Configuration design method for airspace obstacle removing equipment of water surface ship

Abstract

The invention relates to the technical field of water surface ship system efficiency calculation, in particular to a water surface ship obstacle clearing equipment configuration design method based on obstacle clearing task requirements. According to the water surface ship airspace obstacle clearing equipment configuration design method, on the basis of the capacity of effectively clearing obstacles in a target airspace under the multi-ship cooperation condition, the obstacle clearing task division, the obstacle detection capacity, the equipment clearing distance, the obstacle saturation clearing capacity, the equipment working interval and other indexes are selected according to the coupling relation; according to the method, the configuration quantity requirement of the airspace obstacle clearing equipment of the ship is determined, the configuration types and quantity of the water surface ship obstacle clearing equipment can be quantified, then the water surface ship airspace obstacle clearing efficiency is effectively improved, the comprehensive cost is reduced, and technical support is provided for configuration demonstration and design work of the water surface ship airspace obstacle clearing equipment; and a foundation is laid for ship system efficiency evaluation.

Description

Technical Field

[0001] The present invention relates to the technical field of surface ship system effectiveness calculation, and in particular to a surface ship obstacle clearing equipment configuration design method based on obstacle clearing task requirements. Background Art

[0002] The main purpose of the airspace obstacle clearance mission of a surface ship is to discover and clear obstacles in the airspace above the surface ship and eliminate the obstacles to the flight equipment carried by the ship. Therefore, it is necessary to analyze and clarify the obstacle clearance capabilities required of surface ships from the perspective of the airspace obstacle clearance mission requirements. Among them, the configuration of surface ship obstacle clearance equipment is an important indicator to support obstacle clearance capabilities, which directly affects the obstacle clearance capabilities and level of the ship.

[0003] At present, the design method of airspace obstacle clearance equipment configuration for surface ships is still blank in the relevant fields, especially how to quantify the types and quantities of obstacle clearance equipment configuration from the perspective of obstacle clearance task requirements. The existing technology lacks relevant research and reports. In addition, in the design of new surface ships, according to the different tasks involved, the configuration of obstacle clearance equipment is an important design link in the demonstration process. There is currently no standard method to guide the design. Therefore, it is necessary to propose a surface ship obstacle clearance equipment configuration design method based on task requirements based on the research on the requirements of airspace obstacle clearance capabilities of surface ships, so as to provide a reference for the demonstration and design of surface ship obstacle clearance equipment configuration. Summary of the invention

[0004] The technical problem to be solved by the present invention is: to propose a surface ship airspace obstacle clearance equipment configuration design method, which can quantify the types and quantities of surface ship obstacle clearance equipment configurations, thereby effectively improving the surface ship airspace obstacle clearance efficiency, reducing the overall cost, and laying the foundation for the configuration demonstration and design of surface ship airspace obstacle clearance equipment.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A method for designing the configuration of airspace obstacle clearance equipment for a surface ship comprises the following steps:

[0007] S1, calculate the obstacle clearing distance of the airspace clearance equipment of the own ship according to the handover area between the cooperative operation ship and the airspace clearance equipment;

[0008] S2, according to the obstacle clearing distance and the start-up time interval of the obstacle clearing equipment under the platform constraint condition, calculate the number of obstacles cleared by the airspace clearing equipment of the own ship;

[0009] S3, based on the number of obstacles cleared and the proportion of different types of obstacles within the mission scope, calculate the obstacle saturation clearing capability of the ship's airspace clearance equipment;

[0010] S4, calculating the number of obstacle clearance equipment to be deployed in the airspace of the vessel according to the obstacle saturation clearance capability and the obstacle clearance success rate of the obstacle clearance equipment.

[0011] Furthermore, in step S1, the obstacle clearing distance of the airspace obstacle clearing equipment of the own ship includes the clearing distance for integral obstacles and the clearing distance for dispersed obstacles;

[0012] The clearing distance for the integral obstacle satisfies the following formula:

[0013]

[0014] Where: R f R is the maximum clearance distance of the ship's airspace obstacle clearance equipment for integral obstacles; L v is the obstacle detection distance of the own ship or multiple ships under cooperative conditions; f is the overall obstacle moving speed; v m is the moving speed of the working end of the airspace obstacle clearance equipment of this ship; T0 is the reaction time of the control equipment of this ship; T1 is the reaction time of the sensor of this ship to obstacle detection and tracking; T2 is the reaction time of the airspace obstacle clearance equipment of this ship to start.

[0015] Furthermore, the clearing distance for the dispersed obstacles satisfies the following formula:

[0016]

[0017] Where: R m R is the maximum clearance distance of the ship's airspace obstacle clearance equipment for dispersed obstacles; d is the maximum scattering range of dispersed obstacles; v t is the moving speed of dispersed obstacles; v m is the moving speed of the working end of the airspace obstacle clearance equipment of this ship; T0 is the reaction time of the control equipment of this ship; T1 is the reaction time of the sensor of this ship to obstacle detection and tracking; T2 is the reaction time of the airspace obstacle clearance equipment of this ship to start.

[0018] Furthermore, in step S2, the number of obstacles cleared by the airspace obstacle clearance equipment of the own ship includes the number of overall obstacles cleared and the number of dispersed obstacles cleared;

[0019] The number of cleared integral obstacles is calculated as follows:

[0020]

[0021] Where: m i The number of overall obstacles cleared by the ship; R is the proportion of overall obstacle clearing tasks in the area by the ship under the condition of multi-ship coordination; f R is the maximum clearance distance of the ship's airspace obstacle clearance equipment for integral obstacles; L v is the obstacle detection distance of the own ship or multiple ships under cooperative conditions; f is the moving speed of the overall obstacle; T is the start-up time interval of the equipment under the platform constraint condition.

[0022] Furthermore, the number of dispersed obstacles cleared is calculated as follows:

[0023]

[0024] Where: m j The number of scattered obstacles cleared by the ship; R is the proportion of the ship's clearing tasks for dispersed obstacles in the area under the condition of multi-ship coordination; m R is the maximum clearance distance of the ship's airspace obstacle clearance equipment for dispersed obstacles; d is the maximum scattering range of dispersed obstacles; v t is the moving speed of dispersed obstacles; T is the start-up time interval of equipment under platform constraints.

[0025] Furthermore, in step S3, the obstacle saturation clearing capability of the airspace obstacle clearing equipment of the own ship satisfies the following formula:

[0026]

[0027] Where: N is the number of obstacles saturated by the airspace clearance equipment of the ship; ρ is the proportion of integral obstacles within the mission range of the ship; σ is the proportion of dispersed obstacles within the mission range of the ship; m i is the number of overall obstacles cleared by the ship; n is the number of distribution areas of overall obstacles; m j is the number of dispersed obstacles cleared by the ship; q is the number of distribution areas of dispersed obstacles.

[0028] Furthermore, in step S4, the number of deployments of the own-ship airspace obstacle clearance equipment satisfies the following formula:

[0029]

[0030] Where: S is the number of airspace obstacle clearance equipment deployed on the ship; N is the number of obstacles saturated by the airspace obstacle clearance equipment of the ship; a is the correction coefficient; P is the obstacle clearance success rate.

[0031] Furthermore, the obstacle clearing success rate of the obstacle clearing equipment is specifically obtained through experimental testing.

[0032] Compared with the prior art, the present invention has the following main advantages:

[0033] The present invention proposes a method for designing the configuration of airspace obstacle clearance equipment for surface ships. The method is based on the ability to effectively clear obstacles in the target airspace under the condition of multi-ship collaboration. According to the coupling relationship between indicators such as obstacle clearance task division, obstacle detection capability, equipment clearing distance, obstacle saturation clearing capability and equipment working interval, the configuration quantity requirement of the ship's airspace obstacle clearance equipment is determined. The method can quantify the types and quantities of obstacle clearing equipment configured for surface ships, thereby effectively improving the efficiency of obstacle clearing in the airspace of surface ships and reducing the overall cost. The method provides technical support for the configuration demonstration and design of airspace obstacle clearance equipment for surface ships and lays a foundation for the evaluation of ship system effectiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The present invention is a flowchart of a method for designing a configuration of airspace obstacle clearance equipment for a surface vessel in an embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0036] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0037] Embodiment 1. This embodiment provides a method for designing the configuration of airspace obstacle clearance equipment for surface ships. Based on the ability to effectively clear obstacles in the target airspace under the collaborative conditions of multiple ships, and according to the coupling relationship between indicators such as obstacle clearance task division, obstacle detection capability, equipment clearing distance, obstacle saturation clearing capability, and equipment working interval, the configuration quantity requirement of the ship's airspace obstacle clearance equipment is determined, providing support for the configuration demonstration and design of surface ship airspace obstacle clearance equipment, and laying the foundation for the performance evaluation of ship obstacle clearance systems.

[0038] like Figure 1 As shown, it mainly includes the following steps:

[0039] S1, calculate the obstacle clearing distance of the airspace clearance equipment of the own ship according to the handover area between the cooperative operation ship and the airspace clearance equipment;

[0040] S2, according to the obstacle clearing distance and the start-up time interval of the obstacle clearing equipment under the platform constraint condition, calculate the number of obstacles cleared by the airspace clearing equipment of the own ship;

[0041] S3, based on the number of obstacles cleared and the proportion of different types of obstacles within the mission scope, calculate the obstacle saturation clearing capability of the ship's airspace clearance equipment;

[0042] S4, calculating the number of obstacle clearance equipment to be deployed in the airspace of the vessel according to the obstacle saturation clearance capability and the obstacle clearance success rate of the obstacle clearance equipment.

[0043] Furthermore, in step S1, the obstacle clearing distance of the airspace obstacle clearing equipment of the own ship includes the clearing distance for integral obstacles and the clearing distance for dispersed obstacles;

[0044] The clearing distance for the integral obstacle satisfies the following formula:

[0045]

[0046] Where: R f R is the maximum clearance distance of the ship's airspace obstacle clearance equipment for integral obstacles; L v is the obstacle detection distance of the own ship or multiple ships under cooperative conditions; f is the overall obstacle moving speed; v m is the moving speed of the working end of the airspace obstacle clearance equipment of this ship; T0 is the reaction time of the control equipment of this ship; T1 is the reaction time of the sensor of this ship to obstacle detection and tracking; T2 is the reaction time of the airspace obstacle clearance equipment of this ship to start.

[0047] Furthermore, the clearing distance for the dispersed obstacles satisfies the following formula:

[0048]

[0049] Where: R m R is the maximum clearance distance of the ship's airspace obstacle clearance equipment for dispersed obstacles; d is the maximum scattering range of dispersed obstacles; v t is the moving speed of dispersed obstacles; v m is the moving speed of the working end of the airspace obstacle clearance equipment of this ship; T0 is the reaction time of the control equipment of this ship; T1 is the reaction time of the sensor of this ship to obstacle detection and tracking; T2 is the reaction time of the airspace obstacle clearance equipment of this ship to start.

[0050] Furthermore, in step S2, the number of obstacles cleared by the airspace obstacle clearance equipment of the own ship includes the number of overall obstacles cleared and the number of dispersed obstacles cleared;

[0051] The number of cleared integral obstacles is calculated as follows:

[0052]

[0053] Where: m i The number of overall obstacles cleared by the ship; R is the proportion of overall obstacle clearing tasks in the area by the ship under the condition of multi-ship coordination; f R is the maximum clearance distance of the ship's airspace obstacle clearance equipment for integral obstacles; L v is the obstacle detection distance of the own ship or multiple ships under cooperative conditions; f is the moving speed of the overall obstacle; T is the start-up time interval of the equipment under the platform constraint condition.

[0054] Furthermore, the number of dispersed obstacles cleared is calculated as follows:

[0055]

[0056] Where: m j The number of scattered obstacles cleared by the ship; R is the proportion of the ship's clearing tasks for dispersed obstacles in the area under the condition of multi-ship coordination; m R is the maximum clearance distance of the ship's airspace obstacle clearance equipment for dispersed obstacles; d is the maximum scattering range of dispersed obstacles; v t is the moving speed of dispersed obstacles; T is the start-up time interval of equipment under platform constraints.

[0057] Furthermore, in step S3, the obstacle saturation clearing capability of the airspace obstacle clearing equipment of the own ship satisfies the following formula:

[0058]

[0059] Where: N is the number of obstacles saturated by the airspace clearance equipment of the ship; ρ is the proportion of integral obstacles within the mission range of the ship; σ is the proportion of dispersed obstacles within the mission range of the ship; m i is the number of overall obstacles cleared by the ship; n is the number of distribution areas of overall obstacles; m j is the number of dispersed obstacles cleared by the ship; q is the number of distribution areas of dispersed obstacles.

[0060] Furthermore, in step S4, the number of deployments of the own-ship airspace obstacle clearance equipment satisfies the following formula:

[0061]

[0062] Where: S is the number of airspace obstacle clearance equipment deployed on the ship; N is the number of obstacles saturated by the airspace obstacle clearance equipment of the ship; a is the correction coefficient; P is the obstacle clearance success rate.

[0063] Furthermore, the obstacle clearing success rate of the obstacle clearing equipment is specifically obtained through experimental testing.

[0064] Embodiment 2: This embodiment provides a method for designing the configuration of airspace obstacle clearance equipment for a surface ship, including:

[0065] (1) Step 1: Calculation of obstacle clearance distance for airspace clearance equipment

[0066] When determining the clearing distance of airspace obstacle clearance equipment, it is necessary to comprehensively consider the handover area between the collaborative operation vessel and the airspace obstacle clearance equipment.

[0067] a. For integral obstacles

[0068] The clearing distance of the airspace obstacle removal equipment is the far end of the handover area, and it can clear obstacles in time before the obstacles leave the detection range. At this time, the clearing distance of the airspace obstacle removal equipment is:

[0069]

[0070] Where: R f R is the maximum clearance distance of the ship's airspace obstacle clearance equipment for integral obstacles; L is the detection distance of the obstacle under the condition of the ship or multiple ships working together; vf is the moving speed of the overall obstacle; v m is the moving speed of the working end of the airspace obstacle clearance equipment of this ship; T0 is the reaction time of the control equipment of this ship; T1 is the reaction time of the sensor of this ship to obstacle detection and tracking; T2 is the reaction time of the airspace obstacle clearance equipment of this ship to start.

[0071] b. For scattered obstacles

[0072] The clearing distance of the airspace obstacle removal equipment is the end of the handover area, and it can fully clear obstacles within the detection range. At this time, the clearing distance of the airspace obstacle removal equipment is:

[0073]

[0074] Where: R m R is the maximum clearance distance of the ship's airspace obstacle clearance equipment for dispersed obstacles; d is the maximum scattering range of dispersed obstacles; v t is the moving speed of dispersed obstacles; v mis the moving speed of the working end of the airspace obstacle clearance equipment of this ship; T0 is the reaction time of the control equipment of this ship; T1 is the reaction time of the sensor of this ship to obstacle detection and tracking; T2 is the reaction time of the airspace obstacle clearance equipment of this ship to start.

[0075] (2) Step 2: Calculation of the number of obstacles cleared by airspace clearance equipment

[0076] a. Number of overall obstacles cleared

[0077] Assuming that one airspace obstacle clearance device clears one integral obstacle at a time, the obstacle clearance device is activated when the ship's sensor detects an integral obstacle. Considering the time interval limit for activating the airspace obstacle clearance device, and assuming that multiple integral obstacles are evenly distributed, the number of integral obstacles that can be cleared is:

[0078]

[0079] Where: m i The number of overall obstacles cleared by the ship; R is the proportion of overall obstacle clearing tasks in the area by the ship under the condition of multi-ship coordination; f R is the maximum clearance distance of the ship's airspace obstacle clearance equipment for integral obstacles; L is the detection distance of obstacles under the conditions of cooperation of the ship or multiple ships; vf is the moving speed of the overall obstacle; T is the start-up time interval of the equipment under the platform constraint conditions.

[0080] b. Number of scattered obstacles

[0081] Assuming that one airspace obstacle clearance device clears a group of dispersed obstacles at a time, the obstacle clearance device is activated when the ship's sensor detects a dispersed obstacle. Considering the time interval limit for the ship to activate the airspace obstacle clearance device, and assuming that multiple groups of dispersed obstacles are evenly distributed, the number of dispersed obstacles that can be cleared is:

[0082]

[0083] Where: m j The number of scattered obstacles cleared by the ship; R is the proportion of the ship's clearing tasks for dispersed obstacles in the area under the condition of multi-ship coordination; m R is the maximum clearance distance of the ship's airspace obstacle clearance equipment for dispersed obstacles; d is the maximum scattering range of dispersed obstacles; v t is the moving speed of dispersed obstacles; T is the start-up time interval of equipment under platform constraints.

[0084] (3) Step 3: Calculation of airspace clearance equipment’s saturation clearance capability

[0085] Under the condition of multi-ship coordination, the ship needs to undertake the obstacle clearance task within the corresponding range in the area. That is, when there are a large number of obstacles of various types, the ideal requirement is that each surface ship can complete the task of clearing all obstacles within the assigned range. Therefore, the obstacle saturation clearing capability of the surface ship airspace obstacle clearance equipment requires that it can assist other ships in clearing obstacles beyond the task, and leave a certain margin.

[0086]

[0087] Where: N is the number of obstacles saturated by the airspace clearance equipment of the ship; ρ is the proportion of integral obstacles within the mission range of the ship; σ is the proportion of dispersed obstacles within the mission range of the ship; m i is the number of overall obstacles cleared by the ship; n is the number of distribution areas of overall obstacles; mj is the number of dispersed obstacles cleared by the ship; q is the number of distribution areas of dispersed obstacles.

[0088] (4) Step 4: Calculation of the number of airspace clearance equipment to be deployed

[0089] When a surface ship participates in a multi-ship collaborative obstacle clearance mission, the number of airspace obstacle clearance equipment deployed on the surface ship needs to be calculated based on the saturation clearance quantity of obstacles for the ship's airspace obstacle clearance equipment. The ideal requirement is that each surface ship can complete the task of clearing all obstacles within the assigned range. When analyzing the number of airspace obstacle clearance equipment deployed, the calculation is based on one airspace obstacle clearance equipment clearing a group of obstacles at a time.

[0090] Therefore, the number of airspace clearance equipment required is:

[0091]

[0092] Where: S is the number of airspace obstacle clearance equipment deployed on the ship; N is the number of obstacles saturated by the airspace obstacle clearance equipment of the ship; a is the correction coefficient; P is the obstacle clearance success rate.

[0093] Furthermore, all parts of the present application that are not described in detail are the same as the prior art or are implemented using the prior art.

[0094] In summary:

[0095] The present invention proposes a method for designing the configuration of airspace obstacle clearance equipment for surface ships. The method is based on the ability to effectively clear obstacles in the target airspace under the condition of multi-ship collaboration. According to the coupling relationship between indicators such as obstacle clearance task division, obstacle detection capability, equipment clearing distance, obstacle saturation clearing capability and equipment working interval, the configuration quantity requirement of the ship's airspace obstacle clearance equipment is determined. The method can quantify the types and quantities of obstacle clearing equipment configured for surface ships, thereby effectively improving the efficiency of obstacle clearing in the airspace of surface ships and reducing the overall cost. The method provides technical support for the configuration demonstration and design of airspace obstacle clearance equipment for surface ships and lays a foundation for the evaluation of ship system effectiveness.

[0096] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for designing the configuration of airspace obstacle clearance equipment for a surface ship, characterized in that: The steps include: S1, calculate the obstacle clearing distance of the airspace clearance equipment of the own ship according to the handover area between the cooperative operation ship and the airspace clearance equipment; S2, according to the obstacle clearing distance and the start-up time interval of the obstacle clearing equipment under the platform constraint condition, calculate the number of obstacles cleared by the airspace clearing equipment of the own ship; S3, based on the number of obstacles cleared and the proportion of different types of obstacles within the mission scope, calculate the obstacle saturation clearing capability of the ship's airspace clearance equipment; S4, calculating the number of obstacle clearance equipment to be deployed in the airspace of the vessel according to the obstacle saturation clearance capability and the obstacle clearance success rate of the obstacle clearance equipment.

2. A method for designing airspace clearance equipment for a surface ship according to claim 1, characterized in that In step S1, the obstacle clearing distance of the airspace obstacle clearing equipment of the own ship includes the clearing distance for integral obstacles and the clearing distance for dispersed obstacles; The clearing distance for the integral obstacle satisfies the following formula: Where: R f R is the maximum clearance distance of the ship's airspace obstacle clearance equipment for integral obstacles; L is the detection distance of the obstacle under the condition of the ship or multiple ships working together; vf is the moving speed of the overall obstacle; v m is the moving speed of the working end of the airspace obstacle clearance equipment of the ship; T0 is the reaction time of the control equipment of the ship; T1 is the reaction time of the sensor of the ship to obstacle detection and tracking; T2 is the reaction time of the start-up of the airspace obstacle clearance equipment of the ship.

3. A method for designing the configuration of airspace obstacle clearance equipment for a surface ship according to claim 2, characterized in that: The clearing distance for dispersed obstacles satisfies the following formula: Where: R m R is the maximum clearance distance of the ship's airspace obstacle clearance equipment for dispersed obstacles; d is the maximum scattering range of dispersed obstacles; v t is the moving speed of dispersed obstacles; v m is the moving speed of the working end of the airspace obstacle clearance equipment of the ship; T0 is the reaction time of the control equipment of the ship; T1 is the reaction time of the sensor of the ship to obstacle detection and tracking; T2 is the reaction time of the start-up of the airspace obstacle clearance equipment of the ship.

4. A method for designing the configuration of airspace obstacle clearance equipment for a surface ship according to claim 1, characterized in that In step S2, the number of obstacles cleared by the airspace obstacle clearance equipment of the own ship includes the number of overall obstacles cleared and the number of dispersed obstacles cleared; The number of cleared integral obstacles is calculated as follows: Where: m i The number of overall obstacles cleared by the ship; R is the proportion of overall obstacle clearing tasks in the area by the ship under the condition of multi-ship coordination; f R is the maximum clearance distance of the ship's airspace obstacle clearance equipment for integral obstacles; L v is the obstacle detection distance of the own ship or multiple ships under cooperative conditions; f is the moving speed of the overall obstacle; T is the start-up time interval of the equipment under the platform constraint condition.

5. A method for designing the configuration of airspace obstacle clearance equipment for a surface ship according to claim 4, characterized in that: The number of scattered obstacles cleared is calculated as follows: Where: m j The number of scattered obstacles cleared by the ship; R is the proportion of the ship's clearing tasks for dispersed obstacles in the area under the condition of multi-ship coordination; m R is the maximum clearance distance of the ship's airspace obstacle clearance equipment for dispersed obstacles; d is the maximum scattering range of dispersed obstacles; v t is the moving speed of dispersed obstacles; T is the start-up time interval of equipment under platform constraints.

6. A method for designing the configuration of airspace clearance equipment for a surface ship according to claim 1, characterized in that In step S3, the obstacle saturation clearing capability of the airspace obstacle clearing equipment of the own ship satisfies the following formula: Where: N is the number of obstacles saturated by the airspace clearance equipment of the ship; ρ is the proportion of integral obstacles within the mission range of the ship; σ is the proportion of dispersed obstacles within the mission range of the ship; m i is the number of overall obstacles cleared by the ship; n is the number of distribution areas of overall obstacles; m j is the number of dispersed obstacles cleared by the ship; q is the number of distribution areas of dispersed obstacles.

7. A method for designing airspace clearance equipment for a surface vessel according to claim 1, characterized in that In step S4, the number of deployments of the own-ship airspace obstacle clearance equipment satisfies the following formula: Where: S is the number of airspace obstacle clearance equipment deployed on the ship; N is the number of obstacles saturated by the airspace obstacle clearance equipment of the ship; a is the correction coefficient; P is the obstacle clearance success rate.

8. A method for designing the configuration of airspace obstacle clearance equipment for a surface ship according to claim 1, characterized in that: The obstacle clearing success rate of the obstacle clearing equipment is specifically obtained through experimental testing.

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