Semi-physical simulation platform for safety test of unmanned surface vehicle

Abstract

The invention discloses a semi-physical simulation platform for testing the safety of an unmanned surface vehicle, and relates to the field of simulation testing, and the platform comprises a shore-based monitoring system, a hardware simulation system, a dynamics simulation system, an unmanned surface vehicle scene editing system and an unmanned surface vehicle scene simulation system. And the dynamics simulation system is connected with the hardware simulation system. The unmanned ship scene simulation system is connected with the unmanned ship scene editing system, the dynamics simulation system and the hardware simulation system. Wherein the unmanned ship generates a control instruction based on control data and a task instruction input by the shore-based monitoring system; the hardware simulation system simulates the environment temperature and the marine environment stress of the safety test of the unmanned ship so as to obtain the pose data of the unmanned ship; the unmanned ship scene simulation system calls a scene configuration file based on the pose data to generate a simulation test virtual scene; and the unmanned ship adjusts the control instruction based on the simulation sensor data. According to the invention, the authenticity and credibility of the real installation test of the unmanned ship can be improved.

Description

Technical Field

[0001] The present application relates to the field of simulation testing, and in particular to a semi-physical simulation platform for safety testing of unmanned surface boats. Background Art

[0002] Unmanned surface boats are a new type of unmanned autonomous combat vessels. They can complete a variety of tasks including patrol, reconnaissance and surveillance, anti-submarine and anti-mine, etc. by setting tasks, pre-planning routes, and carrying different mission payloads. Since unmanned surface boats have high requirements for the working environment, they need to be fully tested under laboratory conditions before the actual boats enter the sea. In the process of studying unmanned surface boats, it is inevitable to test the safety of autonomous navigation of unmanned surface boats. At present, if you want to verify the safety of unmanned boats, you can use unmanned surface boat simulation systems. Unmanned surface boat simulation systems are mainly divided into two types, one is a pure physical simulation system, and the other is a pure digital simulation system. Although the simulation results of pure physical simulation systems are highly authentic, they are not flexible enough and are easily affected by environmental factors such as time, location, and weather, and the cost is high. Although the pure digital simulation system is more flexible and economical, many details of unmanned surface boats are approximated or ignored in the pure digital simulation system, which makes the authenticity and credibility of the simulation results low.

[0003] In order to economically and effectively avoid the problem of safety indicators in the process of testing the control of unmanned surface vessels, further research and design of semi-physical simulation technology was conducted. Semi-physical simulation technology is a method of combining physical models and mathematical models for testing. It connects part of the equipment and computer of the actual system to each other, and simulates the part of the system that does not exist or is not convenient for experiment by mathematical simulation, while ensuring the real-time operation of the entire system. This simulation technology combines the advantages of pure physical simulation and pure mathematical simulation, makes full use of the simplicity of computer modeling, reduces costs, and facilitates flexible and fast simulation and change of the model part of the system. This simulation technology has been widely used in the fields of vehicles, machinery, electronics, aerospace, and weapons development. However, there is no public report on the semi-physical unmanned surface vessel control simulation system for unmanned boat safety testing, and the simulation system of other aspects of the ship cannot be directly used for the control simulation of unmanned surface vessels.

[0004] Based on the above description, in view of the fact that the actual installation test of unmanned boats is easily affected by environmental factors such as time, location, weather, etc., and the high cost, as well as the authenticity and credibility of digital virtual simulation results, there is an urgent need in this field to provide a semi-physical simulation system that can be used for surface unmanned boat safety testing. Summary of the invention

[0005] The purpose of this application is to provide a semi-physical simulation platform for safety testing of surface unmanned boats, which can improve the authenticity and credibility of actual installation testing of unmanned boats.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] The present application provides a semi-physical simulation platform for safety testing of surface unmanned boats, including:

[0008] The shore-based monitoring system is used to input control data and mission instructions of the unmanned boat; the unmanned boat generates control instructions based on the control data and the mission instructions;

[0009] Hardware simulation system, used to simulate the ambient temperature and marine environmental stress of the safety test of unmanned boats;

[0010] A dynamics simulation system connected to the hardware simulation system, for obtaining the position and posture data of the unmanned boat based on the control instructions, the ambient temperature and the marine environmental stress by using the dynamics model of the unmanned boat;

[0011] An unmanned boat scene editing system, implanted with unmanned boat scene editing software, for generating a scene configuration file using the unmanned boat scene editing software;

[0012] An unmanned boat scene simulation system, implanted with unmanned boat scene simulation software, connected to the unmanned boat scene editing system, the dynamics simulation system and the hardware simulation system respectively, for using the unmanned boat scene simulation software to retrieve the scene configuration file based on the posture data to generate a simulation test virtual scene;

[0013] The unmanned boat obtains simulation sensor data of the simulation test virtual scene, and adjusts the control instruction based on the simulation sensor data.

[0014] Optionally, the hardware simulation system includes:

[0015] A temperature box is used to place the unmanned boat controller and provide an environmental temperature for safety testing of the unmanned boat controller; the unmanned boat controller generates control instructions based on the control data and mission instructions of the unmanned boat;

[0016] A six-degree-of-freedom motion platform for simulating marine environmental stress.

[0017] Optionally, the semi-physical simulation platform for safety testing of unmanned surface boats further includes:

[0018] Middleware, connected to the unmanned boat scene simulation system and the unmanned boat end controller respectively, for acquiring and distributing the simulation sensor data;

[0019] A fault injection device is connected to the middleware and is used to inject fault information into the simulated sensor data.

[0020] Optionally, the dynamics simulation system comprises:

[0021] The dynamics simulation module is implanted with a dynamics model of the unmanned boat, and is used to adopt the dynamics model of the unmanned boat to obtain the position and posture data of the unmanned boat based on the control instructions, the ambient temperature and the marine environmental stress.

[0022] Optionally, the unmanned boat scene simulation system includes:

[0023] A scenario configuration module, used to configure a simulation scenario based on the scenario configuration file;

[0024] A virtual scene simulation module, connected to the scene configuration module, for mapping the unmanned boat to the simulation scene based on the posture data to generate a simulation test virtual scene;

[0025] The perception simulation module is connected to the virtual scene simulation module and is used to generate path planning information based on the simulation test virtual scene and obtain simulated sensor data based on the path planning information.

[0026] Optionally, the virtual scene simulation module includes:

[0027] The environmental information sensing unit is used to obtain environmental information for simulation testing; the environmental information includes weather information and obstacle information; the weather information includes wind speed and direction, temperature change information, weather change information, precipitation and light halo information.

[0028] Optionally, the perception simulation module includes:

[0029] A perception planning unit, used to generate path planning information based on the simulation test virtual scene;

[0030] A navigation and positioning unit is connected to the perception planning unit and is used to obtain simulated sensor data based on the path planning information.

[0031] Optionally, the semi-physical simulation platform for safety testing of unmanned surface boats further includes:

[0032] A vector power system connected to the unmanned boat controller and used to complete the driving and vector power control of the unmanned boat based on the control instructions;

[0033] The energy and safety management system is connected to the unmanned boat controller and is used for energy detection and management of the unmanned boat and for safety monitoring of the unmanned boat.

[0034] Optionally, the semi-physical simulation platform for safety testing of unmanned surface boats further includes:

[0035] The Unity platform is used to simulate and generate the sensor units and ocean environment used in the unmanned boat scene simulation system.

[0036] Optionally, the semi-physical simulation platform for safety testing of unmanned surface boats further includes:

[0037] Display system, used to display unmanned boat safety test data.

[0038] According to the specific embodiments provided in this application, this application has the following technical effects:

[0039] The present application provides a semi-physical simulation platform for the safety test of surface unmanned boats. By setting up a hardware simulation system, a physical simulation system, a dynamic simulation system, and an unmanned boat scene simulation system, the simulation test of the unmanned boat is realized, and the authenticity of the unmanned boat installation test is improved. In addition, after the control instructions are generated based on the control data and the task instructions, the control instructions are further adjusted based on the simulation sensor data obtained during the simulation test, which can improve the credibility of the safety test of the surface unmanned boat. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 A structural principle diagram of a semi-physical simulation platform for safety testing of surface unmanned boats provided in one embodiment of the present application;

[0042] Figure 2 A first structural diagram of a semi-physical simulation platform for safety testing of an unmanned surface boat provided in one embodiment of the present application;

[0043] Figure 3 A second structural diagram of a semi-physical simulation platform for safety testing of an unmanned surface boat provided in one embodiment of the present application;

[0044] Figure 4 A schematic diagram of a sea breeze simulation effect provided in an embodiment of the present application;

[0045] Figure 5 A schematic diagram of the wave simulation effect provided by an embodiment of the present application;

[0046] Figure 6 A schematic diagram of a test scenario effect provided in an embodiment of the present application;

[0047] Figure 7 A schematic diagram of the principle of an optical camera provided in an embodiment of the present application;

[0048] Figure 8 A schematic diagram of a digital model of a navigation radar provided in an embodiment of the present application;

[0049] Fig. 9 A schematic diagram of a laser radar digital model provided in an embodiment of the present application;

[0050] Fig.10 A schematic diagram showing laser radar test data provided by an embodiment of the present application;

[0051] Fig.11 A schematic diagram of data flow transmission of a communication middleware and an intelligent control system provided in an embodiment of the present application;

[0052] Fig.12 A schematic diagram of the test profile design and evaluation process provided in one embodiment of the present application;

[0053] Fig.13 A schematic diagram of constructing conditions for an in-field semi-physical test verification of the safety of an unmanned boat provided in one embodiment of the present application. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0055] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0056] In an exemplary embodiment, the present application provides a semi-physical simulation platform for safety testing of surface unmanned boats, such as Figure 1 As shown, the platform includes: a shore-based monitoring system, a hardware simulation system, a dynamics simulation system, an unmanned boat scene editing system and an unmanned boat scene simulation system. The dynamics simulation system is connected to the hardware simulation system. The unmanned boat scene simulation system is connected to the unmanned boat scene editing system, the dynamics simulation system and the hardware simulation system respectively.

[0057] The shore-based monitoring system is used to input the control data and mission instructions of the unmanned boat. The unmanned boat generates control instructions based on the control data and mission instructions. The hardware simulation system is used to simulate the ambient temperature and marine environmental stress of the safety test of the unmanned boat. The dynamics simulation system is used to use the dynamics model of the unmanned boat to obtain the posture data of the unmanned boat based on the control instructions, ambient temperature and marine environmental stress. The unmanned boat scene editing system is implanted with unmanned boat scene editing software, which is used to generate a scene configuration file using the unmanned boat scene editing software. The unmanned boat scene simulation system is implanted with unmanned boat scene simulation software, which is used to use the unmanned boat scene simulation software to retrieve the scene configuration file based on the posture data to generate a simulation test virtual scene. The unmanned boat obtains the simulation sensor data of the simulation test virtual scene, and adjusts the control instructions based on the simulation sensor data to achieve a closed-loop safety test.

[0058] In another exemplary embodiment of the present application, in order to solve the problems of low cost-effectiveness and safety risks of intelligent equipment installation testing and low authenticity and credibility of pure digital simulation through semi-physical simulation, the integration of the unmanned boat semi-physical simulation test platform can be divided into unmanned boat physical environment and motion control technology, unmanned boat comprehensive simulation technology, unmanned boat intelligent controller software and hardware adaptation, communication simulation, dynamic simulation technology, infield test platform control technology, test data collection and test result evaluation technology. Based on this, in this embodiment, the design and implementation process of the semi-physical simulation platform for surface unmanned boat safety testing provided by the present application can be described as:

[0059] (1) Physical environment and motion control technology of unmanned boats.

[0060] When realizing the unmanned boat physical environment and motion control technology, the unmanned boat physical environment and motion control platform can be set. The realization process of this unmanned boat physical environment and motion control platform can be described as:

[0061] Corresponding to the hardware simulation system in the research objectives, we first study the ambient temperature of the intelligent control equipment during the navigation of the unmanned boat, build a temperature box for controlling the working temperature of the intelligent control equipment, and solve the problem of verifying the working performance of the intelligent control equipment under different ambient temperatures. Then, we start with the study of the motion posture of the unmanned boat under different sea conditions, build a combination of a six-degree-of-freedom platform and an unmanned boat test bench, solve the problem of simulating the motion posture of the unmanned boat under different sea conditions, and use the characteristics of the six-degree-of-freedom platform to simulate and verify the gyroscope in the boat-side IMU device.

[0062] Based on the above description of this embodiment, the hardware simulation system provided in the present application can be configured to include: a temperature box and a six-degree-of-freedom motion platform.

[0063] The temperature box is used to place the unmanned boat controller and provide an environmental temperature for the safety test of the unmanned boat controller. The unmanned boat controller generates control instructions based on the control data and mission instructions of the unmanned boat.

[0064] A six-degree-of-freedom motion platform is used to simulate marine environmental stress.

[0065] (2) Unmanned boat comprehensive simulation technology.

[0066] The unmanned boat scene editing system corresponding to the research objectives starts with the research on the unmanned boat operation domain, and uses a mature commercial physics engine to build a virtual reality marine environment simulation system to realistically simulate wind, wave flow, water effects, light halo, obstacles, islands and reefs and other marine environments and display virtual scenes. Based on this, in this embodiment, it can be achieved by setting up a Unity platform in a semi-physical simulation platform for surface unmanned boat safety testing. Specifically:

[0067] (21) Sea breeze simulation: Based on the time-varying wind speed model, the particle system is used to simulate the sea breeze. The particle system controls the delayed emission of particles through StartDelay to simulate the start time of the sea breeze, controls the emission speed of particles through Start Speed ​​to simulate the real-time wind speed of the sea breeze, controls the emission direction of particles through the Rotate() function to simulate the wind direction of the sea breeze, and sets Maps to white arrows in Shader to indicate the direction of the sea breeze. The sea breeze simulation effect is as follows: Figure 4 shown.

[0068] (22) Ocean wave simulation: The ocean wave grid plane is set according to the offset-corrected ocean wave height data, and then the ocean surface ripples are rendered through the vertex shader to realize the ocean wave simulation process. Figure 5 shown.

[0069] (23) Weather and light simulation:

[0070] (231) Fog and rain simulation: Use Unity platform Shader (such as post-processing Shader) to achieve blur effect. Use Fog in the Volume component of Unity platform Post Processing Stack or URP (Universal RenderPipeline) to create a mask that covers a circular area with a radius of (20, 20) starting from the camera position. Only the image in this area will be blurred to achieve the effect of fog and rain.

[0071] Use the Distance Field to dynamically adjust the blur intensity based on the distance between the Target variable (usually set to dynamic scene elements such as ships, aircraft, drones, etc.) and the camera, to achieve a clear to blurred effect from near to far.

[0072] (232) Sunlight simulation: Add a Directional Light as a sunlight source in the Unity platform. This light source will simulate the changes in sunlight. Create a SliderUI component in the Unity platform Canvas for user interaction to control time changes. Make sure the Min value of the Slider is 0, the Max value is 1, and adjust its Value range to match the UI layout.

[0073] Get the sunlight and Slider components in Canvas Manager and attach them to the scene control object. Map the Slider value as a ratio to the X-axis rotation of the sunlight, and simulate the movement of the sun through the scattering direction of parallel light at different angles.

[0074] (24)Obstacle Preset:

[0075] Different test scenario information is divided into different task nodes for unified management. When a user creates a new test scenario, he needs to first write the task name. The task name is used as the beginning of the information storage to distinguish different task information. The name cannot be reused. The task construction steps are as follows:

[0076] (241) After clicking New to create a new task, the dynamic and static scene element lists are initialized, and the current task name and task description are updated in TaskData.

[0077] (242) Display the task operation panel, through which the scene elements can be configured and the corresponding path information can be planned. The debug and run buttons can be used to communicate with the unmanned boat scene simulation system under the same network, and the configuration information of the scene elements can be tested and adjusted in real time.

[0078] (243) Open and save. When the configuration is completed, convert TaskData into JSON or XML format with the task name as the storage file name and save it. The configured task information is stored to obtain the scenario configuration file. The effect after the construction is completed is as follows Figure 6 shown.

[0079] Furthermore, in order to solve the problems of low scene accuracy, poor real-time performance, insufficient scene fidelity, and failure to meet intelligent requirements in traditional simulation, we can start with the unmanned boat environment perception technology and build a sensor data simulation method in the unmanned boat scene simulation system to achieve the simulation and transmission of GPS satellite compass, inertial navigation, navigation radar, laser radar, optical camera, AIS, wind speed and direction meter, electronic compass and other sensor data, and solve the problem of real-time simulation and dynamic presentation based on data drive. Among them, the simulation principle of the optical camera in the sensor simulation is as follows: Figure 7 shown.

[0080] In the unmanned boat scene simulation software, a simulation model of the optical camera is established based on the Unity platform to transmit the visual data generated by the optical camera digital model to the unmanned boat. The visual data acquisition and distribution test of the optical camera digital model adopts the test method shown in Table 1.

[0081] Table 1 Optical camera data distribution test table

[0082]

[0083] In the unmanned boat scene simulation software, a simulation model of the navigation radar is established based on the Unity platform (such as Figure 8 As shown in Table 2, the data generated by the digital model of the navigation radar is transmitted to the unmanned boat through data acquisition and distribution. The visual data acquisition and distribution test of the digital model of the navigation radar adopts the test method shown in Table 2.

[0084] Table 2 Navigation radar data distribution test table

[0085]

[0086]

[0087] In the unmanned boat scene simulation software, a simulation model of the laser radar is established based on the Unity platform (such as Fig. 9 The data generated by the laser radar digital model is transmitted to the unmanned boat through data acquisition and distribution. The data acquisition and distribution test of the laser radar digital model adopts the test method shown in Table 3. Among them, the laser radar test data obtained is as follows Fig.10 shown.

[0088] Table 3 LiDAR data distribution test table

[0089]

[0090] In actual application, the sensor virtual data interface given above uses network port transmission.

[0091] (3) Unmanned boat intelligent controller hardware and software adaptation, communication simulation, and dynamic simulation technology.

[0092] We first study the sensor types, interfaces and communication protocols used in unmanned boat simulation, build an information space data conversion system, and establish a connection between the original data of the virtual sensor obtained in the simulation software and the real electrical interface of the real intelligent control device, solving the problem of data conversion from information space to physical space. Based on this, the middleware is implemented as an information space data conversion system. Among them, the process of using the middleware to realize message transmission includes:

[0093] The middleware (DDS) collects multi-source heterogeneous sensor data obtained through simulation (i.e., simulated sensor data) and distributes the data. Ensure that the correct sensor data is transmitted at the right time and that the data reaches the right place. WRT is the module that collects the largest amount of external sensor data during autonomous navigation. The more typical data collected is camera image data and lidar point cloud data. The capture of image data is used as a service. The camera (publisher) transmits new image data, and the middleware disseminates information to all interested subscribers. Multiple data processing services subscribe to obtain and utilize the data. In addition, in order to ensure safety, all data needs to be processed at a speed close to real-time. In order to ensure real-time processing of large amounts of data, low data latency requires high-performance computing units and high-bandwidth network communications. Among them, the transmission process of data flow between the middleware and the intelligent control system is as follows: Fig.11 shown.

[0094] The middleware runs multiple ROS nodes, which are responsible for handling different tasks, including ① four data generation nodes, namely image data node, point cloud data node, radar echo target data node, and attitude data node, which will generate data with different attributes during operation. ② Adaptive transmission node (adaptor), responsible for receiving data from the four data generation nodes and monitoring the status of three types of buses, and selecting the optimal network transmission according to the attributes of the data to be transmitted and the bus status. ③ Three data sending nodes, respectively managing the transmission of Ethernet (ethernet_send), CAN bus (can_send) and serial bus (serial_port_send) data. ④ System status monitoring node (performance_cmp), used to receive the overall situation of the system during operation and save status information at different times.

[0095] Based on the above settings, we can start with the unmanned boat dynamics model and build a real-time simulation machine for the unmanned boat dynamics model. The control instructions issued by the unmanned boat are calculated by the dynamics simulation system to solve the new position and state (i.e., attitude data) of the unmanned boat. Next, we can start with the communication system research and build a communication simulation to simulate the bit error rate, delay, bandwidth constraints or other failures in the communication process to solve the communication simulation problem of the digital radio link. Fig.11 The fault injection software in the red box is shown. Fault injection is a method for testing and verifying systems, software or hardware. Its main function is to simulate faults or errors. When the sensor communicates with the middleware, interference such as sensor noise and transmission delay is added. When the boat-side intelligent controller (i.e., the unmanned boat-side controller) communicates with the shore-based display and control equipment in the shore-based monitoring system, interference such as bit error rate, delay, and bandwidth constraints are injected. This can verify the reliability of noise processing and the robustness of the communication protocol.

[0096] (4) Infield test platform control technology, test data collection and test result evaluation technology.

[0097] Start with the controlled object. In the semi-physical simulation platform used for surface unmanned boat safety testing, the host computer software can manage the simulation tasks of the unmanned boat, including scene configuration, task scene switching, task loading, task management, iterative control, command reception and transmission, and analysis, and other global tasks. Configure the target real-time system and test data acquisition equipment. Control the six-degree-of-freedom platform and the temperature chamber to solve the control problem that is difficult to debug in the distributed system of the test platform. Start with the performance evaluation of the unmanned boat controller, build a comprehensive evaluation index system for the performance of the unmanned boat, establish an evaluation method, and solve the problem of single and incomplete evaluation indicators for the unmanned boat intelligent controller. Among them, such as Fig.12 As shown in the figure, in the test profile design and evaluation method, first, a unified phased disassembly of the unmanned boat controller is established, including four levels: perception, cognition, decision-making and execution. The first three levels involve the analysis of the software environment and demand profile, and the execution layer is the software representation of the hardware-in-the-loop or hardware physical model. Then, set N typical task conditions and n environmental profiles. The n environmental profiles include information such as sea conditions, wind, waves, ground terrain, airspace airflow, temperature and humidity at sea, which can be adjusted by parameters. Next, combine the task and environmental profiles, and then carry out experimental tests in the four stages of disassembly during task execution. Fig.12The arrows in the figure represent the flow and execution of data and programs. The multiple transfers in cognition and decision-making indicate that the cognition and decision-making of the unmanned boat controller under different environments and tasks are expressed as a distribution of probabilities, rather than an absolute state change of a single path, which makes the platform provided by this application closer to the real situation. Finally, the hardware or model is executed according to the decision algorithm, and the results are compared and evaluated with the task objectives, software requirements, and hardware requirements to achieve a closed-loop evaluation of task assignment and execution.

[0098] (5) Experimental data collection technology.

[0099] Start by clarifying the data that needs to be collected and recorded, build a data collection system and establish a database to record key data during the test and achieve visual backtracking. The construction process of the semi-physical test verification conditions for the safety of unmanned boats in the database is as follows: Fig.13 shown.

[0100] Based on the above description, in the actual implementation process, the semi-physical simulation platform for surface unmanned boat safety testing provided by the present application is equipped with middleware and fault injection equipment.

[0101] The middleware is connected to the unmanned boat scene simulation system and the unmanned boat end controller respectively to obtain and distribute simulation sensor data.

[0102] The fault injection device is connected with the middleware to inject fault information into the simulated sensor data.

[0103] The dynamics simulation system includes: a dynamics simulation module. The dynamics simulation module is implanted with a dynamics model of the unmanned boat, and is used to obtain the position and posture data of the unmanned boat based on the control instructions, ambient temperature and marine environmental stress using the dynamics model of the unmanned boat.

[0104] In another exemplary embodiment of the present application, the semi-physical simulation platform for surface unmanned boat safety testing provided by the present application can be input with the unmanned boat scene simulation system to realize the navigation and control characteristics of the unmanned boat that are completely consistent with the physical control system. The hardware form can include a ship-borne navigation control cabinet, a shore-based control console and related connectors. The semi-physical simulation platform can integrate multiple functions, and has functions such as task management, path planning, trajectory tracking, autonomous static obstacle avoidance, power control, sensor data acquisition and analysis, and hardware components include power modules, data acquisition modules, network switching modules, flight control computers and control cabinets. The semi-physical platform of the auxiliary test system adopts physical communication and electrical interfaces that are completely consistent with the physical object, including serial interfaces, Ethernet interfaces, CAN channels and power interfaces. It can obtain sensor data and task feedback data from the unmanned boat scene simulation system to realize the full-process closed-loop control of the unmanned boat task system.

[0105] Based on the above description, the various sensors included in the semi-physical simulation platform for surface unmanned boat safety testing provided in this embodiment can be simulated and output by the virtual prototype system software. Based on this, the unmanned boat control system consists of two parts: the ship-borne navigation control system and the shore-based monitoring system. The ship-borne navigation control system is mainly responsible for intelligent algorithms and autonomous navigation control, which may include perception planning modules, navigation and positioning systems, communication systems, vector power systems, safety management systems, energy management systems, etc. The shore-based monitoring system is mainly responsible for communicating with the unmanned boat controller, monitoring the navigation status of the unmanned boat and its environmental information, and has the highest control authority, and can plan and issue task instructions in real time according to operational requirements.

[0106] 1) Onboard navigation control system: The control core of the unmanned boat control system is responsible for obtaining and parsing mission instruction information from the shore-based monitoring system, distributing mission instructions, coordinating the operation of other systems, and directly controlling the underlying IO status through the process control unit (reflected in the wiring diagram).

[0107] 2) Perception planning module: Relying on various radar systems and map data (electronic nautical charts) to obtain the situation of the environment around the unmanned boat and identify the static / dynamic target list (coastline, islands and sailing ships), and plan the best (least cost) navigation trajectory. Relying on the environment and target information obtained by the environmental information perception system, the collision risk between the unmanned boat and all static / dynamic targets is evaluated. When the target obstacle and the navigation trajectory of the unmanned boat have the risk of interference, the obstacle avoidance trajectory should be quickly generated to ensure the safety of the unmanned boat itself.

[0108] 3) Navigation and positioning system: It is composed of satellite compass, inertial navigation, etc., which can obtain the unmanned boat's positioning information, heading information and attitude information in real time. In the event of a loss of positioning information, it can rely on previous positioning information and inertial data to achieve a high-precision position calculation within a certain period of time.

[0109] 4) Communication system: Network communication is realized through digital transmission links, and it has functions such as communication quality monitoring, automatic feedback, and message error correction to ensure the reliability of remote communication.

[0110] 5) Vector power system: responsible for the underlying drive and vector power control of the hull power system.

[0111] 6) Energy and safety management system: responsible for the detection and management of the energy status of the unmanned boat (electricity and diesel). Responsible for the navigation safety control of the unmanned boat, including the monitoring of the boat's posture, abnormal operation of equipment, and water leakage monitoring.

[0112] Based on the above description, when the semi-physical simulation platform for surface unmanned boat safety testing provided by the present application adopts control devices consistent with the real object, the internal structure of the navigation control cabinet on the unmanned boat is as follows: Figure 2 shown.

[0113] Further, based on the above description, corresponding to Figure 1 The semi-physical simulation platform for surface unmanned boat safety testing shown in the figure, wherein the unmanned boat scene simulation system includes:

[0114] The scenario configuration module is used to configure the simulation scenario based on the scenario configuration file.

[0115] The virtual scene simulation module is connected to the scene configuration module and is used to map the unmanned boat to the simulation scene based on the posture data to generate a virtual scene for simulation testing.

[0116] The perception simulation module is connected to the virtual scene simulation module, and is used to generate path planning information based on the simulation test virtual scene, and obtain simulated sensor data based on the path planning information.

[0117] The virtual scene simulation module includes:

[0118] The environmental information sensing unit is used to obtain environmental information for simulation testing. Environmental information includes weather information and obstacle information. Weather information includes wind speed and direction, temperature change information, weather change information, precipitation, and light halo information.

[0119] The perception simulation module includes:

[0120] The perception planning unit is used to generate path planning information based on the simulation test virtual scene.

[0121] The navigation and positioning unit is connected to the perception and planning unit and is used to obtain simulated sensor data based on the path planning information.

[0122] In another exemplary embodiment of the present application, in order to complete the simulation test of the safety and reliability of the unmanned boat more realistically and accurately in a laboratory environment through a combination of software and hardware, in this embodiment, the semi-physical simulation platform for the safety test of the surface unmanned boat provided by the present application can be divided into a test system and a tested system according to the architecture composition. The tested system is an unmanned boat end controller. The test system is composed of an unmanned boat scene editing system, an unmanned boat scene simulation system, middleware, a dynamic simulation system, a temperature box and a six-degree-of-freedom platform, so as to realize real-time simulation, real I / O hardware interaction, senseless fault injection, and high coverage of unmanned boat safety and reliability test subject scenarios, and apply real marine environmental stress and sea surface atmospheric temperature to the intelligent controller based on ocean data. The middleware can record all the test data generated during the entire test process for subsequent test data analysis and evaluation, quantitatively evaluate the safety performance of the intelligent controller, and improve the scalability of the entire platform. In the future, new functional modules can be integrated into the middleware for compatibility with the future. The dynamic simulation system can be adjusted according to detailed parameters to adapt to the movement performance of different unmanned boats in different marine environments, and restore the force and movement conditions of the unmanned boats in the real world as much as possible. Based on this, in this embodiment, Figure 3 As shown, a simulation industrial computer can be used to realize the functions of the unmanned boat scene editing system, the unmanned boat scene simulation system, the middleware and the dynamic simulation system; a display and control console host can be used to realize the functions of the shore-based monitoring system and the unmanned boat's onboard navigation control software; a sensor data processing and fault injection industrial computer can be used to realize the functions of the middleware and the fault injection device.

[0123] Furthermore, in order to be able to display the safety test data of the unmanned boat in real time, such as Figure 3 As shown, different numbers and configurations of display screens (screens) can be configured for the simulation industrial computer, display console host, and sensor data processing and fault injection industrial computer.

[0124] In summary, compared with the prior art, this application also has the following advantages:

[0125] 1. The fault injection method provided in this application provides convenient conditions for the verification test of communication and sensor reliability in the safety of unmanned boats.

[0126] 2. The multi-environment and unmanned boat physical parameter input method provided in this application can use a unified platform to conduct indoor rapid simulation and safety testing of unmanned boats in various scenarios and types.

[0127] 3. The scenario simulation and task scheduling method provided by this application can more conveniently quickly deploy and arrange different scenarios, target locations and obstacle distributions, thereby improving applicability.

[0128] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0129] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0130] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0131] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0132] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A semi-physical simulation platform for safety testing of unmanned surface boats, characterized in that: The semi-physical simulation platform for safety testing of unmanned surface boats includes: The shore-based monitoring system is used to input control data and mission instructions of the unmanned boat; the unmanned boat generates control instructions based on the control data and the mission instructions; Hardware simulation system, used to simulate the ambient temperature and marine environmental stress of the safety test of unmanned boats; A dynamics simulation system connected to the hardware simulation system, for obtaining the position and posture data of the unmanned boat based on the control instructions, the ambient temperature and the marine environmental stress by using the dynamics model of the unmanned boat; An unmanned boat scene editing system, implanted with unmanned boat scene editing software, for generating a scene configuration file using the unmanned boat scene editing software; An unmanned boat scene simulation system, implanted with unmanned boat scene simulation software, connected to the unmanned boat scene editing system, the dynamics simulation system and the hardware simulation system respectively, for using the unmanned boat scene simulation software to retrieve the scene configuration file based on the posture data to generate a simulation test virtual scene; The unmanned boat obtains simulation sensor data of the simulation test virtual scene, and adjusts the control instruction based on the simulation sensor data.

2. The semi-physical simulation platform for safety testing of unmanned surface boats according to claim 1 is characterized in that: The hardware simulation system comprises: A temperature box is used to place the unmanned boat controller and provide an environmental temperature for safety testing of the unmanned boat controller; the unmanned boat controller generates control instructions based on the control data and mission instructions of the unmanned boat; A six-degree-of-freedom motion platform for simulating marine environmental stress.

3. The semi-physical simulation platform for safety testing of unmanned surface boats according to claim 2 is characterized in that: The semi-physical simulation platform for the safety test of the surface unmanned boat also includes: Middleware, connected to the unmanned boat scene simulation system and the unmanned boat end controller respectively, for acquiring and distributing the simulation sensor data; A fault injection device is connected to the middleware and is used to inject fault information into the simulated sensor data.

4. The semi-physical simulation platform for safety testing of unmanned surface boats according to claim 1 is characterized in that: The dynamics simulation system comprises: The dynamics simulation module is implanted with a dynamics model of the unmanned boat, and is used to adopt the dynamics model of the unmanned boat to obtain the position and posture data of the unmanned boat based on the control instructions, the ambient temperature and the marine environmental stress.

5. The semi-physical simulation platform for safety testing of unmanned surface boats according to claim 1 is characterized in that: The unmanned boat scene simulation system comprises: A scenario configuration module, used to configure a simulation scenario based on the scenario configuration file; A virtual scene simulation module, connected to the scene configuration module, for mapping the unmanned boat to the simulation scene based on the posture data to generate a simulation test virtual scene; The perception simulation module is connected to the virtual scene simulation module and is used to generate path planning information based on the simulation test virtual scene and obtain simulated sensor data based on the path planning information.

6. The semi-physical simulation platform for safety testing of unmanned surface boats according to claim 5 is characterized in that: The virtual scene simulation module comprises: The environmental information sensing unit is used to obtain environmental information for simulation testing; the environmental information includes weather information and obstacle information; the weather information includes wind speed and direction, temperature change information, weather change information, precipitation and light halo information.

7. The semi-physical simulation platform for safety testing of unmanned surface vehicles according to claim 5, characterized in that: The perception simulation module comprises: A perception planning unit, used to generate path planning information based on the simulation test virtual scene; A navigation and positioning unit is connected to the perception planning unit and is used to obtain simulated sensor data based on the path planning information.

8. The semi-physical simulation platform for safety testing of unmanned surface boats according to claim 2 is characterized in that: The semi-physical simulation platform for the safety test of the surface unmanned boat also includes: A vector power system connected to the unmanned boat controller and used to complete the driving and vector power control of the unmanned boat based on the control instructions; The energy and safety management system is connected to the unmanned boat controller and is used for energy detection and management of the unmanned boat and for safety monitoring of the unmanned boat.

9. The semi-physical simulation platform for safety testing of unmanned surface vehicles according to claim 1, characterized in that: The semi-physical simulation platform for the safety test of the surface unmanned boat also includes: The Unity platform is used to simulate and generate the sensor units and ocean environment used in the unmanned boat scene simulation system.

10. The semi-physical simulation platform for safety testing of unmanned surface vehicles according to claim 1, characterized in that: The semi-physical simulation platform for the safety test of the surface unmanned boat also includes: Display system, used to display unmanned boat safety test data.

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