Formation control system for light performance of unmanned ship

Abstract

The invention provides a formation control system for light performance of unmanned ships, which comprises a basic information acquisition unit, a to-be-checked unmanned ship determination unit, a check point determination unit, a path planning unit and a formation control unit, and is characterized in that the basic information acquisition unit can acquire basic information and light performance graphs of the unmanned ships; then, the state of the unmanned ship can be judged according to the basic information of the unmanned ship, the to-be-inspected unmanned ship is determined, meanwhile, the inspection point position on the water area can be determined according to the lamplight performance graph, and the path planning unit can plan the path according to the to-be-inspected unmanned ship and the inspection point; the unmanned ships to be inspected can pass through the corresponding inspection points in the sailing process, and finally the formation control unit can carry out formation control on all the unmanned ships, so that workers on the inspection points can inspect the unmanned ships and lamplight while the unmanned ships carry out lamplight performance in the sailing process, and normal proceeding of the lamplight performance is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of intelligent navigation technology, and in particular to a formation control system for unmanned ship light performances. Background Art

[0002] As an emerging field that has developed rapidly in recent years, unmanned ship technology has demonstrated its huge application potential in multiple industries. From the initial military use, such as maritime patrols and intelligence gathering, to today's marine science research, environmental monitoring, port patrols, and entertainment performances, the application scope of unmanned ships continues to expand, especially in light shows. Unmanned ships, with their unique flexibility and programmability, have brought revolutionary changes to water performances.

[0003] During a long light show, the unmanned boat itself and the lighting equipment on board will have varying degrees of wear and tear. If a malfunction occurs during the show, it will affect the effect of the light show. Therefore, before the light show, most people will check the status of the unmanned boat and the lights. However, the light show lasts for a long time, and there is still a possibility of malfunction of the unmanned boat and the lights during the inspection before and during the show. At present, when controlling the formation of the unmanned boat light show, there is no consideration of setting up checkpoints on the waters to monitor the unmanned boats in real time during the show, and it is impossible to guarantee that the unmanned boat and the lights will not malfunction during the entire show. Summary of the invention

[0004] In view of this, the present invention proposes a formation control system for unmanned boat light shows, which can set checkpoints on the waters and control the unmanned boat formation to be inspected to the vicinity of the checkpoints so that inspections can be carried out during the show to ensure that the light show can proceed normally.

[0005] The technical solution of the present invention is achieved in this way:

[0006] A formation control system for unmanned ship light show, comprising:

[0007] A basic information acquisition unit, used to obtain the number of unmanned boats performing light shows, status data, and light show graphics;

[0008] An unmanned ship to be inspected determining unit, used to determine the unmanned ship to be inspected according to the number and status data of the unmanned ships;

[0009] A checkpoint determination unit, used to determine the location of a checkpoint on the water area according to the light show pattern;

[0010] A path planning unit is used to plan the path of the unmanned ship to be inspected and other unmanned ships based on the changes in the light show graphics, and to make the unmanned ship to be inspected sail to the inspection point;

[0011] A formation control unit, used to control the navigation of all unmanned ships in formation according to the planned path;

[0012] The basic information acquisition unit is respectively connected to the unmanned ship determination unit to be inspected, the checkpoint determination unit and the path planning unit, and the path planning unit is respectively connected to the unmanned ship determination unit to be inspected, the checkpoint determination unit and the path planning unit.

[0013] Preferably, the execution steps of the basic information acquisition unit include:

[0014] Step S11, obtaining a light show plan, extracting a light show graphic and an unmanned boat for performing the light show from the light show plan;

[0015] Step S12, read the working log of the unmanned boat, and obtain status data from the working log, wherein the status data includes the number of times the battery of the unmanned boat is charged, the charging time, the sailing distance, the working time of the steering gear and propeller, the unmanned boat fault code, the working time of the light, the color and brightness change of the light, and the light fault code.

[0016] Preferably, the execution steps of the basic information acquisition unit further include:

[0017] Step S13: quantify the unmanned boat fault code and the light fault code.

[0018] Preferably, the execution steps of the unmanned ship to be inspected determining unit include:

[0019] Step S21, assigning weights of different sizes to each state data;

[0020] Step S22, summing the weighted state data, and outputting the summation result as a state value;

[0021] Step S23: sort the unmanned ships according to the state values, determine the number of unmanned ships to be inspected based on the total number of unmanned ships, and select a corresponding number of unmanned ships from large to small according to the unmanned ship sorting results.

[0022] Preferably, the specific steps of step S23 for determining the number of unmanned ships to be inspected based on the total number of unmanned ships are: multiplying the total number of unmanned ships by a preset threshold to obtain the number of unmanned ships to be inspected, wherein the preset threshold can be adjusted according to the total number of unmanned ships.

[0023] Preferably, the execution steps of the checkpoint determination unit include:

[0024] Step S31, determining the specific location of the water area to be performed, overlapping all light performance graphics, and mapping them to the water area to be performed;

[0025] Step S32, constructing a number of concentric virtual circles with the center of the water area to be performed as the center;

[0026] Step S33: Check from the outermost virtual circle inwards to see if there is an unmanned ship on the virtual circle, and output the outer position of the unmanned ship on the virtual circle as the checkpoint position.

[0027] Preferably, the radius difference between adjacent virtual circles is greater than the length of the unmanned ship.

[0028] Preferably, the specific execution steps of the path planning unit include:

[0029] Step S41, obtaining the inspection order of the inspection points according to the performance order of the light performance graphics;

[0030] Step S42, selecting unmanned ships to be inspected according to the state values ​​from large to small, and filling the unmanned ships to be inspected into the inner side of the inspection point in order of inspection;

[0031] Step S43, outputting the path including the checkpoints moved by each unmanned ship to be inspected on all light show graphics as a first path;

[0032] Step S44: using the Grey Wolf Optimization Algorithm to screen the first path and obtain the optimal path;

[0033] Step S45: output the moving path of each other unmanned boat on all light show graphics as a second path according to the optimal path.

[0034] Preferably, the specific steps of step S45 are:

[0035] Step S451, initializing the gray wolf population and the number of iterations;

[0036] Step S452: randomly select a first path of the unmanned ship to be inspected, and calculate the fitness value of the gray wolf based on the shortest path;

[0037] Step S453, selecting another first path of the unmanned ship, and after calculating the fitness value, retaining the first path with the largest fitness value compared with the fitness value calculated last time;

[0038] Step S454: perform iterative calculation to obtain the first path with the largest fitness value, and output it as the optimal path of the unmanned ship to be inspected.

[0039] Preferably, the specific steps of the formation control unit are: performing formation control on the navigation of all unmanned ships according to the optimal path and the second path.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] A formation control system for an unmanned ship light show of the present invention acquires basic information of an unmanned ship performing a light show and a light show graphic through a basic information acquisition unit, wherein the basic information of the unmanned ship can be used to determine the unmanned ship to be inspected, and the light show graphic can be used to acquire the location where a checkpoint can be set on the water area, and a path planning unit can perform path planning for the unmanned ship to be inspected, so that the unmanned ship to be inspected can sail to the checkpoint during the performance, and the checkpoint monitors the unmanned ship and the lights on the unmanned ship in real time, and finally the formation control unit can perform formation control on the navigation of all unmanned ships, thereby monitoring the unmanned ships and lights during the performance to ensure that the light show can proceed normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only preferred embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 A schematic diagram of a formation control system for unmanned boat light show according to the present invention;

[0044] Figure 2 This is a diagram of the execution steps of a basic information acquisition unit of a formation control system for unmanned boat light show of the present invention;

[0045] Figure 3 This is a diagram of the execution steps of an unmanned ship to be inspected determination unit of a formation control system for an unmanned ship light show of the present invention;

[0046] Figure 4 A diagram of execution steps of a checkpoint determination unit of a formation control system for unmanned ship light show of the present invention;

[0047] Figure 5 A diagram of execution steps of a path planning unit of a formation control system for unmanned boat light show of the present invention;

[0048] Figure 6 A specific step diagram of step S45 of a formation control system for unmanned boat light show of the present invention;

[0049] In the figure, 1. Basic information acquisition unit; 2. Unmanned ship determination unit to be inspected; 3. Checkpoint determination unit; 4. Path planning unit; 5. Formation control unit. DETAILED DESCRIPTION

[0050] In order to better understand the technical content of the present invention, a specific embodiment is provided below, and the present invention is further described in conjunction with the accompanying drawings.

[0051] See also Figures 1 to 6 The present invention provides a formation control system for unmanned ship light show, comprising:

[0052] Basic information acquisition unit 1, used to obtain the number of unmanned boats performing light shows, status data and light show graphics;

[0053] The unmanned ship to be inspected determining unit 2 is used to determine the unmanned ship to be inspected according to the number and status data of the unmanned ships;

[0054] A checkpoint determination unit 3, used to determine the location of the checkpoint on the water area according to the light show pattern;

[0055] A path planning unit 4 is used to plan the path of the unmanned ship to be inspected and other unmanned ships based on the changes of the light show graphics, and to make the unmanned ship to be inspected sail to the inspection point;

[0056] A formation control unit 5, used to perform formation control on the navigation of all unmanned ships according to the planned path;

[0057] The basic information acquisition unit 1 is data-connected with the unmanned ship to be inspected determination unit 2, the checkpoint determination unit 3 and the path planning unit 4 respectively, and the path planning unit 4 is data-connected with the unmanned ship to be inspected determination unit 2, the checkpoint determination unit 3 and the path planning unit 4 respectively.

[0058] A formation control system for unmanned boat light show of the present invention obtains basic information of the unmanned boats through a basic information acquisition unit 1 before the unmanned boats are formed into a formation, wherein the basic information includes the number of unmanned boats and status data, the status data is the use status of the unmanned boats and lights, if the status is worse, it also means that the probability of failure of the unmanned boats and lights is higher, and at the same time, the basic information acquisition unit 1 also obtains light show graphics, there are multiple groups of light show graphics, and the unmanned boats can form different light show graphics according to different arrangement methods, so the position of the unmanned boat can be determined in each group of light show graphics, after obtaining the above information The unmanned ship determination unit 2 to be inspected will determine the unmanned ships to be inspected according to the number of unmanned ships and the status data, that is, the first N unmanned ships with relatively poor status are selected as the unmanned ships to be inspected, where the number N is set according to the actual situation. In addition, the checkpoint determination unit 3 can determine the checkpoint position according to the light show pattern. The checkpoint will be located outside the unmanned ship. When the unmanned ship sails to the designated point, it will stop and the lights will work to perform a light show. The staff at the detection point can monitor the unmanned ships and lights in real time to determine whether the unmanned ships and lights have signs of failure, so as to facilitate timely processing and ensure the normal progress of the light show.

[0059] After determining the positions of the unmanned ships to be inspected and the checkpoints, the path planning unit 4 will perform path planning for all unmanned ships, where the path planning of the unmanned ships to be inspected will include the checkpoints, while other unmanned ships will not pass through the checkpoints when sailing, so that the navigation path of each unmanned ship can be obtained. Finally, the formation control unit 5 can perform formation control based on the navigation paths of all unmanned ships, so that in the process of controlling the navigation of the unmanned ships to complete the light show, the unmanned ships to be inspected can be driven to the inside of the checkpoint for the staff to check whether there will be any malfunctions, thereby ensuring the normal progress of the light show.

[0060] Preferably, the execution steps of the basic information acquisition unit 1 include:

[0061] Step S11, obtaining a light show plan, extracting a light show graphic and an unmanned boat for performing the light show from the light show plan;

[0062] Step S12, reading the working log of the unmanned boat, and obtaining status data from the working log, wherein the status data includes the number of times the battery of the unmanned boat is charged, the charging time, the sailing distance, the working time of the steering gear and the propeller, the fault code of the unmanned boat, the working time of the light, the color and brightness change of the light, and the fault code of the light;

[0063] Step S13: quantify the unmanned boat fault code and the light fault code.

[0064] Before the light show, the organizer will formulate a detailed light show plan, including the start time, end time, performance waters, light show graphics and unmanned boats used for the light show. After determining the unmanned boat for the show, some status data of the unmanned boat and the lights can be obtained through the work log of the unmanned boat. These status data include some quantitative data, such as the number of battery charges, charging time, sailing distance, working time of servos and propellers, working time of lights, color and brightness changes of lights, etc., and also include some non-quantitative data, such as unmanned boat fault codes and light fault codes. In order to facilitate the evaluation of the status of the unmanned boat, non-quantitative data needs to be converted into quantitative data. For fault codes, they can be converted accordingly according to the commonness of the fault codes and the corresponding fault severity. The commonness of the fault codes and the fault severity can both be represented by 0-9. The more common the fault code and the lighter the fault severity, the smaller the corresponding value will be.

[0065] Preferably, the execution steps of the unmanned ship to be inspected determining unit 2 include:

[0066] Step S21, assigning weights of different sizes to each state data;

[0067] Step S22, summing the weighted state data, and outputting the summation result as a state value;

[0068] Step S23, sort the unmanned ships according to the status values, determine the number of unmanned ships to be inspected based on the total number of unmanned ships, and select the corresponding number of unmanned ships from large to small according to the unmanned ship sorting results, wherein the specific steps for determining the number of unmanned ships to be inspected based on the total number of unmanned ships are: multiplying the total number of unmanned ships by a preset threshold value to obtain the number of unmanned ships to be inspected, wherein the preset threshold value can be adjusted according to the total number of unmanned ships.

[0069] After obtaining the status data and quantifying it, the weighting method is used to normalize the status data, so that the status data tends to be consistent and then summed. The result of the summation can be output as a status value. The larger the status value, the greater the probability of potential failure of the unmanned ship and the light. Therefore, after sorting according to the status value, the unmanned ship to be inspected can be selected. When selecting, the total number of unmanned ships and the preset threshold are multiplied to obtain the number of unmanned ships that need to be selected, and then the unmanned ships to be inspected are determined according to the sorting result of the status value.

[0070] Preferably, the execution steps of the checkpoint determination unit 3 include:

[0071] Step S31, determining the specific location of the water area to be performed, overlapping all light performance graphics, and mapping them to the water area to be performed;

[0072] Step S32, constructing a number of concentric virtual circles with the center of the water area to be performed as the center;

[0073] Step S33, searching from the outermost virtual circle inward to see if there is an unmanned ship on the virtual circle, and outputting the outer position of the unmanned ship on the virtual circle as the checkpoint position, wherein the radius difference between adjacent virtual circles is greater than the length of the unmanned ship.

[0074] The arrangement positions of unmanned boats are different in different light show graphics. In order to avoid the checkpoints from affecting the navigation of the unmanned boat as much as possible, when determining the checkpoints, they are selected from the outside to the inside. First, all the light show graphics are overlapped, and then a number of concentric virtual circles are constructed in sequence with the center of the water area to be performed as the center. The radius difference between adjacent concentric virtual circles must be greater than the length of the unmanned boat to ensure the normal navigation of the unmanned boat. Starting from the outermost virtual circle, search for unmanned boat points with light show graphics on it. If so, output the outer side of the point as a checkpoint position, and then search the inner virtual circle until the corresponding number of checkpoints are found and the search is stopped.

[0075] Preferably, the specific execution steps of the path planning unit 4 include:

[0076] Step S41, obtaining the inspection order of the inspection points according to the performance order of the light performance graphics;

[0077] Step S42, selecting unmanned ships to be inspected according to the state values ​​from large to small, and filling the unmanned ships to be inspected into the inner side of the inspection point in order of inspection;

[0078] Step S43, outputting the path including the checkpoints moved by each unmanned ship to be inspected on all light show graphics as a first path;

[0079] Step S44: using the Grey Wolf Optimization Algorithm to screen the first path and obtain the optimal path;

[0080] Step S45: output the moving path of each other unmanned boat on all light show graphics as a second path according to the optimal path.

[0081] After obtaining the same number of unmanned ships to be inspected and checkpoints, determine the performance order of the light show graphics to which each checkpoint belongs, select the unmanned ships to be inspected in order from large to small according to the status values, and assign them to the points inside the checkpoints in order of performance. Each unmanned ship to be inspected will be assigned to the inside of a checkpoint accordingly. After the unmanned ship to be inspected completes the inspection at the checkpoint, it will sail to the next point according to the performance order of the light show graphics, and there is no corresponding restriction on the next point to be sailed. Therefore, there will be multiple first paths for the unmanned ship to be inspected, but each path will include a checkpoint. After obtaining the first path, the gray wolf optimization algorithm is used for optimization to obtain the optimal path for each unmanned ship to be inspected. In order to ensure the normal progress of the light show graphics, other unmanned ships need to sail to other points. Therefore, after obtaining the optimal path for the unmanned ship to be inspected, path planning can be performed on other unmanned ships to obtain the second path.

[0082] Preferably, the specific steps of step S45 are:

[0083] Step S451, initializing the gray wolf population and the number of iterations;

[0084] Step S452: randomly select a first path of the unmanned ship to be inspected, and calculate the fitness value of the gray wolf based on the shortest path;

[0085] Step S453, selecting another first path of the unmanned ship, and after calculating the fitness value, retaining the first path with the largest fitness value compared with the fitness value calculated last time;

[0086] Step S454: perform iterative calculation to obtain the first path with the largest fitness value, and output it as the optimal path of the unmanned ship to be inspected.

[0087] The optimal path planning adopts the gray wolf optimization algorithm. A unmanned ship to be inspected is randomly selected, and the fitness value of the gray wolf of each first path is calculated. After comparison, the first path with the largest fitness value can be obtained. This first path is the optimal path corresponding to the unmanned ship to be inspected.

[0088] Preferably, the specific steps of the formation control unit 5 are: performing formation control on the navigation of all unmanned ships according to the optimal path and the second path.

[0089] Finally, the formation control unit 5 can control the navigation of all unmanned ships in formation according to the optimal path and the second path. Unmanned ships in poor condition can be moved to the checkpoint for inspection during navigation to ensure the normal progress of the light show.

[0090] 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, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A formation control system for unmanned boat light show, characterized in that: include: A basic information acquisition unit, used to obtain the number of unmanned boats performing light shows, status data, and light show graphics; An unmanned ship to be inspected determining unit, used to determine the unmanned ship to be inspected according to the number and status data of the unmanned ships; A checkpoint determination unit, used to determine the location of a checkpoint on the water area according to the light show pattern; A path planning unit is used to plan the path of the unmanned ship to be inspected and other unmanned ships based on the changes in the light show graphics, and to make the unmanned ship to be inspected sail to the inspection point; A formation control unit, used to control the navigation of all unmanned ships in formation according to the planned path; The basic information acquisition unit is respectively connected to the unmanned ship determination unit to be inspected, the checkpoint determination unit and the path planning unit, and the path planning unit is respectively connected to the unmanned ship determination unit to be inspected, the checkpoint determination unit and the path planning unit.

2. A formation control system for unmanned boat light show according to claim 1, characterized in that: The execution steps of the basic information acquisition unit include: Step S11, obtaining a light show plan, extracting a light show graphic and an unmanned boat for performing the light show from the light show plan; Step S12, read the working log of the unmanned boat, and obtain status data from the working log, wherein the status data includes the number of times the battery of the unmanned boat is charged, the charging time, the sailing distance, the working time of the steering gear and propeller, the unmanned boat fault code, the working time of the light, the color and brightness change of the light, and the light fault code.

3. A formation control system for unmanned ship light show according to claim 2, characterized in that: The execution steps of the basic information acquisition unit also include: Step S13: quantify the unmanned boat fault code and the light fault code.

4. A formation control system for unmanned boat light show according to claim 1, characterized in that: The execution steps of the unmanned ship to be inspected determining unit include: Step S21, assigning weights of different sizes to each state data; Step S22, summing the weighted state data, and outputting the summation result as a state value; Step S23: sort the unmanned ships according to the state values, determine the number of unmanned ships to be inspected based on the total number of unmanned ships, and select a corresponding number of unmanned ships from large to small according to the unmanned ship sorting results.

5. A formation control system for unmanned ship light show according to claim 4, characterized in that: The specific steps of step S23 for determining the number of unmanned ships to be inspected based on the total number of unmanned ships are: multiplying the total number of unmanned ships by a preset threshold to obtain the number of unmanned ships to be inspected, wherein the preset threshold can be adjusted according to the total number of unmanned ships.

6. A formation control system for unmanned boat light show according to claim 1, characterized in that: The execution steps of the checkpoint determination unit include: Step S31, determining the specific location of the water area to be performed, overlapping all light performance graphics, and mapping them to the water area to be performed; Step S32, constructing a number of concentric virtual circles with the center of the water area to be performed as the center; Step S33: Check from the outermost virtual circle inwards to see if there is an unmanned ship on the virtual circle, and output the outer position of the unmanned ship on the virtual circle as the checkpoint position.

7. A formation control system for unmanned boat light show according to claim 6, characterized in that: The difference in radius between adjacent virtual circles is greater than the length of the unmanned ship.

8. A formation control system for unmanned boat light show according to claim 4, characterized in that: The specific execution steps of the path planning unit include: Step S41, obtaining the inspection order of the inspection points according to the performance order of the light performance graphics; Step S42, selecting unmanned ships to be inspected according to the state values ​​from large to small, and filling the unmanned ships to be inspected into the inner side of the inspection point in order of inspection; Step S43, outputting the path including the checkpoints moved by each unmanned ship to be inspected on all light show graphics as a first path; Step S44: using the Grey Wolf Optimization Algorithm to screen the first path and obtain the optimal path; Step S45: output the moving path of each other unmanned boat on all light show graphics as a second path according to the optimal path.

9. A formation control system for unmanned ship light show according to claim 8, characterized in that: The specific steps of step S45 are: Step S451, initializing the gray wolf population and the number of iterations; Step S452: randomly select a first path of the unmanned ship to be inspected, and calculate the fitness value of the gray wolf based on the shortest path; Step S453, selecting another first path of the unmanned ship, and after calculating the fitness value, retaining the first path with the largest fitness value compared with the fitness value calculated last time; Step S454: perform iterative calculation to obtain the first path with the largest fitness value, and output it as the optimal path of the unmanned ship to be inspected.

10. A formation control system for unmanned ship light show according to claim 9, characterized in that: The specific steps of the formation control unit are: performing formation control on the navigation of all unmanned ships according to the optimal path and the second path.

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