Unmanned ship track planning system for underwater data acquisition

Abstract

The invention relates to the field of underwater topographic survey, in particular to an unmanned ship track planning system for underwater data acquisition, which comprises a GPS positioning module, a data acquisition module, a data processing module, an initial path planning module and a path adjustment module, and is characterized in that the GPS positioning module is used for obtaining the positioning of an unmanned ship and the positioning of a final destination of the unmanned ship; the data acquisition module is used for acquiring data; the data processing module is used for performing primary processing on the data; the initial path planning module is used for planning an initial path of the unmanned ship; and the path adjusting module is used for adjusting the path of the unmanned ship. According to the invention, the preset coordinates are generated through the initial path planning module, so that planning of the moving path of the unmanned ship is facilitated, it is ensured that the effective range of the collection range of the unmanned ship can spread over the whole river channel, and various data required for constructing the three-dimensional terrain model of the water bottom of the pond can be acquired.

Description

Technical Field

[0001] The invention relates to the field of underwater topography measurement, and in particular to an unmanned ship track planning system for underwater data collection. Background Art

[0002] Monitoring and data collection of underwater environments have gradually become an important area of ​​scientific research today. As a key task, underwater topography measurement can provide basic data for topographic mapping, resource exploration and engineering construction. The development of unmanned ships provides a flexible, efficient and safe solution for underwater topography measurement. Unmanned ships can autonomously collect underwater topographic data by carrying a variety of sensor equipment, such as multi-beam sonar, laser rangefinder, etc.

[0003] For example, the prior art CN118089676A discloses a method for collecting and transmitting data of an unmanned ship for underwater terrain survey, which includes the following steps: S1, obtaining the area range that requires underwater terrain survey, and obtaining the collection range of the unmanned ship in the working state; S2, performing path planning analysis based on the area range combined with the collection range, obtaining the planned points for the unmanned ship to collect underwater terrain data, and then controlling the unmanned ship to move toward the planned points and collect underwater terrain data.

[0004] Another typical prior art disclosed in CN110888126A is a data comprehensive processing method for an unmanned ship information perception system based on multi-source sensors, which is used to solve the technical problem of poor practicality of the existing data processing method for unmanned ship information perception system. The technical solution is to first collect data from multi-source sensors, perform coordinate transformation and time alignment according to the data format of each sensor, and achieve the unification of each data in time and space, and then associate the radar, AIS and ESM data with the sonar information respectively to eliminate repeated tracking targets in the monitoring area, and focus on calibrating non-identified non-cooperative underwater targets, and reversely infer the sea condition level through inertial navigation data and wind speed information to obtain the real scene of the target and environment in the monitored sea area.

[0005] Let's look at the underwater measurement system and method based on unmanned ships disclosed in the prior art CN116045905A. The system includes several unmanned ships, several remote control base stations and a data center. The method includes the following steps: initializing the underwater measurement system; planning the unmanned ship's track line according to the position data of the preset measurement points and the river terrain data of the measurement basin; calling the external continuously running reference station subsystem to obtain differential correction data; performing cruise measurement based on the differential correction data, the original longitude and latitude positioning data collected in real time, and the track line path; processing the original underwater measurement data to obtain the underwater terrain three-dimensional coordinate data and visualize it.

[0006] When an unmanned ship is performing underwater data collection tasks, it usually takes a long time to operate. The track planning method of the existing system usually needs to first obtain the working range of the underwater task, and then plan the unmanned ship position according to the working range. When the working range is large, the acquisition time is long, and when the working range needs to be changed, a large number of unmanned ship positions often need to be changed at one time. In order to solve the common problems in this field, the present invention has been made. Summary of the invention

[0007] The purpose of the present invention is to propose an unmanned ship track planning system for underwater data collection in view of the current shortcomings.

[0008] In order to overcome the shortcomings of the prior art, the present invention adopts the following technical solutions:

[0009] 2. An unmanned ship track planning system for underwater data collection, comprising a GPS positioning module, a data collection module, a data processing module, an initial path planning module and a path adjustment module, wherein the GPS positioning module is used to obtain the positioning of the unmanned ship and the positioning of the final destination of the unmanned ship; the data collection module is used to collect data required for the unmanned ship track planning and the river and pond bottom data required for the unmanned ship to work; the data processing module is used to perform preliminary processing on the data collected by the data collection module to obtain the required data; the initial path planning module is used to plan the initial path of the unmanned ship according to the data processed by the data processing module, the positioning data of the GPS positioning module and the working purpose of the unmanned ship; the path adjustment module is used to adjust the path of the unmanned ship during the navigation of the unmanned ship along the initial path according to the data processed by the data processing module; the data collection module includes a drone, and the data required for the unmanned ship track planning includes images of both sides of the river collected by the drone following the unmanned ship, and the images taken by the drone are transmitted to the data processing module.

[0010] Furthermore, the data acquisition module also includes a multi-beam bathymetric unit and a target data acquisition unit. The multi-beam bathymetric unit includes a transmitting transducer, a receiving transducer and a control unit. The transmitting transducer is used to transmit multiple sound wave beams underwater, and the sound beams are fan-shaped. The receiving transducer is used to receive the sound wave signals returned by the sound beams after reflection. The control unit is used to coordinate the synchronous operation of the transmitting transducer and the receiving transducer and to allow the staff to set the operating frequency, transmitting power, Ping rate and other parameters of the transmitting transducer. The target data acquisition unit is used to collect various data required to construct a three-dimensional terrain model of the bottom of the river and pond.

[0011] Furthermore, the data processing module includes a two-bank distance analysis unit, a data filtering and noise reduction unit, and an obstacle distance analysis unit. The two-bank distance analysis unit is used to analyze the images taken by the drone through stereo vision technology and obtain the distance between the unmanned boat and the two banks of the river. The data filtering and noise reduction unit is used to perform data filtering and noise processing on the returned sound wave signal. The obstacle distance analysis unit is used to calculate the distance between the unmanned boat and the obstacle based on the time difference between the sending and returning of the sound wave.

[0012] Furthermore, the initial path planning module includes a two-dimensional map generation unit and a preset coordinate generation unit. The two-dimensional map generation unit is used to generate a corresponding two-dimensional map based on the distance between the two banks obtained by the distance analysis unit between the two banks, the captured images of the drone, and the positioning data of the GPS positioning module. The preset coordinate generation unit is used to generate preset coordinates based on the two-dimensional map and the effective range of the collection range of the destination data collection unit.

[0013] Furthermore, the path adjustment module includes a collision risk prediction unit and a path adjustment unit. The collision risk prediction unit is used to judge the possibility of the unmanned ship colliding with an obstacle during navigation based on the analysis results of the obstacle distance analysis unit and the preset coordinates of the unmanned ship. The path adjustment unit is used to adjust the moving path of the unmanned ship based on the analysis results of the collision risk prediction unit.

[0014] Furthermore, the workflow of the unmanned ship trajectory planning system includes the following steps:

[0015] S1, the unmanned boat is docked on the left side of the river, the data acquisition module collects data near the unmanned boat, and the GPS positioning module locates the unmanned boat and its final destination.

[0016] S2, the data processing module processes the data collected by the data acquisition module.

[0017] S3, the initial path planning module generates a two-dimensional map, and updates and marks the preset coordinates of the unmanned ship on the two-dimensional map.

[0018] S4, the unmanned ship sails to the preset coordinates as the destination.

[0019] S5, the path adjustment module determines whether there is a collision risk during the navigation process. If not, the unmanned ship continues to navigate with the preset coordinates as the destination. If so, the moving path of the unmanned ship is adjusted, and the unmanned ship moves according to the adjusted path; the data acquisition module continues to collect data and returns to S2.

[0020] Furthermore, the initial path planning module generates a two-dimensional map, and updates and marks the preset coordinates of the unmanned ship on the two-dimensional map, including the following steps:

[0021] S31, the two-dimensional map generating unit generates a corresponding two-dimensional map according to the distance between the two banks obtained by the distance analyzing unit between the two banks, the image taken by the drone, and the positioning data of the GPS positioning module.

[0022] S32, the preset coordinate generation unit generates preset coordinates according to the generated two-dimensional map.

[0023] S33, the two-dimensional map generation unit marks the preset coordinates according to the generation order of the coordinates.

[0024] The beneficial effects achieved by the present invention are: 1. Generating preset coordinates through the initial path planning module is conducive to planning the moving route of the unmanned boat, which is conducive to ensuring that the effective range of the unmanned boat's collection range can cover the entire river channel, thereby ensuring the accuracy of underwater information collection, and is conducive to obtaining various data required for constructing a three-dimensional terrain model of the bottom of the river and pond, thereby achieving the working purpose of the unmanned boat.

[0025] 2. The path adjustment module is used to determine whether the unmanned ship is at risk of colliding with obstacles during its driving process, and the navigation path is adjusted in time, which is conducive to avoiding collisions between the unmanned ship and obstacles and ensuring that the unmanned ship can successfully complete its work tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate the same parts.

[0027] Figure 1 It is a schematic diagram of the structure of the present invention.

[0028] Figure 2 It is the work flow chart of the present invention.

[0029] Figure 3 A flowchart of generating a two-dimensional map for the initial path planning module of the present invention, and updating and marking the preset coordinates of the unmanned ship on the two-dimensional map.

[0030] Figure 4 This is a work flow chart of the second embodiment of the present invention.

[0031] Figure 5 To set the threshold and R min 3D scatter plot of the relationship with TURN DETAILED DESCRIPTION

[0032] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual sizes. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0033] Embodiment 1: According to Figure 1 , Figure 2 , Figure 3 and Figure 4 The present embodiment provides an unmanned ship track planning system for underwater data collection, including a GPS positioning module, a data collection module, a data processing module, an initial path planning module and a path adjustment module, wherein the GPS positioning module is used to obtain the positioning of the unmanned ship and the positioning of the final destination of the unmanned ship; the data collection module is used to collect data required for the unmanned ship track planning and the river and pond bottom data required for the unmanned ship to work; the data processing module is used to perform preliminary processing on the data collected by the data collection module to obtain the required data; the initial path planning module is used to plan the initial path of the unmanned ship according to the data processed by the data processing module, the positioning data of the GPS positioning module and the working purpose of the unmanned ship; the path adjustment module is used to adjust the path of the unmanned ship during the navigation of the unmanned ship along the initial path according to the data processed by the data processing module.

[0034] Specifically, the data actually required by the unmanned boat is various data required to construct a three-dimensional terrain model of the bottom of the river or pond, which is the working purpose of the unmanned boat.

[0035] Furthermore, the data acquisition module includes a multi-beam bathymetric unit, a target data acquisition unit and a drone, the drone is used to take images of both sides of the river and transmit them to the data processing module, the multi-beam bathymetric unit includes a transmitting transducer, a receiving transducer and a control unit, the transmitting transducer is used to transmit multiple sound wave beams underwater, the sound beams are fan-shaped, the receiving transducer is used to receive the sound wave signals returned by the sound beams after reflection, the control unit is used to coordinate the synchronous operation of the transmitting transducer and the receiving transducer and to allow the staff to set the operating frequency, transmission power, Ping rate and other parameters of the transmitting transducer; the target data acquisition unit is used to collect various data required to construct a three-dimensional terrain model of the bottom of the river and pond.

[0036] Furthermore, the data processing module includes a bank distance analysis unit, a data filtering and noise reduction unit, and an obstacle distance analysis unit. The bank distance analysis unit is used to analyze the image taken by the drone through stereo vision technology and obtain the distance between the unmanned boat and the two banks of the river. The data filtering and noise reduction unit is used to perform data filtering and noise processing on the returned sound wave signal. The obstacle distance analysis unit is used to calculate the distance between the unmanned boat and the obstacle according to the time difference between the sending and returning of the sound wave. The drone flies closely behind the unmanned boat to obtain images of the two banks of the river at close range of the unmanned boat. The close following is preferably when the distance between the drone and the unmanned boat is less than 50 meters.

[0037] Specifically, one obstacle corresponds to multiple sound wave signals, and the distance between the unmanned ship and the obstacle can be obtained by fusing the time difference of the corresponding sound wave signals.

[0038] Furthermore, the initial path planning module includes a two-dimensional map generation unit and a preset coordinate generation unit. The two-dimensional map generation unit is used to generate a corresponding two-dimensional map based on the distance between the two banks obtained by the distance analysis unit between the two banks, the captured images of the drone, and the positioning data of the GPS positioning module. The preset coordinate generation unit is used to generate preset coordinates based on the two-dimensional map and the effective range of the collection range of the destination data collection unit.

[0039] Specifically, the effective range is set by those skilled in the art according to the required data accuracy. Setting the effective range is helpful to improve the accuracy of the data and reduce the impact of noise.

[0040] Specifically, the preset coordinates are the destination of the unmanned ship.

[0041] Specifically, the two-dimensional map is continuously updated as the unmanned boat and drone travel, thus ensuring that the unmanned boat's track can cover the entire river.

[0042] Furthermore, the path adjustment module includes a collision risk prediction unit and a path adjustment unit. The collision risk prediction unit is used to judge the possibility of the unmanned ship colliding with an obstacle during navigation based on the analysis results of the obstacle distance analysis unit and the preset coordinates of the unmanned ship. The path adjustment unit is used to adjust the moving path of the unmanned ship based on the analysis results of the collision risk prediction unit.

[0043] Furthermore, the workflow of the unmanned ship trajectory planning system includes the following steps:

[0044] S1, the unmanned boat is docked on the left side of the river, the data acquisition module collects data near the unmanned boat, and the GPS positioning module locates the unmanned boat and its final destination.

[0045] Specifically, the final destination of the unmanned ship is set by a person skilled in the art;

[0046] S2, the data processing module processes the data collected by the data acquisition module.

[0047] S3, the initial path planning module generates a two-dimensional map, and updates and marks the preset coordinates of the unmanned ship on the two-dimensional map.

[0048] Specifically, since the drone flies closely following the unmanned ship, as the unmanned ship continues to sail, the images captured by the drone also continue to increase. By continuously capturing images of both sides of the river, the positions of the two sides in the two-dimensional map can be continuously expanded, and the preset coordinates of the unmanned ship can be continuously added to the expanded two-dimensional map; the preset coordinates are marked with marking numbers, and the marking numbers are used to indicate the navigation order. The navigation order is to navigate from small to large according to the marking numbers. The unmanned ship goes to different preset coordinates in turn according to the navigation order on different preset coordinates. The overall movement method is similar to the "S" type movement method, so as to collect as many data as possible for constructing the three-dimensional terrain model of the bottom of the river and pond; at the same time, by adopting a method of continuously increasing the preset coordinates of the drone according to the captured images, rather than setting all the coordinates at one time, this method is more flexible than the existing technology, and when the final destination changes, the amount of coordinates that need to be changed is also smaller.

[0049] S4, the unmanned ship sails to the preset coordinates as the destination.

[0050] S5, the path adjustment module determines whether there is a collision risk during the navigation process. If not, the unmanned ship continues to navigate with the preset coordinates as the destination. If so, the moving path of the unmanned ship is adjusted, and the unmanned ship moves according to the adjusted path; the data acquisition module continues to collect data and returns to S2.

[0051] Specifically, each time the unmanned ship arrives at a preset coordinate, it will stop for a short time and collect various required data. During the stop, the path adjustment module will determine whether there is a collision risk during the navigation process. If there is a risk, the moving path of the unmanned ship will be adjusted before the unmanned ship sets sail. The collision risk prediction unit can use the CPA algorithm to determine whether the closest distance between the unmanned ship and the obstacle at a certain moment in the future is less than the minimum distance threshold, thereby determining whether there is a collision risk. If it is less, there is a risk. The minimum distance threshold is set by technical personnel in this field according to the size of the unmanned ship. The path adjustment unit adjusts the moving path of the unmanned ship through an obstacle avoidance algorithm (boundary tracking method or minimum distance method, etc.). The CPA algorithm and obstacle avoidance algorithm belong to the prior art and will not be elaborated here.

[0052] Furthermore, the initial path planning module generates a two-dimensional map, and updates and marks the preset coordinates of the unmanned ship on the two-dimensional map, including the following steps:

[0053] S31, the two-dimensional map generating unit generates a corresponding two-dimensional map according to the distance between the two banks obtained by the distance analyzing unit between the two banks, the image taken by the drone, and the positioning data of the GPS positioning module.

[0054] Specifically, generating a two-dimensional map based on a physical map belongs to the prior art and will not be described in detail here; the coordinate origin of the two-dimensional map is the starting coordinate of the unmanned boat, the unmanned boat is initially docked on the left side of the river bank, and the coordinate of the unmanned boat is represented by the coordinate of the center position of the unmanned boat. The positive direction of the y-axis of the two-dimensional map is the direction extending from the starting coordinate of the unmanned boat to the final destination of the unmanned boat. The positive direction of the x-axis of the two-dimensional map can be obtained according to the positive direction of the y-axis of the two-dimensional map; one grid on the two-dimensional map corresponds to one meter in reality;

[0055] S32, a preset coordinate generating unit generates preset coordinates according to the generated two-dimensional map.

[0056] Specifically, the preset coordinates can be generated in the following manner:

[0057] First, r is obtained, where r is the radius of the maximum effective range of the acquisition range of the target data acquisition unit, and the acquisition range is determined by the performance of the transmitting transducer;

[0058] Taking the first navigation cycle as an example, the preset coordinates within a navigation cycle are generated in the following order:

[0059] (x1, y1), (x1+r, y1), ..., (x1+n1*r, y1), (x1+n1*r+l1, y1), (x1+n1*r+l1+p1, y1+r), (x1+(n1-1)*r+l1+p1, y1+ r),..., (x1+(n1-q1)*r+l1+p1, y1+r), (x1+(n1-q1)*r+l1+p1+l2, y1+r), (x1+(n1-q1)*r+l1+p1+l2+p2, y1+r+r)

[0060] Among them, (x1, y1) is the coordinate of the starting point of the unmanned boat. In the first navigation cycle, l1 is the first distance parameter, n1 is the first calculation parameter, q1 is the second calculation parameter, l2 is the second distance parameter, d1 is the x-axis coordinate of the right bank of the river channel penetrated by the straight line y=y1, d2 is the x-axis coordinate of the left bank of the river channel penetrated by the straight line y=y1+r, p1 is the difference between the x-axis coordinate of the right bank of the river channel penetrated by the straight line y=y1+r and the x-axis coordinate of the right bank of the river channel penetrated by the straight line y=y1 (the former minus the latter), p2 is the difference between the x-axis coordinate of the left bank of the river channel penetrated by the straight line y=y1+r+r and the x-axis coordinate of the left bank of the river channel penetrated by the straight line y=y1+r (the former minus the latter), and l1 and n1 can be obtained by the following formula:

[0061] x1+n1*r+l1=d1-r

[0062] d1>r>l1≥0

[0063] d1-r-x1>r

[0064] Wherein, n1 is an integer greater than 0;

[0065] l2 and q1 can be obtained by the following formula:

[0066] x1+(n1-q1)*r+l1+p1+l2=d2+r

[0067] -r <l2≤0

[0068] d2+3*r <d1+p1

[0069] Wherein, n2 is an integer greater than 0;

[0070] Specifically, (x1+(n1-q1)*r+l1+p1+l2+p2, y1+r+r) is the end point of the first navigation cycle and also the starting point of the second navigation cycle (x1, y1), that is, when the unmanned ship is about to sail to this position, the horizontal coordinate x1 of the starting point of the second navigation cycle is x1=x1+(n1-q1)*r+l1+p1+l2+p2, and the vertical coordinate y1 of the starting point of the second navigation cycle is y1=y1+r+r. The preset coordinates of the second navigation cycle are generated by referring to the method of generating preset coordinates for the first navigation cycle. When the unmanned ship is about to sail to the end point of the second cycle, the end point of the second navigation cycle is used as the starting point of the third navigation cycle and the preset coordinates of the third navigation cycle are generated by referring to the method of generating preset coordinates for the first navigation cycle, and so on, until the unmanned ship reaches the final destination.

[0071] S33, the two-dimensional map generation unit marks the preset coordinates according to the generation order of the coordinates.

[0072] The beneficial effects of this embodiment are: 1. The preset coordinates are generated by the initial path planning module, which is conducive to planning the moving route of the unmanned boat, and is conducive to ensuring that the effective range of the collection range of the unmanned boat can cover the entire river channel, thereby ensuring the accuracy of underwater information collection, and is conducive to obtaining various data required for constructing a three-dimensional terrain model of the bottom of the river and pond, thereby achieving the working purpose of the unmanned boat.

[0073] 2. The path adjustment module is used to determine whether the unmanned ship is at risk of colliding with obstacles during its driving process, and the navigation path is adjusted in time, which is conducive to avoiding collisions between the unmanned ship and obstacles and ensuring that the unmanned ship can successfully complete its work tasks.

[0074] Embodiment 2: This embodiment should be understood to include all the features of any of the above embodiments, and further improve on the above embodiments, and also include a preferred collision risk judgment method and its corresponding path adjustment method, including the following steps:

[0075] S51, obtaining the distance a between the outermost edge of the unmanned ship and the center of the unmanned ship.

[0076] S52, acquiring the coordinates of the obstacle according to the distance between the obstacle and the unmanned ship and the direction of the obstacle relative to the unmanned ship.

[0077] Specifically, the direction of the obstacle can be obtained through the sound wave signal. When the coordinates of the unmanned ship, the distance between the obstacle and the unmanned ship, and the direction of the obstacle relative to the unmanned ship are known, the horizontal coordinates (x 障 , V 障 ) and the horizontal height difference between the obstacle and the bottom of the unmanned boat, and obstacles with a horizontal height difference of more than 0.5m (i.e. obstacles without collision risk) will be removed from the obstacle list.

[0078] S53, taking the obstacle coordinates as the center and the circle with a radius b around it as the risk area.

[0079] Specifically, b is the radius of the risk area, and b can be obtained as follows:

[0080] The distance between the outermost position of the obstacle in the horizontal direction and the unmanned boat and the direction of the edge position relative to the unmanned boat are obtained through the sound wave signal. When the coordinates of the unmanned boat, the distance between the edge of the obstacle and the unmanned boat and the direction of the edge of the obstacle relative to the unmanned boat are known, the coordinates of the edge of the obstacle can be obtained through the existing coordinate calculation method. The rough size of the obstacle can be obtained through the coordinates of the edge of the obstacle. The coordinate difference between the edges of the obstacle on both sides is set as the estimated diameter of the obstacle. b is obtained by adding the estimated radius of the obstacle to a set threshold. The estimated radius is the estimated radius of the obstacle size. The set threshold is set by technical personnel in this field according to the turning ability of the unmanned boat. The better the turning ability of the unmanned boat, the smaller the threshold.

[0081] Preferably, the threshold value can be set in the following manner:

[0082] YZ=R min *TURN

[0083] Among them, YZ is the set threshold, R min is the minimum turning radius of the unmanned ship obtained through the test, TURN is the turning ability index of the unmanned ship, Figure 5 To set the threshold and R min 3D scatter plot of the relationship with TURN.

[0084] The turning ability index of the unmanned ship can be tested in advance by technicians in this field and calculated according to the following formula:

[0085]

[0086] Among them, I is the number of turns of the unmanned ship during the test, R i is the turning radius of the unmanned ship’s i-th turn,

[0087] V max is the maximum turning speed of the unmanned ship obtained through testing, V i is the turning speed of the unmanned ship at the i-th turn, A i is the lateral acceleration of the unmanned ship during the i-th turn, A ma is the maximum lateral acceleration of the unmanned boat obtained through the test, e is a natural constant; f() is the movement attenuation function of the unmanned boat, which is used to characterize the distance traveled by the unmanned boat when it moves forward per unit time at a fixed power and is affected by wind resistance and water flow compared to when it is not affected. This function is obtained by fitting the data obtained by technicians in this field on the distance traveled per unit time by the unmanned boat under fixed power in different environments before the unmanned boat is put into operation. WIND now SPEED is the wind speed in the direction of the unmanned ship. nowis the water flow speed in the current forward direction of the unmanned boat. The wind speed and water flow speed can be obtained by the sensor unit arranged on the unmanned boat, that is, the dependent variable of f() is the wind speed and water flow speed in the current forward direction of the unmanned boat, and the independent variable is the distance shortened after being affected by the wind speed and water flow speed.

[0088] The following is the specific procedure for calculating TURN:

[0089]

[0090]

[0091] S54, determining whether the unmanned ship will pass through the risk area.

[0092] Specifically, when the unmanned ship is traveling along the x-axis (positive or negative), by judging the straight line y=Y NOW + a intersects with the risk area to determine whether the unmanned ship will pass through the risk area. a is the distance between the outermost edge of the unmanned ship and the center of the unmanned ship. If they intersect, the unmanned ship will pass through, that is, there is a collision risk (if the unmanned ship travels along the positive direction of the y axis, it is determined that x = X NOW +a,X NOW is the current horizontal coordinate of the unmanned ship), Y NOW is the current vertical coordinate of the unmanned ship.

[0093] Specifically, when the risk areas of multiple obstacles overlap, according to the risk areas and y=Y NOW +a (If the unmanned ship moves along the positive direction of the y axis, then according to x=X NOW +a), get the minimum x-axis coordinate x of the intersection point min and the maximum value x min (If the unmanned boat moves along the positive direction of the y-axis, then the minimum y-axis coordinate of the intersection point is obtained according to min and the maximum value y min ), use the coordinates corresponding to the minimum and maximum values ​​to obtain the minimum arc that can contain all risk areas, and use the circle corresponding to the arc as the updated risk area.

[0094] S55, if the unmanned ship does not pass through the risk area, there is no need to adjust the path of the unmanned ship. Otherwise, the preset coordinates of the unmanned ship are adjusted to obtain corrected preset coordinates.

[0095] Specifically, the preset coordinates of the unmanned ship are adjusted according to the following methods:

[0096] Determine whether the risk area contains the preset coordinates. If not, mark it as the first case. If the risk area contains a preset coordinate and x max -x min≤r, also marked as the first case, (x min , Y NOW ) and (x max , Y NOW ) is recorded as the adjusted preset coordinate and added to the preset coordinate. If the unmanned ship is currently moving in the positive direction of the x-axis, then (x min , Y NOW ) is marked with the number of the nearest preset coordinate plus 0.1, (x max , Y NOW ) is marked with the number of the nearest preset coordinate minus 0.1.

[0097] If the unmanned ship is currently moving in the negative direction of the x-axis, then (x min , Y NOW ) is marked with the number of the nearest preset coordinate minus 0.1, (x max , Y NOW ) is marked with the number of the nearest preset coordinate plus 0.1. When the unmanned boat travels between the adjusted preset coordinates, it changes from traveling in a straight line to traveling parallel to the minimum arc.

[0098] If the unmanned ship moves along the positive direction of the y axis, then (X NOW ,y min ) and (X NOW ,y max ) is recorded as the adjusted preset coordinate and added to the preset coordinate, then (X NOW ,y min ) is marked with the nearest preset coordinate plus 0.1. NOW ,y max ) is marked with the nearest preset coordinate minus 0.1. When the unmanned boat travels between the adjusted preset coordinates, it changes from traveling in a straight line to traveling parallel to the minimum arc.

[0099] If the risk area contains two or more preset coordinates and x max -x min >r, then mark it as the second case, and change (x min , Y NOW ) and (x max , Y NOW ) is recorded as the adjusted preset coordinate and added to the preset coordinate. If the unmanned ship is currently moving in the positive direction of the x-axis, then (x min , Y NOW ) is the preset coordinate outside the nearest risk area plus 0.1, (x max , Y NOW ) is the preset coordinate outside the nearest risk area minus 0.1; deleting the preset coordinate inside the risk area will remove the preset coordinate from (x min, Y NOW ) to (x max , Y NOW )'s moving path is changed from the original straight line to a path parallel to the minimum arc. Press (x min , Y NOW ) to (x max , Y NOW ) in the order of setting an adjusted preset coordinate every r on the moving path that becomes an arc, starting from (x min , Y NOW ) Starting from the beginning, each time an adjusted preset coordinate is set, its mark number is increased by 0.1.

[0100] If the unmanned ship is currently moving in the negative direction of the x-axis, then (x min , Y NOW ) is marked with the number of the preset coordinates outside the nearest risk area minus 0.1, (x max , Y NOW ) is the preset coordinate outside the nearest risk area plus 0.1; the preset coordinate inside the risk area is deleted and the value of (x max , Y NOW ) to (x min , Y NOW )'s moving path is changed from the original straight line to a path parallel to the minimum arc. Press (x max , Y NOW ) to (x min , Y NOW ) in the order of setting an adjusted preset coordinate every r on the moving path that becomes an arc, starting from (x max , Y NOW ) Starting from the beginning, each time an adjusted preset coordinate is set, its mark number is increased by 0.1.

[0101] The beneficial effects of this embodiment are as follows: judging whether there is a risk of collision with the unmanned ship based on the distance between the obstacle and the unmanned ship, and at the same time, adjusting the existing preset coordinates, and setting the adjusted preset coordinates, which is conducive to the unmanned ship moving according to the adjusted preset coordinates, and can avoid obstacles and ensure that the unmanned ship maintains its original moving route to the greatest extent, ensuring that the unmanned ship can smoothly collect the data required to complete its work purpose.

[0102] The above disclosed contents are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made by using the contents of the present invention specification and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated with the development of technology. The above units are only examples. Those skilled in the art can use corresponding units according to different designs according to actual needs when implementing this solution.

[0103] Embodiment 3: This embodiment should be understood to include all the features of any of the above embodiments, and further improve on the basis thereof, and also includes a method for setting the radius of the effective range of the collection range of the target data collection unit according to the remaining energy of the unmanned ship, comprising the following steps:

[0104] S1, obtain the remaining energy of the unmanned ship.

[0105] Specifically, when the unmanned boat sails at a specified speed, the energy consumed for each distance traveled is known, so the following relationship ENG=G(DIS) can be obtained, where DIS is the distance between the two banks, G() is the corresponding function relationship, and ENG is the energy required to travel from one side of the river bank to the other side; specifically, the unit of the distance is meter.

[0106] When the collection time remains unchanged, the energy consumed by the target data collection unit of the unmanned ship when collecting target data at a certain position remains unchanged, so the energy eng1 consumed by the unmanned ship each time it collects data can be obtained.

[0107] S2, obtain the distance between the two banks within the current shooting range of the drone through the images taken by the drone.

[0108] Specifically, the map range that can be currently generated by the two-dimensional map (that is, the farthest position that can be reached by the preset coordinates) is the same as the shooting range of the drone.

[0109] S3, obtain the relationship between the distance between the two banks and the y-axis coordinate according to the coordinate changes of the two banks on the two-dimensional map.

[0110] Specifically, the relationship between the distance between the two banks and the y-axis coordinate can be obtained by fitting the data within the range of the map that can be currently generated using a linear model; the relationship obtained by fitting is recorded as dis=F(y); where dis is the distance between the two banks, and F() is the corresponding functional relationship.

[0111]

[0112] Among them, DIS is the estimated distance between the two sides of the strait, min It is an estimate of the minimum distance between the current position of the unmanned ship and the final destination obtained through satellite maps.

[0113] S4, setting the radius value of the effective range of the collection range of the target data collection unit according to the relationship between the distance between the two banks and the y-axis coordinate and the current remaining energy of the unmanned ship.

[0114] The value of the radius of the effective range of the acquisition range of the target data acquisition unit can be obtained according to the following steps:

[0115] The relationship between the energy required for navigation and R is obtained according to the following formula:

[0116]

[0117]

[0118]

[0119]

[0120] Where NEED is the estimated energy required for navigation, num is the estimated number of y-axis coordinates included in the navigation process, floor() is a rounding function, preferably a floor rounding function, MDIS is the estimated distance between the final destination and the current position of the unmanned ship in the y-axis direction, which can be obtained through satellite maps, and NUM i DIS is the number of preset coordinates that may be included when the unmanned ship navigates on the i-th y-axis coordinate. i is the estimated distance between the two banks when the unmanned ship is navigating on the i-th y-axis coordinate, zw is the obstacle density parameter, which can be obtained by shooting an underwater image of the current position of the unmanned ship, and the parameter is the proportion of objects identified as obstacles in the underwater image, which can be identified by the image recognition model, eng is the obstacle reserved energy parameter, which is used to characterize the energy required to avoid obstacles for every 100m of travel by the unmanned ship, and the obstacle reserved energy parameter is set by technicians in this field according to the energy required for the unmanned ship to turn, and the more energy required, the larger the parameter, PD is the judgment function, R is the value of the radius of the effective range, LOST is the current remaining energy of the unmanned ship; eng1 is the energy consumed by the unmanned ship each time it collects; G(DIS i +R) is DIS i +R is the dependent variable G() function, and the specific implementation method is as described in S1.

[0121] Specifically, by solving the above equation, the value of R can be obtained first. Due to the performance limitation of the detection equipment, the maximum radius of the effective range cannot exceed r. When the obtained value of R is greater than r, the value of R is set to r. The value of NEED is calculated according to the value of R. If the obtained value of NEED is less than LOST, the solution is considered feasible. If the value of NEED is greater than LOST, it is considered that the remaining energy of the unmanned ship is insufficient to complete the task, and the unmanned ship needs to be charged or a charging point needs to be set up on the unmanned ship's route.

[0122] S5, the unmanned boat works according to the set R value. Whenever the distance moved by the unmanned boat on the y-axis exceeds 50m, it returns to S1.

[0123] The beneficial effects of this embodiment are as follows: setting the effective range radius of the collection range of the target data collection unit according to the remaining energy of the unmanned ship is conducive to increasing the preset coordinates as much as possible when the energy is sufficient, improving the accuracy of data collection, and by obtaining the estimated energy required for navigation, it is helpful to judge whether the unmanned ship can successfully complete the navigation mission.

[0124] The above disclosed contents are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made by using the contents of the present invention specification and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated with the development of technology. The above units are only examples. Those skilled in the art can use corresponding units according to different designs according to actual needs when implementing this solution.

Claims

1. An unmanned ship track planning system for underwater data collection, characterized in that: It includes a GPS positioning module, a data acquisition module, a data processing module, an initial path planning module and a path adjustment module. The GPS positioning module is used to obtain the location of the unmanned ship and the location of the final destination of the unmanned ship; the data acquisition module is used to collect the data required for the unmanned ship's track planning and the river pond water bottom data required for the unmanned ship's operation; the data processing module is used to perform preliminary processing on the data collected by the data acquisition module to obtain the required data; The initial path planning module is used to plan the initial path of the unmanned ship according to the data processed by the data processing module, the positioning data of the GPS positioning module and the working purpose of the unmanned ship; The path adjustment module is used to adjust the path of the unmanned ship during the navigation of the unmanned ship along the initial path according to the data processed by the data processing module; the data acquisition module includes a drone, and the data required for the unmanned ship track planning includes images of both sides of the river collected by the drone following the unmanned ship, and the images taken by the drone are transmitted to the data processing module.

2. The unmanned ship track planning system for underwater data collection according to claim 1, characterized in that: The data acquisition module also includes a multi-beam bathymetric unit and a target data acquisition unit. The multi-beam bathymetric unit includes a transmitting transducer, a receiving transducer and a control unit. The transmitting transducer is used to transmit multiple acoustic beams underwater, and the acoustic beams are fan-shaped. The receiving transducer is used to receive the acoustic wave signals returned by the acoustic beams after reflection. The control unit is used to coordinate the synchronous operation of the transmitting transducer and the receiving transducer and set parameters that are allowed to be set by the staff. The target data acquisition unit is used to acquire various data required for constructing a three-dimensional terrain model of the river and pond bottom.

3. The unmanned ship track planning system for underwater data collection according to claim 2, characterized in that: The data processing module includes a bank distance analysis unit, a data filtering and noise reduction unit, and an obstacle distance analysis unit. The bank distance analysis unit is used to analyze the images taken by the drone through stereo vision technology and obtain the distance between the unmanned boat and the two banks of the river. The data filtering and noise reduction unit is used to perform data filtering and noise processing on the returned sound wave signal. The obstacle distance analysis unit is used to calculate the distance between the unmanned boat and the obstacle based on the time difference between the sending and returning of the sound wave.

4. The unmanned ship track planning system for underwater data collection according to claim 3 is characterized in that: The initial path planning module includes a two-dimensional map generation unit and a preset coordinate generation unit. The two-dimensional map generation unit is used to generate a corresponding two-dimensional map based on the distance between the two banks obtained by the distance analysis unit, the image taken by the drone and the positioning data of the GPS positioning module. The preset coordinate generation unit is used to generate preset coordinates based on the two-dimensional map and the effective range of the collection range of the destination data collection unit.

5. The unmanned ship track planning system for underwater data collection according to claim 4, characterized in that: The path adjustment module includes a collision risk prediction unit and a path adjustment unit. The collision risk prediction unit is used to judge the possibility of the unmanned ship colliding with an obstacle during navigation based on the analysis results of the obstacle distance analysis unit and the preset coordinates of the unmanned ship. The path adjustment unit is used to adjust the moving path of the unmanned ship based on the analysis results of the collision risk prediction unit.

6. The unmanned ship track planning system for underwater data collection according to claim 5, characterized in that: The workflow of the unmanned ship trajectory planning system includes the following steps: S1, the unmanned boat is docked on the left side of the river, the data acquisition module collects data near the unmanned boat, and the GPS positioning module locates the unmanned boat and its final destination; S2, the data processing module processes the data collected by the data acquisition module; S3, the initial path planning module generates a two-dimensional map, and updates and marks the preset coordinates of the unmanned ship on the two-dimensional map; S4, the unmanned ship sails to the preset coordinates as the destination; S5, the path adjustment module determines whether there is a collision risk during the navigation process. If not, the unmanned ship continues to navigate with the preset coordinates as the destination. If so, the moving path of the unmanned ship is adjusted, and the unmanned ship moves according to the adjusted path; the data acquisition module continues to collect data and returns to S2.

7. The unmanned ship track planning system for underwater data collection according to claim 6, characterized in that: The initial path planning module generates a two-dimensional map, and updates and marks the preset coordinates of the unmanned ship on the two-dimensional map, including the following steps: S31, the two-dimensional map generating unit generates a corresponding two-dimensional map according to the distance between the two banks obtained by the distance analyzing unit between the two banks, the image taken by the drone, and the positioning data of the GPS positioning module; S32, a preset coordinate generation unit generates preset coordinates according to the generated two-dimensional map; S33, the two-dimensional map generation unit marks the preset coordinates according to the generation order of the coordinates.

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