area of ​​the corresponding local encrypted grid map. If it is within the area of ​​the corresponding local encrypted grid map, output the second position information as the first initial starting point position, and determine the type of the current grid map as a local encrypted grid map;

[0035] If it is not within the area of ​​the corresponding local encrypted grid map, the first position information is output as the first initial starting point position, and the type of the current grid map is determined to be a global grid map.

[0036] Optionally, when a marked transition area is detected, the current grid map is switched according to the type of the current grid map and the mark of the marked transition area, including:

[0037] When a marked over-region is detected and the type of the current grid map is a global grid map, switch to the corresponding local encrypted grid map according to the mark of the marked over-region;

[0038] When an over-marked area is detected and the current grid map type is a local encrypted grid map, it is directly switched to the global grid map.

[0039] Optionally, all first search route information is smoothed and pruned to determine the target route of the unmanned boat, including:

[0040] All first search route information are smoothed and pruned to determine the first route of the unmanned boat;

[0041] Determine, according to the terminal position information, a second initial starting position of the unmanned boat and a type of the current grid map where the second initial starting position is located;

[0042] Searching the grids of the current grid map, when a marked transition area is detected, switching the current grid map according to the type of the current grid map and the mark of the marked transition area, and continuing the search until the starting point is detected, and outputting the second search route information corresponding to each grid map in the search process;

[0043] All the second search route information is smoothed and pruned to determine the second route of the unmanned boat;

[0044] The first route and the second route are compared and processed, and the shortest route is output as the target route of the unmanned boat.

[0045] An embodiment of the present invention further provides a device for determining a route of an unmanned boat, comprising:

[0046] An acquisition module is used to obtain the navigation range, starting point location information and end point location information of the unmanned boat;

[0047] The processing module is used to determine a global grid map according to the navigation range of the unmanned boat; determine at least one local encrypted grid map in the global grid map; and determine the target route of the unmanned boat according to the starting position information, the end position information, the global grid map and the local encrypted grid map.

[0048] An embodiment of the present invention further provides a computing device, comprising: a processor and a memory storing a computer program, wherein when the computer program is executed by the processor, the above-mentioned map generation method is executed.

[0049] The above solution of the present invention includes at least the following beneficial effects:

[0050] The method for determining the route of an unmanned boat of the present invention obtains the navigation range, starting point location information and terminal point location information of the unmanned boat; determines a global grid map according to the navigation range of the unmanned boat; determines at least one local encrypted grid map in the global grid map; determines the target route of the unmanned boat according to the starting point location information, the terminal point location information, the global grid map and the local encrypted grid map. Rapid planning of routes of unmanned boats on different grid maps is achieved, and the characteristics of local waters can be better reflected by encrypting the local area, while effectively reducing the number of grids and improving the efficiency of route planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic flow chart of a method for determining a route of an unmanned boat of the present invention;

[0052] Figure 2 It is a schematic diagram of a global grid map and a local encrypted grid map of the method for determining the route of an unmanned boat of the present invention;

[0053] Figure 3 It is a schematic diagram of searching from a starting point position to an end point position in the method for determining a route of an unmanned boat of the present invention;

[0054] Figure 4 It is a schematic diagram of searching from the end position to the starting position in the method for determining the route of the unmanned boat of the present invention;

[0055] Figure 5 It is a schematic diagram of a specific process of route search and determination of the method for determining the route of an unmanned boat of the present invention;

[0056] Figure 6 It is a module block diagram of a device for determining the route of an unmanned boat. DETAILED DESCRIPTION

[0057] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0058] like Figures 1 to 5 As shown, an embodiment of the present invention provides a method for determining a route of an unmanned boat, comprising:

[0059] Step 11, obtaining the navigation range, starting point location information and end point location information of the unmanned boat;

[0060] Step 12, determining a global grid map according to the navigation range of the unmanned boat;

[0061] Step 13, determining at least one local encrypted grid map within the global grid map;

[0062] Step 14, determining the target route of the unmanned boat according to the starting point location information, the end point location information, the global grid map and the local encrypted grid map.

[0063] In this embodiment, when there is only one local encrypted map, there are three situations for route planning, namely: only one point of the starting point and the end point is in the local encrypted grid map; both the starting point and the end point are in the local encrypted grid map; neither the starting point nor the end point is in the local encrypted grid map, but the route passes through the local encrypted grid map; when there are multiple local encrypted maps, there are four planning situations, namely: only one point of the starting point and the end point is in the local encrypted grid map; both the starting point and the end point are in the same local encrypted grid map; when the starting point and the end point are not in the local encrypted grid map, but the route passes through two local encrypted grid maps; the starting point and the end point are in different local encrypted grid maps; for the above scenarios, the method for determining the unmanned boat route described in the present invention is applicable; in this embodiment, step 14 can specifically be to determine the unmanned boat target route through a preset algorithm based on the starting point location information, the end point location information, the global grid map and the local encrypted grid map; the preset algorithm is applied to path planning and map search The invention discloses a heuristic algorithm for searching the route of the unmanned boat. The navigation range of the unmanned boat can be determined according to the specific navigation sea area or navigation area of ​​the unmanned boat. The starting point position information is the latitude and longitude coordinate information corresponding to the starting position, and the end point position information is the latitude and longitude coordinate information corresponding to the end point position. The global grid map is established by selecting a suitable grid size according to the openness of the global water area. When the water characteristics cannot be reflected under the global grid map, the grid encryption processing in the local area of ​​the global grid map is performed to establish a local encrypted grid map. The method for determining the route of the unmanned boat solves the problem that a single grid type cannot express the water characteristics by setting a plurality of local encrypted grid maps in the global grid map. The joint action of multiple grid maps can effectively and accurately express the water characteristics, thereby improving the accurate determination of the route of the unmanned boat. At the same time, it solves the problem that the route of the unmanned boat cannot be accurately planned when the starting point, end point or navigation route of the unmanned boat passes through multiple different grid maps during the existing unmanned boat route planning. The rapid planning of routes for unmanned boats on different grid maps has been realized. By encrypting local areas, the characteristics of local waters can be better reflected, while the number of grids can be effectively reduced, thus improving the efficiency of route planning.

[0064] In an optional embodiment of the present invention, step 12 may include:

[0065] Step 121, determining the reference point, height, width and initial environment information of the global grid map according to the navigation range of the unmanned boat;

[0066] Step 122, determining the number of global grids of the global grid map according to the reference point, height, width of the global grid map and the preset size of the global grid;

[0067] Step 123, based on the number of global grids in the global grid map, initializing the data container of the global grid map to determine a first blank grid map;

[0068] Step 124 , projecting the environmental information into the first blank grid map, and performing value assignment processing on all grids of the projected first blank grid map to obtain a global grid map.

[0069] In this embodiment, step 121 specifically includes first determining the reference point of the global grid map, that is, determining the position of the lower left corner of the map; then determining the size of the map, that is, determining the height and width of the map; wherein the initial environmental information is the known obstacle information within the navigation range of the unmanned boat route (the obstacle information includes: coastal boundaries, islands, breeding areas, etc.), which can be obtained through the nautical chart; the grid in the global grid map in step 122 is a square; the specific value of the preset size can be set according to the size and accuracy of the map and the requirements; step 123 specifically includes initializing a data container for storing map grid information according to the number of grids to obtain a first blank grid map; step 124 specifically includes finally projecting the known obstacle information onto the grid In the map, the nodes in the corresponding data container are assigned values; wherein the node assignment refers to, according to the obstacle information, representing the current global grid with obstacles as 1, indicating that it is impassable, and representing the remaining global grids as 0, indicating that the current global grid is passable; step 124 may also include calculating the longitude and latitude changes corresponding to the unit grid (i.e., a single global grid) in the global grid map, determining the coordinates of each global grid according to the longitude and latitude changes, and storing the coordinates in the corresponding global grid, i.e., the corresponding data container; in this way, the navigation area of ​​the unmanned boat is divided into grid units with binary information, and its position in the container can be queried through the grid coordinates, wherein the binary information is the assignment of values ​​to each grid, 1 indicates that the grid is impassable, and 0 indicates that the grid is passable.

[0070] In an optional embodiment of the present invention, step 13 may include:

[0071] Step 131, determining preliminary range information of at least one local encrypted grid map according to the difference area between the global grid map and the actual satellite map;

[0072] Step 132, determining the area range of the local encrypted grid map according to the preliminary range information and the preset size of the global grid;

[0073] Step 133, determining the encrypted grid size of the local encrypted grid map according to the preset size of the global grid and the area range of the local encrypted grid map;

[0074] Step 134, determining the number of encrypted grids of the local encrypted grid map according to the area range of the local encrypted grid map and the size of the encrypted grids;

[0075] Step 135, based on the number of encrypted grids, initializing the data container of the local encrypted grid map to determine a second blank grid map;

[0076] Step 136, projecting the environmental information into the second blank grid map, and performing value assignment processing on all grids of the projected second blank grid map to obtain a local encrypted grid map.

[0077] In an optional embodiment of the present invention, step 132 includes:

[0078] Step 1321, based on the preliminary range information and the preset size of the global grid, taking the global grid boundary line of the global grid map as a reference, in the global grid map, determining the minimum global grid area surrounding the preliminary range information as the core area of ​​the local encrypted grid map;

[0079] Step 1322, taking the global grid boundary line of the global grid map as a reference, in the global grid map, the smallest global grid area surrounding the core area is determined as a transition area of ​​the local encrypted grid map;

[0080] Step 1323: Determine the area range of the local encrypted grid map based on the core area and the transition area.

[0081] like Figure 2 As shown, Figure 2 In the figure, 21 represents the global grid map; 22 represents the global grid of the global grid map; 23 represents the environmental information in the global grid map, i.e., the information of the impassable obstacles, including the coastal boundary, islands, aquaculture areas, etc.; 31 represents the encrypted grid in the transition zone of the local encrypted grid map; 32 represents the boundary line of the core area of ​​the local encrypted grid map; 33 represents the boundary line of the transition zone of the local encrypted grid map; 34 represents the encrypted grid in the core area of ​​the local encrypted grid map; 35 represents the preliminary range of the local encrypted grid map; 36 represents the boundary line of the preliminary range of the local encrypted grid map;

[0082] In this embodiment, step 131 can be specifically based on actual conditions, taking narrow waters as preliminary range information; the preliminary range information includes: the initial size and location information of the local grid map; when constructing the local encrypted grid map, the local encrypted grid map also needs to meet the following third point, first, the reference point of the local encrypted grid map must be selected at the corner point of the global grid; second, the size of the local grid map must be an integer multiple of the global grid size; third, the size of the encrypted grid must be divisible by the size of the global grid; in this embodiment, the reference point, size and grid size of the local encrypted grid map are specially limited mainly to establish a good correspondence between the local grid and the global grid, so as to facilitate the conversion on the boundary of the local encrypted grid map; step 133 is specifically based on the principle that the size of the encrypted grid must be divisible by the size of the global grid to determine the size of the encrypted grid; then based on the number of encrypted grids, the local Initialize the data container of the local encrypted grid map to determine the second blank grid map; project the environmental information into the second blank grid map, and assign values ​​to all grids of the projected second blank grid map to obtain the local encrypted grid map. The assignment process here is the same as the assignment process in the global grid map, that is, the current encrypted grid with obstacles is represented by 1, which means that it is impassable, and the remaining encrypted grids are represented by 0, which means that the current encrypted grid is passable; wherein, during the assignment process, for the global grid located in the transition area, if there is an encrypted grid covered by an obstacle, it is necessary to assign the same value to other encrypted grids belonging to the same global grid; step 124 may also include calculating the longitude and latitude changes corresponding to the unit grid (i.e., a single encrypted grid) in the local encrypted grid map, determining the coordinates of each encrypted grid according to the longitude and latitude changes, and storing the coordinates in the corresponding encrypted grid, i.e., the corresponding data container;

[0083] In this embodiment, the absolute position area of ​​the transition area in the global grid and the encrypted grid is consistent, the difference is that the transition grid in the global grid is a layer of global grid surrounding the core area of ​​the local encrypted grid map; in the local encrypted grid map, it is a multi-layer encrypted grid surrounding the core area of ​​the local grid; the number of grids contained in the transition area is different in different maps because the size of the grid is different; when the encrypted grid in the core area of ​​the local encrypted grid map is not connected with some transition area grids, these transition area grids are set as unreachable in both the local encrypted grid map and the global grid map; in the global grid map, except for the transition area of ​​the local encrypted grid map, other areas of the local encrypted grid map are set as unreachable; this ensures that when switching from the local encrypted grid map to the global grid map search, the encrypted grids in the local encrypted grid area will not be added to the search list again, avoiding entering the local encrypted grid map again;

[0084] In this embodiment, the setting of the transition grid is mainly for the preset algorithm to realize continuous grid search, that is, to realize searching in the global grid map and the local encrypted grid map at the same time. Specifically, during the search process, when the starting point and the end point of the search are respectively located in the local encrypted grid map and the global grid map, when the search grid is located in the transition grid, the map switching can be realized by identifying the transition grid, thereby realizing searching in the global grid map and the local encrypted grid map at the same time.

[0085] In an optional embodiment of the present invention, step 14 may include:

[0086] Step 141, marking the transition areas of all local encrypted grid maps to generate marked transition areas;

[0087] Step 142, determining the first initial starting position of the unmanned boat and the type of the current grid map where the first initial starting position is located according to the starting position information, wherein the type of the current grid map includes: a global grid map and a local encrypted grid map;

[0088] Step 143, searching the grids of the current grid map by a preset algorithm, and when a marked transition area is detected, switching the current grid map according to the type of the current grid map and / or the mark of the marked transition area, and continuing the search until the end position is detected, and outputting the first search route information corresponding to each grid map in the search process;

[0089] Step 144, smoothing and pruning all first search route information to determine the target route of the unmanned boat.

[0090] Among them, step 142 may include:

[0091] Step 1421, determining the first position information of the unmanned boat in the global grid map according to the starting position information of the unmanned boat;

[0092] Step 1422, determining the second position information corresponding to the unmanned boat in each local encrypted grid map according to the starting position information of the unmanned boat;

[0093] Step 1423, determining whether the second position information is within the area of ​​the corresponding local encrypted grid map; if so, outputting the second position information as the first initial starting point position, and determining the type of the current grid map as the local encrypted grid map;

[0094] If it is not within the area of ​​the corresponding local encrypted grid map, the first position information is output as the first initial starting point position, and the type of the current grid map is determined to be a global grid map.

[0095] In this embodiment, the design of step 141 can indicate which local encrypted grid map the current transition grid corresponds to; the first position information can be determined based on the longitude and latitude of the starting position information and the longitude and latitude change corresponding to the global grid of the global grid map; the second position information can be determined based on the longitude and latitude of the starting position information and the longitude and latitude change corresponding to the encrypted grid of the local encrypted grid map; when determining the type of the current grid map of the unmanned boat based on the starting position information, it is preferred to determine whether the starting position is within the scope of the local encrypted grid map. If not, it can be directly determined to be within the global grid map. If it is determined to be within the scope of the local encrypted grid map, no subsequent judgment is performed; the map is directly read (no repeated reading when the map is not updated), and then the grid of the map is searched by a preset algorithm (the search direction is the end position direction); during the search process, it is determined in real time whether the current grid has reached the end point. If it has reached the end point, the search is directly stopped and the route, i.e., the first search route information, is output;

[0096] If it has not arrived, it is determined whether it has reached the transition area. If it has not arrived, the search is continued. If it has reached the transition area, the mark of the transition area and the type of the current grid map are first determined, and the corresponding grid map is switched according to the type and / mark of the grid map (if the type of the current grid map is a global grid map, the next search map is switched to the corresponding local encrypted grid map according to the mark; if the type of the current grid map is a local encrypted grid map, the next search map is directly switched to the corresponding global grid map), and the path in the search process is smoothly pruned and stored in the segmented path list, and then the starting point is updated to the coordinates of the transition grid, and the search continues to the end point until the end point is detected; when the end point is reached, the paths in the segmented path list are spliced ​​in sequence to synthesize the target route or the first route of the unmanned boat.

[0097] In an optional embodiment of the present invention, when a marked transition area is detected, the current grid map is switched according to the type of the current grid map and / or the mark of the marked transition area, including:

[0098] When a marked over-region is detected and the type of the current grid map is a global grid map, switch to the corresponding local encrypted grid map according to the mark of the marked over-region;

[0099] When an over-marked area is detected and the current grid map type is a local encrypted grid map, it is directly switched to the global grid map.

[0100] In this embodiment, the switching process of the current grid map according to the type of the current grid map and / or the mark of the transition area mainly includes two situations, one is switching from a local grid map to a global grid map, and the other is switching from a global grid map to a local grid map.

[0101] Among them, when switching from a local encrypted grid map to a global grid map, during the search process in the local encrypted grid map, the distance from the searched dense grid to the boundary of the local encrypted grid map is calculated in real time. When the distance is less than a global grid length, it indicates that the current dense grid is in the transition area; then the grid coordinates of the corresponding transition grid under the global grid map are calculated, and the search is performed in the global grid map with the grid as the new search starting point;

[0102] When switching from the global grid map to the local encrypted grid map, during the search process in the global grid map, it is calculated in real time whether the global grid being searched is inside the local encrypted grid map. When it is inside the local encrypted grid map, it indicates that the global grid is in the transition area. Then the grid coordinates of the corresponding transition grid under the local encrypted grid map are calculated, and the grid is used as the new search starting point to search in the local encrypted grid map. In the heuristic search algorithm of the plane map, the search process is to expand from the current node to the surrounding 8 adjacent nodes. When searching for the first time after switching the map, the search direction needs to be restricted, and nodes cannot be expanded to one side of the previous node.

[0103] In an optional embodiment of the present invention, step 144 may include:

[0104] Step 1441, smoothing and pruning all first search route information to determine the first route of the unmanned boat;

[0105] Step 1442, determining the second initial starting position of the unmanned boat and the type of the current grid map where the second initial starting position is located according to the terminal position information;

[0106] Step 1443, searching the grids of the current grid map by a preset algorithm, and when a marked transition area is detected, switching the current grid map according to the type of the current grid map and the mark of the marked transition area, and continuing the search until the starting point is detected, and outputting the second search route information corresponding to each grid map in the search process;

[0107] Step 1444, smoothing and pruning all the second search route information to determine the second route of the unmanned boat;

[0108] Step 1445, compare the first route and the second route, and output the shortest route as the target route of the unmanned boat.

[0109] like Figure 3 to Figure 4 As shown, Figure 3 and Figure 4 A in each of them indicates the starting point, B indicates the end point, 21 indicates the global grid map, and 30 indicates the local encrypted grid map; Figure 3 a in the middle means that when searching from the starting point, after searching to the transition area, the new starting point position is reconfirmed after switching the map; C1 means the route from the starting point to the end point, i.e. the first route; Figure 4 b in the middle means that when searching from the end position, after searching to the transition area, the new starting point position is reconfirmed after switching the map; C2 means the route from the end position to the starting point position, i.e., the second route;

[0110] In this embodiment, when it comes to route planning that requires crossing maps, due to the switching of maps, it can only be completed in segments during the path smoothing stage. Since multiple path searches are performed for each planning, it is difficult to ensure that the overall path is the shortest. Therefore, it is necessary to first execute the route planning from the starting point to the end point, and then execute the route planning from the end point to the starting point, compare the path lengths of the two searches, and select the shortest path as the final output. Through this design, the optimal route can be further determined, thereby ensuring the accuracy and optimality of the route.

[0111] When the method for determining the route of the unmanned boat described in the present invention is applied to the global route planning from the harbor to the open waters of the open sea, if a larger grid is used to establish a grid map according to the prior art, the established map cannot reflect the characteristics of the harbor and will reduce the navigable waters; if a smaller grid is used, the overall number of grids will increase sharply, more memory will be required to store map data, and the path search time will be increased. However, according to the method designed in the present invention, the route planning algorithm is designed, first a larger grid map, i.e., a global grid map, is established globally, and then the harbor area is grid-encrypted to highlight the characteristics of the harbor waters, i.e., a local encrypted grid map is constructed; then a specific route search is performed according to the route planning steps designed in the present invention, so that a global route connecting the harbor and the open sea can be quickly planned;

[0112] The method for determining the route of the unmanned boat described in the present invention is applied to the global route planning from a port to another port via open waters in the open sea. For example, the water area of ​​the two ports is about 200m*200m, and the open water area is about 100km*100km. In order to highlight the characteristics of the port water area, the maximum grid size needs to be limited to less than 5m, and the number of grids is 4e10^8; if the method for determining the route of the unmanned boat described in the present invention is adopted, the grid size can be selected as 100m, and then only a 5m grid is used for the port area, then the total number of grids is 10^6 plus 3200, and the number of grids is reduced to 1 / 399 of the original, which will greatly save the time of route planning.

[0113] like Figure 6 As shown, an embodiment of the present invention further provides a device 60 for determining a route of an unmanned boat, comprising:

[0114] An acquisition module 61 is used to acquire the navigation range, starting point location information and end point location information of the unmanned boat;

[0115] The processing module 62 is used to determine the global grid map according to the navigation range of the unmanned boat; determine at least one local encrypted grid map in the global grid map; and determine the target route of the unmanned boat according to the starting position information, the end position information, the global grid map and the local encrypted grid map.

[0116] Optionally, a global grid map is determined according to the navigation range of the unmanned boat, including:

[0117] According to the navigation range of the unmanned boat, determine the reference point, height, width and initial environment information of the global grid map;

[0118] Determine the number of global grids of the global grid map according to the reference point, height, width of the global grid map and the preset size of the global grid;

[0119] Based on the number of global grids of the global grid map, initializing the data container of the global grid map to determine a first blank grid map;

[0120] The environmental information is projected into a first blank grid map, and all grids of the projected first blank grid map are assigned values ​​to obtain a global grid map.

[0121] Optionally, within the global grid map, determining at least one local encrypted grid map includes:

[0122] Determining preliminary range information of at least one local encrypted grid map according to the difference area between the global grid map and the actual satellite map;

[0123] Determining the area range of the local encrypted grid map according to the preliminary range information and the preset size of the global grid;

[0124] Determine the encrypted grid size of the local encrypted grid map according to the preset size of the global grid and the area range of the local encrypted grid map;

[0125] Determine the number of encrypted grids of the local encrypted grid map according to the area range and the size of the encrypted grids of the local encrypted grid map;

[0126] Based on the number of encrypted grids, initializing the data container of the local encrypted grid map to determine a second blank grid map;

[0127] The environmental information is projected into a second blank grid map, and all grids of the projected second blank grid map are assigned values ​​to obtain a local encrypted grid map.

[0128] Optionally, determining the area range of the local encrypted grid map according to the preliminary range information and a preset size of the global grid includes:

[0129] According to the preliminary range information and the preset size of the global grid, taking the global grid boundary line of the global grid map as a reference, in the global grid map, the smallest global grid area surrounding the preliminary range information is determined as the core area of ​​the local encrypted grid map;

[0130] Taking the global grid boundary line of the global grid map as a reference, in the global grid map, the smallest global grid area surrounding the core area is determined as a transition area of ​​the local encrypted grid map;

[0131] The area range of the local encrypted grid map is determined according to the core area and the transition area.

[0132] Optionally, the target route of the unmanned boat is determined according to the starting point location information, the end point location information, the global grid map and the local encrypted grid map, including:

[0133] Marking the transition areas of all local encrypted grid maps to generate marked transition areas;

[0134] According to the starting point position information, determining a first initial starting point position of the unmanned boat and a type of a current grid map where the first initial starting point position is located, wherein the type of the current grid map includes: a global grid map and a local encrypted grid map;

[0135] Searching the grids of the current grid map, when a marked transition area is detected, switching the current grid map according to the type of the current grid map and / or the mark of the marked transition area, and continuing the search until the end position is detected, and outputting the first search route information corresponding to each grid map in the search process;

[0136] All the first search route information is smoothed and pruned to determine the target route of the unmanned boat.

[0137] Optionally, determining the first initial starting position of the unmanned boat and the type of the current grid map where the first initial starting position is located according to the starting position information includes:

[0138] Determine the first position information of the unmanned boat in the global grid map according to the starting position information of the unmanned boat;

[0139] Determine the second position information corresponding to the unmanned boat in each local encrypted grid map according to the starting position information of the unmanned boat;

[0140] Determine whether the second position information is within the area of ​​the corresponding local encrypted grid map. If it is within the area of ​​the corresponding local encrypted grid map, output the second position information as the first initial starting point position, and determine the type of the current grid map as a local encrypted grid map;

[0141] If it is not within the area of ​​the corresponding local encrypted grid map, the first position information is output as the first initial starting point position, and the type of the current grid map is determined to be a global grid map.

[0142] Optionally, when a marked transition area is detected, the current grid map is switched according to the type of the current grid map and the mark of the marked transition area, including:

[0143] When a marked over-region is detected and the type of the current grid map is a global grid map, switch to the corresponding local encrypted grid map according to the mark of the marked over-region;

[0144] When an over-marked area is detected and the current grid map type is a local encrypted grid map, it is directly switched to the global grid map.

[0145] Optionally, all first search route information is smoothed and pruned to determine the target route of the unmanned boat, including:

[0146] All first search route information are smoothed and pruned to determine the first route of the unmanned boat;

[0147] Determine, according to the terminal position information, a second initial starting position of the unmanned boat and a type of the current grid map where the second initial starting position is located;

[0148] Searching the grids of the current grid map, when a marked transition area is detected, switching the current grid map according to the type of the current grid map and the mark of the marked transition area, and continuing the search until the starting point is detected, and outputting the second search route information corresponding to each grid map in the search process;

[0149] All the second search route information is smoothed and pruned to determine the first route of the unmanned boat;

[0150] The first route and the second route are compared and processed, and the shortest route is output as the target route of the unmanned boat.

[0151] An embodiment of the present invention further provides a device. It should be noted that the device is a device corresponding to the above method. All implementation methods in the above method are applicable to the embodiment of the device and can achieve the same technical effect.

[0152] The embodiment of the present invention further provides a computing device, including: a processor, a memory storing a computer program, and when the computer program is executed by the processor, the above method is executed. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0153] The embodiment of the present invention further provides a computer-readable storage medium, including: storing instructions, when the instructions are executed on a computer, the computer executes the above method. All implementations in the above method embodiments are applicable to this embodiment and can achieve the same technical effect.

[0154] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0155] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0156] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0157] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0158] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0159] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or optical disk, etc., which can store program codes.

[0160] In addition, it should be noted that in the apparatus and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. Moreover, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it is understood that all or any steps or components of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices in hardware, firmware, software or a combination thereof, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present invention.

[0161] Therefore, the purpose of the present invention can also be achieved by running a program or a group of programs on any computing device. The computing device can be a well-known general-purpose device. Therefore, the purpose of the present invention can also be achieved by simply providing a program product containing a program code for implementing a method or device. That is to say, such a program product also constitutes the present invention, and a storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future. It should also be pointed out that in the device and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. In addition, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order. Some steps can be performed in parallel or independently of each other.

[0162] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for determining a route of an unmanned boat, characterized in that: include: Obtain the navigation range, starting point location information and end point location information of the unmanned boat; Determine the global grid map according to the navigation range of the unmanned boat; Determining at least one local encrypted grid map within the global grid map; The target route of the unmanned boat is determined based on the starting point location information, the end point location information, the global grid map and the local encrypted grid map.

2. The method for determining the route of an unmanned boat according to claim 1, characterized in that: According to the navigation range of the unmanned boat, determine the global grid map, including: According to the navigation range of the unmanned boat, determine the reference point, height, width and initial environment information of the global grid map; Determine the number of global grids of the global grid map according to the reference point, height, width of the global grid map and the preset size of the global grid; Based on the number of global grids of the global grid map, initializing the data container of the global grid map to determine a first blank grid map; The environmental information is projected into a first blank grid map, and all grids of the projected first blank grid map are assigned values ​​to obtain a global grid map.

3. The method for determining the route of an unmanned boat according to claim 2, characterized in that: Determining at least one local encrypted grid map within the global grid map, including: Determining preliminary range information of at least one local encrypted grid map according to the difference area between the global grid map and the actual satellite map; Determining the area range of the local encrypted grid map according to the preliminary range information and the preset size of the global grid; Determine the encrypted grid size of the local encrypted grid map according to the preset size of the global grid and the area range of the local encrypted grid map; Determine the number of encrypted grids of the local encrypted grid map according to the area range and the size of the encrypted grids of the local encrypted grid map; Based on the number of encrypted grids, initializing the data container of the local encrypted grid map to determine a second blank grid map; The environmental information is projected into a second blank grid map, and all grids of the projected second blank grid map are assigned values ​​to obtain a local encrypted grid map.

4. The method for determining the route of an unmanned boat according to claim 3, characterized in that: Determining the area range of the local encrypted grid map according to the preliminary range information and the preset size of the global grid includes: According to the preliminary range information and the preset size of the global grid, taking the global grid boundary line of the global grid map as a reference, in the global grid map, the smallest global grid area surrounding the preliminary range information is determined as the core area of ​​the local encrypted grid map; Taking the global grid boundary line of the global grid map as a reference, in the global grid map, the smallest global grid area surrounding the core area is determined as a transition area of ​​the local encrypted grid map; The area range of the local encrypted grid map is determined according to the core area and the transition area.

5. The method for determining the route of an unmanned boat according to claim 4, characterized in that: According to the starting point location information, the end point location information, the global grid map and the local encrypted grid map, the target route of the unmanned boat is determined, including: Marking the transition areas of all local encrypted grid maps to generate marked transition areas; According to the starting point position information, determining a first initial starting point position of the unmanned boat and a type of a current grid map where the first initial starting point position is located, wherein the type of the current grid map includes: a global grid map and a local encrypted grid map; Searching the grids of the current grid map, when a marked transition area is detected, switching the current grid map according to the type of the current grid map and / or the mark of the marked transition area, and continuing the search until the end position is detected, and outputting the first search route information corresponding to each grid map in the search process; All the first search route information is smoothed and pruned to determine the target route of the unmanned boat.

6. The method for determining the route of an unmanned boat according to claim 5, characterized in that: Determining, according to the starting point position information, a first initial starting point position of the unmanned boat and a type of a current grid map where the first initial starting point position is located, includes: Determine the first position information of the unmanned boat in the global grid map according to the starting position information of the unmanned boat; Determine the second position information corresponding to the unmanned boat in each local encrypted grid map according to the starting position information of the unmanned boat; Determine whether the second position information is within the area of ​​the corresponding local encrypted grid map. If it is within the area of ​​the corresponding local encrypted grid map, output the second position information as the first initial starting point position, and determine the type of the current grid map as a local encrypted grid map; If it is not within the area of ​​the corresponding local encrypted grid map, the first position information is output as the first initial starting point position, and the type of the current grid map is determined to be a global grid map.

7. The method for determining the route of an unmanned boat according to claim 5, characterized in that: When a marked transition area is detected, the current grid map is switched according to the type of the current grid map and the mark of the marked transition area, including: When a marked over-region is detected and the type of the current grid map is a global grid map, switch to the corresponding local encrypted grid map according to the mark of the marked over-region; When an over-marked area is detected and the current grid map type is a local encrypted grid map, it is directly switched to the global grid map.

8. The method for determining the route of an unmanned boat according to claim 5, characterized in that: All the first search route information is smoothed and pruned to determine the target route of the unmanned boat, including: All first search route information are smoothed and pruned to determine the first route of the unmanned boat; Determine, according to the terminal position information, a second initial starting position of the unmanned boat and a type of the current grid map where the second initial starting position is located; Searching the grids of the current grid map, when a marked transition area is detected, switching the current grid map according to the type of the current grid map and the mark of the marked transition area, and continuing the search until the starting point is detected, and outputting the second search route information corresponding to each grid map in the search process; All the second search route information is smoothed and pruned to determine the second route of the unmanned boat; The first route and the second route are compared and processed, and the shortest route is output as the target route of the unmanned boat.

9. A device for determining a route of an unmanned boat, characterized in that: include: An acquisition module is used to obtain the navigation range, starting point location information and end point location information of the unmanned boat; A processing module, used for determining a global grid map according to the navigation range of the unmanned boat; In the global grid map, at least one local encrypted grid map is determined; and the target route of the unmanned boat is determined according to the starting point location information, the end point location information, the global grid map and the local encrypted grid map.

10. A computing device, characterized in that include: A processor and a memory storing a computer program, wherein when the computer program is executed by the processor, the method according to any one of claims 1 to 8 is performed.

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