A detection method and system for marine metal detection

Abstract

The present application relates to a detection method and system for marine metal detection, belonging to the field of metal detection technology. The method includes obtaining a required detection area and a device docking position; performing metal detection at the device docking position to obtain local detection conditions; obtaining the current ocean current direction after determining the local detection conditions, determining a single detection area according to the device docking position and the detection radius, and determining a waiting detection area according to the required detection area and the single detection area; determining a downstream travel path according to the current ocean current direction and the device docking position, and generating detection points on the downstream travel path according to the waiting detection area; controlling the unmanned ship to move along the detection points and continuously updating the device docking position until a detection completion signal is output when the waiting detection area is empty. The present application has the effect of facilitating the intelligent detection operation of the unmanned ship for marine metals.

Description

Technical Field

[0001] The present application relates to the field of metal detection technology, and in particular, to a detection method and system for marine metal detection. Background Art

[0002] Marine metal detection technology is an important part of marine resource exploration, which involves the discovery and evaluation of resources such as deep-sea polymetallic nodules, cobalt-rich crusts, and polymetallic sulfides. At present, marine metal detection mainly relies on the following several technologies: sonar detection technology, magnetometer detection technology, electromagnetic detection technology, multi-sensor data fusion technology, deep learning and image processing technology, etc.

[0003] In the related art, when using sonar to detect marine metals, generally, the detection area is delimited first, then the corresponding detection path is set according to the detection area, the detection points are determined according to the detection path, and finally, the unmanned ship is controlled to carry the sonar device to move along the detection path to each detection point for metal detection.

[0004] In the above-mentioned related art, the detection path is delimited first and then the unmanned ship is controlled to move during metal detection. However, since the ocean current changes, the unmanned ship may be moving in the reverse direction at all times when moving along the detection path. At this time, the unmanned ship consumes a large amount of power when moving, and it may occur that the unmanned ship has no power left before the detection area is completely detected, which is not convenient for the intelligent detection of marine metals by the unmanned ship and there is still room for improvement. Summary of the Invention

[0005] In order to facilitate the intelligent detection operation of marine metals by the unmanned ship, the present application provides a detection method and system for marine metal detection.

[0006] In a first aspect, the present application provides a detection method for marine metal detection, adopting the following technical solution:

[0007] A detection method for marine metal detection includes:

[0008] Obtain the required detection area and the device docking position;

[0009] Control a preset sonar device to operate for a preset fixed duration at the device docking position, receive reflected wave information within the fixed duration, and determine the local detection situation according to the reflected wave information;

[0010] After the local detection situation is determined, obtain the current ocean current direction, determine a single detection area according to the device docking position and a preset detection radius, and determine the waiting detection area according to the required detection area and the single detection area;

[0011] Determine the downstream driving path according to the current ocean current direction and the device docking position, and generate detection points on the downstream driving path according to the waiting detection area;

[0012] Control the unmanned ship to move along the detection points. When the unmanned ship reaches a detection point, update the detection point to the device docking position, and perform detection operations according to the device docking position and update the waiting detection area until a detection completion signal is output when the waiting detection area is empty.

[0013] Optionally, the step of generating detection points on the downstream driving path according to the waiting detection area includes:

[0014] Judge whether there is a situation where part of the downstream driving path is within the waiting detection area;

[0015] If there is no situation where part of the downstream driving path is within the waiting detection area, output a direction completion signal;

[0016] If there is a situation where part of the downstream driving path is within the waiting detection area, define the downstream driving path within the waiting detection area as the internal driving path;

[0017] Lay a single detection area with the points on the internal driving path as the center, and generate a laying combination according to the single detection area when the internal driving path is completely covered by the single detection area;

[0018] Count according to the single detection area in each laying combination to determine the detection times;

[0019] Determine the detection times with the smallest value according to the preset sorting rule, and define the center of the single detection area in the laying combination corresponding to the detection times as the alternative point, and determine the detection point as the alternative point closest to the current device docking position.

[0020] Optionally, after determining the detection times, the detection method for marine metal detection further includes:

[0021] Judge whether there are at least two laying combinations with the same and smallest detection times;

[0022] If there are no at least two laying combinations with the same and smallest detection times, determine the alternative point according to the laying combination corresponding to the smallest detection times;

[0023] If there are at least two laying combinations with the same and smallest detection times, define the laying combination corresponding to the smallest detection times as the alternative combination, and define the area in the required detection area except the waiting detection area as the detected completion area;

[0024] Analyze each monomer detection area and detection completion area in the alternative combination to determine the detection overlapping area, and determine the overlapping area according to the detection overlapping area;

[0025] Determine the overlapping area with the smallest value according to the sorting rule, and define the alternative point according to the alternative combination corresponding to the overlapping area.

[0026] Optionally, after determining the overlapping area, the detection method for marine metal detection further includes:

[0027] Determine whether there are at least two alternative combinations with the same and smallest overlapping area;

[0028] If there are not at least two alternative combinations with the same and smallest overlapping area, determine the alternative point according to the alternative combination corresponding to the smallest overlapping area;

[0029] If there are at least two alternative combinations with the same and smallest overlapping area, define the alternative combination corresponding to the smallest overlapping area as the candidate combination, and determine the fuzzy detection area according to each local detection situation;

[0030] Determine the intersecting secondary detection area according to the detection overlapping area and the fuzzy detection area, determine the secondary detection area according to the secondary detection area, and perform a summation calculation based on all the secondary detection areas to determine the overall multiple area;

[0031] Determine the overall multiple area with the largest value according to the sorting rule, and determine the alternative point according to the candidate combination corresponding to the overall multiple area.

[0032] Optionally, after determining the overall multiple area, the detection method for marine metal detection further includes:

[0033] Determine whether there are at least two candidate combinations with the same and largest overall multiple area;

[0034] If there are not at least two candidate combinations with the same and largest overall multiple area, determine the alternative point according to the candidate combination corresponding to the largest overall multiple area;

[0035] If there are at least two candidate combinations with the same and largest overall multiple area, define the monomer detection area closest to the current device docking position in each candidate combination as the standard detection area;

[0036] Divide the new detection area and the secondary detection area according to the standard detection area, and determine the required movement distance according to the center of the standard detection area and the current device docking position;

[0037] Perform calculations based on the new detection area, the secondary detection area, the required movement distance, and the preset calculation parameters to determine the area selection parameter;

[0038] Determine the area selection parameter with the largest value according to the sorting rule, and determine the alternative points according to the alternative combination corresponding to the area selection parameter.

[0039] Optionally, after the detection point is determined, the detection method for marine metal detection further includes:

[0040] Determine the downstream movement distance according to the detection point and the current device docking position;

[0041] Judge whether the downstream movement distance is greater than the preset long-distance movement distance;

[0042] If the downstream movement distance is not greater than the long-distance movement distance, control the movement of the unmanned ship according to the detection point;

[0043] If the downstream movement distance is greater than the long-distance movement distance, determine the movement difficulty coefficient corresponding to the downstream movement distance according to the preset first difficulty matching relationship;

[0044] Generate a random simulated movement direction, and determine the direction angle according to the simulated movement direction and the current ocean current direction;

[0045] Determine the feasible movement distance corresponding to the movement difficulty coefficient and the direction angle according to the preset distance matching relationship, and delimit the feasible movement path according to the feasible movement distance, the simulated movement direction and the current device docking position;

[0046] Determine the detection point on the feasible movement path, and determine the simulated movement distance according to the detection point and the current device docking position;

[0047] Determine the simulated difficulty coefficient corresponding to the simulated movement distance and the direction angle according to the preset second difficulty matching relationship;

[0048] Determine the simulated difficulty coefficient with the smallest value according to the sorting rule, and control the movement of the unmanned ship according to the detection point corresponding to the simulated difficulty coefficient.

[0049] Optionally, after the direction completion signal is output, the detection method for marine metal detection further includes:

[0050] Establish a historical interval with the current time point as the rear endpoint and a width of the preset historical duration on the preset time axis, and establish a nearby interval with a width of the preset nearby duration with the current time point as the rear endpoint in the historical interval;

[0051] Randomly generate a virtual time point in the historical interval, and establish an equivalent interval similar to the nearby interval according to the virtual time point;

[0052] Obtain the original ocean current change sequence and the duration of each original direction in the nearby interval, and obtain the comparison ocean current change sequence and the duration of each comparison direction in each equivalent interval;

[0053] Calculate according to the original ocean current change sequence, the comparison ocean current change sequence, the duration of the original direction, and the duration of the comparison direction to determine the change similarity;

[0054] Determine the change similarity with the largest value according to the sorting rule, and determine the predicted ocean current direction according to the equivalent interval corresponding to the change similarity, and update the current ocean current direction according to the predicted ocean current direction.

[0055] In a second aspect, the present application provides a detection system for marine metal detection, adopting the following technical solutions:

[0056] A detection system for marine metal detection, comprising:

[0057] An acquisition module for acquiring the required detection area and the device docking position;

[0058] A processing module, connected to the acquisition module, for storing and processing information;

[0059] The processing module controls the preset sonar device to operate for a preset fixed duration at the device docking position, receives the reflected wave information within the fixed duration, and determines the local detection situation according to the reflected wave information;

[0060] After the local detection situation is determined, the acquisition module acquires the current ocean current direction, and enables the processing module to determine the single detection area according to the device docking position and the preset detection radius, and determines the waiting detection area according to the required detection area and the single detection area;

[0061] The processing module determines the downstream travel path according to the current ocean current direction and the device docking position, and generates detection points on the downstream travel path according to the waiting detection area;

[0062] The processing module controls the unmanned ship to move along the detection points, and when the unmanned ship reaches the detection points, updates the detection points to the device docking position, and performs detection operations according to the device docking position and updates the waiting detection area until a detection completion signal is output when the waiting detection area is empty.

[0063] In summary, the present application includes at least one of the following beneficial technical effects:

[0064] When conducting marine metal detection, the area to be detected and the ocean current conditions can be comprehensively analyzed to control the unmanned ship to move as downstream as possible, thereby reducing the power consumption during the movement of the unmanned ship and facilitating the intelligent detection operation of the unmanned ship for marine metals. The overlapping situation of area detection and the secondary detection situation of each abnormal area can be comprehensively analyzed to determine a more appropriate detection point. Description of the Drawings

[0065] Figure 1 is a flowchart of a detection method for marine metal detection.

[0066] Figure 2 is a module flowchart of a detection method for marine metal detection. Detailed Embodiments

[0067] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the following further details the present application in conjunction with Figure 1 - Figure 2 and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0068] The following further describes the embodiments of the present application in detail with reference to the accompanying drawings of the specification.

[0069] An embodiment of the present application discloses a detection method for marine metal detection. Referring to Figure 1 , the method flow of the detection method for marine metal detection includes the following steps:

[0070] Step S100: Obtain the area to be detected and the device docking position.

[0071] The area to be detected is the area where metal detection needs to be carried out. The ship that launches the unmanned ship can be used as the coordinate origin to manually input the area to be detected by the staff. The device docking position is the position where the unmanned ship docks for metal detection operations. The first device docking position is the position where the unmanned ship is launched.

[0072] Step S101: Control a preset sonar device to operate for a preset fixed duration at the device docking position, receive reflected wave information within the fixed duration, and determine the local detection situation according to the reflected wave information.

[0073] The sonar device is a device installed on the unmanned ship that can perform sonar detection operations. The fixed duration is a fixed value duration set by the staff for metal detection of the marine environment below the unmanned ship. The reflected wave information is the signal wave received after the information wave emitted by the sonar device is reflected by metal or the seabed, etc. The local detection situation reflects the situation of the metal below the device docking position. Determining the local detection situation through the transmitted wave information is a conventional means of sonar detection technology and will not be elaborated here.

[0074] Step S102: After determining the local detection situation, obtain the current ocean current direction, determine the single detection area according to the device docking position and the preset detection radius, and determine the waiting detection area according to the required detection area and the single detection area.

[0075] The current ocean current direction is the direction of the ocean current at the position point where the unmanned ship is located, which can be obtained by installing corresponding sensors on the unmanned ship; the detection radius is the area radius of the metal that the sonar device can detect, and the single detection area is the area of the ocean bottom situation that the unmanned ship can detect at the device docking position, that is, a circular area with the device docking position as the center and the detection radius as the radius; the waiting detection area is the area in the required detection area that has not been detected yet.

[0076] Step S103: Determine the downstream travel path according to the current ocean current direction and the device docking position, and generate detection points on the downstream travel path according to the waiting detection area.

[0077] The downstream travel path is a path extending along the current ocean current direction with the device docking position as the starting point. The detection point is the position point on the downstream travel path that can better detect the waiting detection area. A position point can be randomly selected on the downstream travel path as the detection point, or it can be determined by the method of steps S200 - S203.

[0078] Step S104: Control the unmanned ship to move along the detection point, and when the unmanned ship reaches the detection point, update the detection point to the device docking position, and perform detection operations according to the device docking position and update the waiting detection area until the waiting detection area is empty, then output a detection completion signal.

[0079] By controlling the unmanned ship to move along the detection point, the downstream movement of the unmanned ship can be realized. At this time, the total energy consumed is less, which is convenient for the unmanned ship to perform intelligent detection operations on marine metals; by continuously updating the device docking position, the waiting detection area can be continuously updated, so as to effectively detect and process all areas.

[0080] The steps of generating detection points on the downstream travel path according to the waiting detection area include:

[0081] Step S200: Determine whether there is a situation where part of the downstream travel path is within the waiting detection area.

[0082] The purpose of the determination is to know whether there are position points that need to be detected on the downstream travel path, that is, whether area detection can be achieved by downstream movement.

[0083] Step S2001: If there is no situation where part of the downstream travel path is within the waiting detection area, then output a direction completion signal.

[0084] When there is no situation where part of the downstream driving path is within the waiting detection area, it indicates that the detection in this direction has been completely completed. At this time, even if moving downstream has no meaning. Therefore, an output direction completion signal is sent to identify this situation for subsequent analysis and processing.

[0085] Step S2002: If there is a situation where part of the downstream driving path is within the waiting detection area, then define the downstream driving path within the waiting detection area as the internal driving path.

[0086] When there is a situation where part of the downstream driving path is within the waiting detection area, it indicates that there are still position points available for detection in this direction. At this time, define the internal driving path to distinguish the path where the detectable position points are located for subsequent analysis and control.

[0087] Step S201: Lay a single detection area with the points on the internal driving path as the center, and generate a laying combination according to the single detection area when the internal driving path is completely covered by the single detection area.

[0088] By laying the single detection area, the coverage of the detection path can be analyzed. When the internal driving path is completely covered by the single detection area, it means that the currently laid single detection areas can complete the full detection of the detection area in this direction. At this time, all single detection areas can generate a laying combination to determine the combination situation that can fully detect in this direction for subsequent analysis.

[0089] Step S202: Count according to the single detection area in each laying combination to determine the detection times.

[0090] The detection times are the number of single detection areas required in the laying combination, that is, the total number of times the unmanned ship needs to dock for sonar detection when implementing according to the laying combination in this direction.

[0091] Step S203: Determine the detection times with the smallest value according to the preset sorting rule, and define the center of the single detection area in the laying combination corresponding to the detection times as the alternative point, and determine the alternative point closest to the current device docking position as the detection point.

[0092] The sorting rule is a method set by the staff to sort the numerical values, such as the bubble sort method. Through the sorting rule, the detection times with the smallest value can be determined, that is, the number of detections required at this time is the least and the overall operation efficiency is the fastest. At this time, determine the alternative points according to the laying combination corresponding to the detection times to distinguish different points, and then select the closest alternative point as the detection point to enable the unmanned ship to move and operate normally, so that the overall operation efficiency of the unmanned ship is the highest when moving in this direction.

[0093] After the number of detections is determined, the detection method for marine metal detection further includes:

[0094] Step S300: Determine whether there are at least two laying combinations with the same and minimum number of detections.

[0095] The purpose of the determination is to find out whether there are multiple laying combinations that meet the requirements, so as to determine the alternative points.

[0096] Step S3001: If there are not at least two laying combinations with the same and minimum number of detections, determine the alternative points according to the laying combination corresponding to the minimum number of detections.

[0097] When there are not at least two laying combinations with the same and minimum number of detections, it means that there is only one laying combination that meets the requirements. At this time, the alternative points can be determined normally.

[0098] Step S3002: If there are at least two laying combinations with the same and minimum number of detections, define the laying combination corresponding to the minimum number of detections as the alternative combination, and define the area in the required detection area except the area to be detected as the detected area.

[0099] When there are at least two laying combinations with the same and minimum number of detections, it means that there are multiple laying combinations that meet the requirements. At this time, define them as alternative combinations to distinguish different laying combinations for subsequent analysis; define the detected area to distinguish different areas for subsequent analysis.

[0100] Step S301: Analyze according to the individual detection areas in the alternative combination and the detected area to determine the detection overlapping area, and determine the overlapping area according to the detection overlapping area.

[0101] The detection overlapping area is the area that will overlap with the already detected area when using the individual detection areas in the alternative combination for detection processing, and the overlapping area is the area of the determined detection overlapping area.

[0102] Step S302: Determine the overlapping area with the smallest value according to the sorting rule, and define the alternative points according to the alternative combination corresponding to the overlapping area.

[0103] Through the sorting rule, the overlapping area with the smallest value can be determined, that is, when the number of detections is the same at this time, the area of the alternative combination repeating the operation in the already detected area is the smallest, and the overall detection effect is the best. Therefore, the alternative points can be determined according to this alternative combination.

[0104] After the overlapping area is determined, the detection method for marine metal detection further includes:

[0105] Step S400: Determine whether there is at least two alternative combinations with the same and minimum overlapping area.

[0106] The purpose of the determination is to find out whether there are multiple alternative combinations meeting the requirements.

[0107] Step S4001: If there is no at least two alternative combinations with the same and minimum overlapping area, determine alternative points according to the alternative combination corresponding to the minimum overlapping area.

[0108] When there is no at least two alternative combinations with the same and minimum overlapping area, it means there is only a unique alternative combination meeting the requirements. At this time, just determine the alternative points normally.

[0109] Step S4002: If there is at least two alternative combinations with the same and minimum overlapping area, define the alternative combination corresponding to the minimum overlapping area as the candidate combination, and determine the fuzzy detection area according to each local detection situation.

[0110] When there is at least two alternative combinations with the same and minimum overlapping area, it means there are multiple alternative combinations meeting the requirements. At this time, define them as candidate combinations to distinguish different alternative combinations, which is convenient for subsequent analysis; the fuzzy detection area is the area where there are certain objections when detecting metals by sonar, and the overall result is relatively fuzzy and needs to be detected multiple times. This area can be obtained according to each already obtained local detection situation.

[0111] Step S401: Determine the intersecting secondary detection area according to the detection overlapping area and the fuzzy detection area, determine the secondary detection area according to the secondary detection area, and calculate the sum of all secondary detection areas to determine the overall multiple area.

[0112] The secondary detection area is the fuzzy detection area within the detection overlapping area, that is, the fuzzy detection area that can be detected again. The secondary detection area is the area of the secondary detection area, and the overall multiple area is the sum of all secondary detection areas.

[0113] Step S402: Determine the overall multiple area with the largest value according to the sorting rule, and determine alternative points according to the candidate combination corresponding to the overall multiple area.

[0114] Through the sorting rule, the overall multiple area with the largest value can be determined, that is, at this time, the fuzzy detection area that can be detected twice is the most, that is, the overall detection effect is the best. At this time, just determine the corresponding alternative points according to this candidate combination.

[0115] After determining the overall multiple area, the detection method for marine metal detection further includes:

[0116] Step S500: Determine whether there are at least two candidate combinations with the same and maximum overall multiple areas.

[0117] The purpose of the determination is to find out whether there are multiple candidate combinations that meet the requirements.

[0118] Step S5001: If there are not at least two candidate combinations with the same and maximum overall multiple areas, determine the alternative points according to the candidate combination corresponding to the maximum overall multiple area.

[0119] When there are not at least two candidate combinations with the same and maximum overall multiple areas, it means there is only a unique candidate combination that meets the requirements. At this time, the alternative points can be determined according to this candidate combination.

[0120] Step S5002: If there are at least two candidate combinations with the same and maximum overall multiple areas, define the monomer detection area closest to the current device docking position in each candidate combination as the standard detection area.

[0121] When there are at least two candidate combinations with the same and maximum overall multiple areas, it means there are multiple candidate combinations that meet the requirements and further analysis is needed; defining the standard detection area is to distinguish different monomer detection areas for subsequent analysis.

[0122] Step S501: Divide the newly added detection area and the secondary detection area according to the standard detection area, and determine the required movement distance according to the center of the standard detection area and the current device docking position.

[0123] The newly added detection area is the area within the waiting detection area in the standard detection area, and the required movement distance is the distance value that the unmanned ship needs to move to the center of the standard detection area.

[0124] Step S502: Calculate according to the newly added detection area, the secondary detection area, the required movement distance, and the preset calculation parameters to determine the area selection parameter.

[0125] The area selection parameter is a parameter reflecting whether the selected area is appropriate. The larger this parameter is, the more appropriate the selected area is. The calculation formula for the area selection parameter is , where is the area selection parameter, is the area value of the newly added detection area, is the area value of the secondary detection area, is the required movement distance, , and are all calculation parameters of each parameter, and this calculation parameter is a preset fixed value parameter.

[0126] Step S503: Determine the region selection parameter with the largest value according to the sorting rule, and determine the alternative points based on the alternative combination corresponding to the region selection parameter.

[0127] Through the sorting rule, the region selection parameter with the largest value can be determined, that is, the alternative combination corresponding at this time has the best use effect, and the alternative points can be determined according to this alternative combination.

[0128] After the detection points are determined, the detection method for marine metal detection further includes:

[0129] Step S600: Determine the downstream moving distance according to the detection points and the current device docking position.

[0130] The downstream moving distance is the distance value that the unmanned ship needs to move from the current device docking position to the determined detection point, that is, the distance value between the detection point and the current device docking position.

[0131] Step S601: Determine whether the downstream moving distance is greater than the preset long-distance moving distance.

[0132] The long-distance moving distance is the minimum downstream moving distance set by the staff that is considered too far to meet the power saving requirement and slow down the detection efficiency at the same time. The purpose of the judgment is to know whether the currently determined detection point is convenient for the unmanned ship to move.

[0133] Step S6011: If the downstream moving distance is not greater than the long-distance moving distance, control the unmanned ship to move according to the detection points.

[0134] When the downstream moving distance is not greater than the long-distance moving distance, it means that the determined detection point is convenient for the unmanned ship to move. At this time, the unmanned ship can be normally controlled to move.

[0135] Step S6012: If the downstream moving distance is greater than the long-distance moving distance, determine the moving difficulty coefficient corresponding to the downstream moving distance according to the preset first difficulty matching relationship.

[0136] When the downstream moving distance is greater than the long-distance moving distance, it means that the currently determined detection point does not meet the requirements. At this time, further analysis is needed; the moving difficulty coefficient is the difficulty value corresponding to the downstream moving distance of the unmanned ship moving downstream. The larger this difficulty value is, the worse the effect that can be achieved when using this detection point for detection. And the greater the downstream moving distance, the greater the corresponding moving difficulty coefficient. The first difficulty matching relationship between the two is determined by the staff through experiments in advance.

[0137] Step S602: Generate a random simulated moving direction, and determine the direction angle according to the simulated moving direction and the current ocean current direction.

[0138] The simulated moving direction is a direction that is not the same as the current ocean current direction, and the direction angle is the angle formed between the simulated moving direction and the current ocean current direction.

[0139] Step S603: Determine the feasible moving distance corresponding to the moving difficulty coefficient and the direction angle according to the preset distance matching relationship, and delimit the feasible moving path according to the feasible moving distance, the simulated moving direction, and the current device docking position.

[0140] The feasible moving distance is the maximum distance value that the unmanned ship can move against the water flow direction at the direction angle to reach the moving difficulty coefficient. The distance matching relationship among the three is determined by the staff in advance; the feasible moving path is the path that the unmanned ship can travel along the simulated moving direction.

[0141] Step S604: Determine the detection points on the feasible moving path, and determine the simulated moving distance according to the detection points and the current device docking position.

[0142] The simulated moving distance is the distance that the unmanned ship needs to move from the current device docking position to the detection point when moving along the feasible moving path.

[0143] Step S605: Determine the simulated difficulty coefficient corresponding to the simulated moving distance and the direction angle according to the preset second difficulty matching relationship.

[0144] The simulated difficulty coefficient is the difficulty that the unmanned ship will reach when moving the simulated moving distance along the direction with the water flow at the direction angle. This difficulty coefficient is similar to the moving difficulty coefficient, both of which are to reflect the moving effect; different simulated moving distances and different direction angles correspond to different simulated difficulty coefficients, and the second difficulty matching relationship between the two is determined by the staff through multiple experiments in advance.

[0145] Step S606: Determine the simulated difficulty coefficient with the smallest value according to the sorting rule, and control the unmanned ship to move according to the detection point corresponding to the simulated difficulty coefficient.

[0146] Through the sorting rule, the simulated difficulty coefficient with the smallest value can be determined, that is, the corresponding detection point at this time is the most convenient for the unmanned ship to move. At this time, control the unmanned ship to move according to this detection point to make the moving detection effect of the unmanned ship better.

[0147] After the direction completion signal is output, the detection method for marine metal detection further includes:

[0148] Step S700: Establish a historical interval on the preset time axis with the current time point as the rear endpoint and a width of the preset historical duration, and establish a nearby interval with a width of the preset nearby duration with the current time point as the rear endpoint in the historical interval.

[0149] The time axis is an axis formed by combining each time point. The historical duration is a fixed duration set by the staff for detecting the historical situation of the ocean, such as 1 year. Establishing a historical interval facilitates the acquisition of data within the historical duration; the near-term duration is the duration set by the staff for acquiring data in the short term, such as 12 hours. Establishing a near-term interval facilitates the acquisition and analysis of data within the near-term duration.

[0150] Step S701: Randomly generate a virtual time point in the historical interval, and establish an equivalent interval similar to the near-term interval according to the virtual time point.

[0151] The equivalent interval is an interval with the virtual time point as the rear endpoint and the same width as the near-term interval.

[0152] Step S702: Obtain the original ocean current change sequence and the duration of each original direction in the near-term interval, and obtain the comparison ocean current change sequence and the duration of each comparison direction in each equivalent interval.

[0153] The original ocean current change sequence is the change sequence of the ocean current direction in the near-term interval. The original direction duration is the duration that each ocean current direction lasts. Similarly, the comparison ocean current change sequence is the change sequence of the ocean current direction in the equivalent interval, and the comparison direction duration is the duration that each ocean current direction lasts.

[0154] Step S703: Calculate according to the original ocean current change sequence, the comparison ocean current change sequence, the original direction duration, and the comparison direction duration to determine the change similarity.

[0155] The change similarity is a value reflecting the similarity degree of the ocean current direction changes in two time intervals. Among them, the first parameter value is determined by comparing the original ocean current change sequence and the comparison ocean current change sequence one by one. The first parameter value can be determined by the corresponding number of times in the original ocean current change sequence and the comparison ocean current change sequence. For example, if there are four ocean current directions in the sequence, and there are two corresponding directions from front to back, then the first parameter value is determined according to the two directions. If there are three corresponding directions, then the first parameter value is determined according to the three directions. The determination method of the first parameter value is set by the staff according to the actual situation; then the second parameter value can be obtained by comparing the original direction duration and the comparison direction duration one by one. The second parameter value is much smaller than the first parameter value. The second parameter value can be obtained by calculating the difference in the duration corresponding to the corresponding directions in the direction change sequence. The smaller the difference, the larger the parameter value that can be obtained. The matching relationship between the two can be pre-entered by the staff, and then the parameter values obtained for all corresponding directions are added up to obtain the second parameter value.

[0156] Step S704: Determine the maximum change similarity according to the sorting rule, determine the predicted ocean current direction according to the equivalent interval corresponding to the change similarity, and update the current ocean current direction according to the predicted ocean current direction.

[0157] Through the sorting rule, the maximum change similarity can be determined, that is, the change direction of the ocean current in this equivalent interval is most similar to the change direction of the ocean current in the current nearest interval. At this time, the ocean current direction at the next moment of the current time point can be predicted by the ocean current direction at the next moment after the equivalent interval, that is, the predicted ocean current direction. At this time, the movement control analysis of the unmanned ship can be carried out according to the predicted ocean current direction to achieve the effective movement of the unmanned ship; Similarly, when the predicted ocean current direction also outputs a direction completion signal, the corresponding equivalent interval is excluded, so as to determine the equivalent interval corresponding to the maximum change similarity until the effective movement of the unmanned ship can be achieved.

[0158] Refer to Figure 2 , based on the same inventive concept, an embodiment of the present invention provides a detection system for marine metal detection, including:

[0159] An acquisition module, configured to acquire a required detection area and a device docking position;

[0160] A processing module, connected to the acquisition module, for storing and processing information;

[0161] The processing module controls the preset sonar device to operate for a preset fixed duration at the device docking position, receives the reflected wave information within the fixed duration, and determines the local detection situation according to the reflected wave information;

[0162] The acquisition module acquires the current ocean current direction after the local detection situation is determined, and enables the processing module to determine a single detection area according to the device docking position and a preset detection radius, and determine a waiting detection area according to the required detection area and the single detection area;

[0163] The processing module determines a downstream driving path according to the current ocean current direction and the device docking position, and generates detection points on the downstream driving path according to the waiting detection area;

[0164] The processing module controls the unmanned ship to move along the detection points, updates the detection points to the device docking position when the unmanned ship reaches the detection points, and performs detection operations according to the device docking position and updates the waiting detection area until a detection completion signal is output when the waiting detection area is empty;

[0165] A detection point generation module, configured to determine more suitable detection points on the downstream driving path;

[0166] A laying combination screening module, configured to screen and process multiple laying combinations that meet the requirements;

[0167] An alternative combination screening module for screening multiple alternative combinations that meet the requirements;

[0168] A candidate combination screening module for screening multiple candidate combinations that meet the requirements;

[0169] A moving direction adjustment module for adjusting the moving direction of the unmanned ship;

[0170] An ocean current direction prediction module for predicting the possible changing direction of the ocean current, so as to facilitate the movement control of the unmanned ship.

[0171] Those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be assigned to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. For the specific working processes of the systems, devices, and units described above, reference can be made to the corresponding processes in the foregoing method embodiments, which will not be elaborated herein.

Claims

1. A detection method for marine metal detection, characterized in that, Including: Obtain the demand detection area and the device docking position; Control the preset sonar device to operate for a preset fixed duration at the device docking position, receive the reflected wave information within the fixed duration, and determine the local detection situation according to the reflected wave information; After determining the local detection situation, obtain the current ocean current direction, determine the single detection area according to the device docking position and the preset detection radius, and determine the waiting detection area according to the demand detection area and the single detection area; Determine the downstream travel path according to the current ocean current direction and the device docking position, and generate detection points according to the waiting detection area on the downstream travel path; Control the unmanned ship to move along the detection points, update the detection points to the device docking position when the unmanned ship reaches the detection points, and perform detection operations according to the device docking position and update the waiting detection area until a detection completion signal is output when the waiting detection area is empty; The step of generating detection points according to the waiting detection area on the downstream travel path includes: Judge whether there is a situation where part of the downstream travel path is within the waiting detection area; If there is no situation where part of the downstream travel path is within the waiting detection area, output a direction completion signal; If there is a situation where part of the downstream travel path is within the waiting detection area, define the downstream travel path within the waiting detection area as the internal travel path; Lay the single detection area with the points on the internal travel path as the center, and generate a laying combination according to the single detection area when the internal travel path is completely covered by the single detection area; Count according to the single detection area in each laying combination to determine the detection times; Determine the detection times with the smallest value according to the preset sorting rule, define the center of the single detection area in the laying combination corresponding to the detection times as the alternative point, and determine the detection point as the alternative point closest to the current device docking position.

2. The detection method for marine metal detection according to claim 1, wherein After determining the detection times, the detection method for marine metal detection further includes: Judge whether there are at least two laying combinations with the same and smallest detection times; If there are no at least two laying combinations with the same and smallest detection times, determine the alternative point according to the laying combination corresponding to the smallest detection times; If there are at least two laying combinations with the same and smallest detection times, define the laying combination corresponding to the smallest detection times as the alternative combination, and define the area other than the waiting detection area in the demand detection area as the detection completion area; Analyze each single detection area in the alternative combination with the detection completion area to determine the detection overlapping area, and determine the overlapping area according to the detection overlapping area; Determine the overlapping area with the smallest value according to the sorting rule, and define the alternative point according to the alternative combination corresponding to the overlapping area.

3. The detection method for marine metal detection according to claim 2, characterized in that, After determining the overlapping area, the detection method for marine metal detection further includes: Judge whether there are at least two alternative combinations with the same and smallest overlapping areas; If there are no at least two alternative combinations with the same and smallest overlapping areas, determine the alternative point according to the alternative combination corresponding to the smallest overlapping area; If there are at least two alternative combinations with the same and minimum overlapping area, the alternative combination corresponding to the minimum overlapping area is defined as the candidate combination, and the fuzzy detection area is determined according to the local detection conditions; The secondary detection area where the detection overlapping area and the fuzzy detection area intersect is determined, the secondary detection area is used to determine the secondary detection area, and the overall multiple areas are calculated by summing all the secondary detection areas; The overall multiple area with the largest value is determined according to the sorting rule, and the alternative point is determined according to the candidate combination corresponding to the overall multiple area; 4. The detection method for marine metal detection according to claim 3, characterized in that, At After the overall multiple area is determined, the detection method for marine metal detection further includes: Determine whether there are at least two candidate combinations with the same and maximum overall multiple area; If there are not at least two candidate combinations with the same and maximum overall multiple area, the alternative point is determined according to the candidate combination corresponding to the largest overall multiple area; If there are at least two candidate combinations with the same and maximum overall multiple area, the single detection area closest to the current device docking position in each candidate combination is defined as the standard detection area; The new detection area and the secondary detection area are divided according to the standard detection area, and the required moving distance is determined according to the center of the standard detection area and the current device docking position; Calculations are performed according to the new detection area, the secondary detection area, the required moving distance, and the preset calculation parameters to determine the area selection parameter; The area selection parameter with the largest value is determined according to the sorting rule, and the alternative point is determined according to the candidate combination corresponding to the area selection parameter; 5. The detection method for marine metal detection according to claim 1, characterized in that, After the detection point is determined, the detection method for marine metal detection further includes: The downstream moving distance is determined according to the detection point and the current device docking position; Determine whether the downstream moving distance is greater than the preset far moving distance; If the downstream moving distance is not greater than the far moving distance, the unmanned ship is controlled to move according to the detection point; If the downstream moving distance is greater than the far moving distance, the moving difficulty coefficient corresponding to the downstream moving distance is determined according to the preset first difficulty matching relationship; A random simulated moving direction is generated, and the direction angle is determined according to the simulated moving direction and the current ocean current direction; The feasible moving distance corresponding to the moving difficulty coefficient and the direction angle is determined according to the preset distance matching relationship, and the feasible moving path is delimited according to the feasible moving distance, the simulated moving direction, and the current device docking position; The detection point is determined on the feasible moving path, and the simulated moving distance is determined according to the detection point and the current device docking position; The simulated difficulty coefficient corresponding to the simulated moving distance and the direction angle is determined according to the preset second difficulty matching relationship; The simulated difficulty coefficient with the smallest value is determined according to the sorting rule, and the unmanned ship is controlled to move according to the detection point corresponding to the simulated difficulty coefficient; 6. The detection method for marine metal detection according to claim 1, wherein After the direction completion signal is output, the detection method for marine metal detection further includes: A historical interval with the current time point as the rear end point and a width of the preset historical duration is established on the preset time axis, and a nearby interval with a width of the preset nearby duration is established with the current time point as the rear end point in the historical interval; Randomly generate a virtual time point in the historical interval, and establish an equivalent interval similar to the nearby interval according to the virtual time point; Obtain the original ocean current change sequence and the duration of each original direction in the nearby interval, and obtain the comparison ocean current change sequence and the duration of each comparison direction in each equivalent interval; Calculate according to the original ocean current change sequence, the comparison ocean current change sequence, the original direction duration, and the comparison direction duration to determine the change similarity; Determine the change similarity with the largest value according to the sorting rule, and determine the predicted ocean current direction according to the equivalent interval corresponding to the change similarity, and update the current ocean current direction according to the predicted ocean current direction.

7. A detection system for marine metal detection, characterized in that, Including: An acquisition module for acquiring the demand detection area and the device docking position; A processing module, connected to the acquisition module, for storing and processing information; The processing module controls the preset sonar device to operate for a preset fixed duration at the device docking position, receives the reflected wave information within the fixed duration, and determines the local detection situation according to the reflected wave information; The acquisition module acquires the current ocean current direction after the local detection situation is determined, and enables the processing module to determine the single detection area according to the device docking position and the preset detection radius, and determine the waiting detection area according to the demand detection area and the single detection area; The processing module determines the downstream driving path according to the current ocean current direction and the device docking position, and generates detection points on the downstream driving path according to the waiting detection area; The processing module controls the unmanned ship to move along the detection points, and updates the detection points to the device docking position when the unmanned ship arrives at the detection points, and performs detection operations according to the device docking position and updates the waiting detection area until a detection completion signal is output when the waiting detection area is empty; The step of generating detection points according to the waiting detection area on the downstream driving path includes: The processing module determines whether there is a situation where part of the downstream driving path is within the waiting detection area; If there is no situation where part of the downstream driving path is within the waiting detection area, the processing module outputs a direction completion signal; If there is a situation where part of the downstream driving path is within the waiting detection area, the processing module defines the downstream driving path within the waiting detection area as the internal driving path; The processing module lays the single detection area with the points on the internal driving path as the center, and generates a laying combination according to the single detection area when the internal driving path is completely covered by the single detection area; The processing module counts according to the single detection area in each laying combination to determine the detection times; The processing module determines the detection times with the smallest value according to the preset sorting rule, and defines the center of the single detection area in the laying combination corresponding to the detection times as the alternative point, and determines the detection point as the alternative point closest to the current device docking position.

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