Control method and device of unmanned ship system

Abstract

The invention provides a control method and device for an unmanned ship system, and the method comprises the steps: responding to a control authority application request inputted by a user before a task starts, enabling a shore interoperation control station to generate an authority application data packet according to the control authority application request, the shore interoperation control station sends a permission application data packet to a control station of the unmanned ship cluster subsystem, so that the control station of the unmanned ship cluster subsystem detects the permission application data packet; and under the condition that permission detection is completed, the shore interoperation control station receives a permission result returned by the control station of the unmanned ship cluster subsystem, and the interoperation requirement in a cross-domain cross-platform typical task scene can be supported. Diversified combat tasks can be flexibly adapted, and combat ability is quickly generated; an open intelligent architecture is adopted, and the cross-domain cooperative control capability is realized; a browser on the console can be used for logging in the data processing server and establishing connection with the unmanned surface vehicle, so that task control on an unmanned surface vehicle cluster or a single platform is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned boat system control, and in particular relates to a control method and device for an unmanned boat system. Background Art

[0002] The construction and application method of the interoperability evaluation environment of multi-domain unmanned systems, combined with the characteristics of multi-domain unmanned systems, builds a test evaluation environment around the interoperability test evaluation requirements, accesses the test resources in the form of real installation (L), simulation (V), and emulation (C), as well as the test resources of multi-domain unmanned systems. In the process of interoperability evaluation test, it includes two aspects: static compliance test and dynamic simulation test. Among them, static test can collect the interoperability level evaluation index data of multi-domain unmanned systems through a combination of manual and automatic collection; dynamic simulation test supports the information and command sending and receiving test between unmanned system test resources for typical application scenarios, and finally evaluates from the four dimensions of procedures (P), applications (A), infrastructure (I), and data (D) according to the test data, and obtains the interoperability level of multi-domain unmanned systems, providing guidance for the interoperability level evaluation and capability improvement of unmanned systems. Therefore, how to provide a control method and device for unmanned boat systems has become a technical problem that needs to be solved in this field. Summary of the invention

[0003] The purpose of the present invention is to provide a control method and device for an unmanned boat system.

[0004] According to a first aspect of the present invention, a control method for an unmanned boat system is provided, which is applied to an unmanned boat system, wherein the unmanned boat system comprises at least an onshore interoperability control station and a plurality of control stations of unmanned boat cluster subsystems, wherein the control stations of the unmanned boat cluster subsystems are used to control drones and unmanned boats, and the method comprises:

[0005] Before the task starts, in response to a control authority application request input by a user, the onshore interoperability control station generates an authority application data packet according to the control authority application request;

[0006] The onshore interoperability control station sends the permission application data packet to the control station of the unmanned boat swarm subsystem, so that the control station of the unmanned boat swarm subsystem detects the permission application data packet;

[0007] When the authority check is completed, the onshore interoperability control station receives the authority result returned by the control station of the unmanned boat swarm subsystem, and the authority result at least includes an authority approval data packet and an authority rejection data packet.

[0008] Optionally, the method further comprises:

[0009] In the case where the UAV and the unmanned boat perform a task together, when the UAV finds a target, the UAV sends an unmanned boat control authority request to the onshore interoperability control station, and generates an unmanned boat authority application data packet according to the unmanned boat control authority request;

[0010] Determining whether to accept the permission application based on the unmanned boat permission application data packet;

[0011] If the permission application is accepted, the onshore interoperability control station sends a permission application notification to the control station of the unmanned boat swarm subsystem;

[0012] When the control station of the unmanned boat swarm subsystem approves the permission application, a permission approval data packet is returned to the unmanned boat.

[0013] Optionally, the method further comprises:

[0014] If the onshore interoperability control station does not accept the permission application, or the control station of the unmanned boat swarm subsystem does not approve the permission application, a permission denial data packet is returned to the unmanned aerial vehicle.

[0015] Optionally, the method further comprises:

[0016] The onshore interoperability control station controls the unmanned boat to navigate by adopting the cluster area entry and position distribution path planning algorithm, specifically including:

[0017] Based on the given circular entry area coordinates, path navigation speed range, current position of each boat in the cluster, each boat ID, azimuth angle and radius ratio coefficient, the navigation path and time for each boat to simultaneously arrive at the corresponding position in the circular entry area from the current position are pre-planned.

[0018] Optionally, the method further comprises:

[0019] The cluster sub-area approaching and surrounding path planning algorithm is adopted, and the onshore interoperability control station controls the unmanned boat to navigate, specifically including:

[0020] According to the given rectangular or polygonal task area coordinates, prohibited circular area coordinates and radius, each sub-area coordinates, sub-area outer expansion circling distance, circling direction, circling speed, circling number of circles, path navigation speed range, the current position of each boat in the cluster, each boat ID and safety adjustment time, the best matching scheme for each boat and sub-area is calculated, and the navigation path and time for each boat to avoid the prohibited area from the current position and reach the circling route outside the respective sub-area as soon as possible and circling are pre-planned.

[0021] Optionally, the method further comprises:

[0022] The single boat circumnavigation path planning algorithm is adopted, and the onshore interoperability control station controls the unmanned boat to navigate, specifically including:

[0023] Based on the current position information of all sub-areas, the circling information outside each boat's sub-area, the circling information inside each boat's sub-area, the circling direction, and the number of circling circles, a navigation path is pre-planned for each boat to go from the circling route outside the sub-area, through the tangent of the circling route within the sub-area, and then make a circling movement within the sub-area.

[0024] Optionally, the method further comprises:

[0025] The onshore interoperability control station controls the unmanned boat to navigate by adopting the cluster area passing and position distribution path planning algorithm, specifically including:

[0026] Based on the given mission area coordinates, prohibited area center coordinates and radius, path navigation speed range, current position of each boat in the cluster, each boat ID, speed, heading, must-pass point coordinates, speed range for passing the must-pass points, minimum time interval for each boat to pass through the must-pass points in turn, each endpoint information and safety adjustment time, the navigation path and time for each boat to pass through the must-pass points in turn and reach their respective endpoint areas and perform low-speed circling are pre-planned.

[0027] According to a second aspect of the present invention, a control device for an unmanned boat system is provided, which is applied to the unmanned boat system, wherein the unmanned boat system comprises at least an onshore interoperability control station and a plurality of control stations of unmanned boat cluster subsystems, wherein the control stations of the unmanned boat cluster subsystems are used to control the drones and the unmanned boats, and the device comprises:

[0028] A sending module, used for, before the task starts, in response to a control authority application request input by a user, the onshore interoperability control station generates an authority application data packet according to the control authority application request;

[0029] A detection module, used for the onshore interoperability control station to send the permission application data packet to the control station of the unmanned boat swarm subsystem, so that the control station of the unmanned boat swarm subsystem detects the permission application data packet;

[0030] The receiving module is used for the onshore interoperability control station to receive the permission result returned by the control station of the unmanned boat cluster subsystem when the permission detection is completed, and the permission result at least includes a permission approval data packet and a permission rejection data packet.

[0031] Optionally, the detection module is used to:

[0032] In the case where the UAV and the unmanned boat perform a task together, when the UAV finds a target, the UAV sends an unmanned boat control authority request to the onshore interoperability control station, and generates an unmanned boat authority application data packet according to the unmanned boat control authority request;

[0033] Determining whether to accept the permission application based on the unmanned boat permission application data packet;

[0034] If the permission application is accepted, the onshore interoperability control station sends a permission application notification to the control station of the unmanned boat swarm subsystem;

[0035] When the control station of the unmanned boat swarm subsystem approves the permission application, a permission approval data packet is returned to the unmanned boat.

[0036] Optionally, the detection module is used to:

[0037] If the onshore interoperability control station does not accept the permission application, or the control station of the unmanned boat swarm subsystem does not approve the permission application, a permission denial data packet is returned to the unmanned aerial vehicle.

[0038] Optionally, the detection module is used to:

[0039] The onshore interoperability control station controls the unmanned boat to navigate by adopting the cluster area entry and position distribution path planning algorithm, specifically including:

[0040] Based on the given circular entry area coordinates, path navigation speed range, current position of each boat in the cluster, each boat ID, azimuth angle and radius ratio coefficient, the navigation path and time for each boat to simultaneously arrive at the corresponding position in the circular entry area from the current position are pre-planned.

[0041] Optionally, the detection module is used to:

[0042] The cluster sub-area approaching and surrounding path planning algorithm is adopted, and the onshore interoperability control station controls the unmanned boat to navigate, specifically including:

[0043] According to the given rectangular or polygonal task area coordinates, prohibited circular area coordinates and radius, each sub-area coordinates, sub-area outer expansion circling distance, circling direction, circling speed, circling number of circles, path navigation speed range, the current position of each boat in the cluster, each boat ID and safety adjustment time, the best matching scheme for each boat and sub-area is calculated, and the navigation path and time for each boat to avoid the prohibited area from the current position and reach the circling route outside the respective sub-area as soon as possible and circling are pre-planned.

[0044] Optionally, the detection module is used to:

[0045] The single boat circumnavigation path planning algorithm is adopted, and the onshore interoperability control station controls the unmanned boat to navigate, specifically including:

[0046] Based on the current position information of all sub-areas, the circling information outside each boat's sub-area, the circling information inside each boat's sub-area, the circling direction, and the number of circling circles, a navigation path is pre-planned for each boat to go from the circling route outside the sub-area, through the tangent of the circling route within the sub-area, and then make a circling movement within the sub-area.

[0047] Optionally, the detection module is used to:

[0048] The onshore interoperability control station controls the unmanned boat to navigate by adopting the cluster area passing and position distribution path planning algorithm, specifically including:

[0049] Based on the given mission area coordinates, prohibited area center coordinates and radius, path navigation speed range, current position of each boat in the cluster, each boat ID, speed, heading, must-pass point coordinates, speed range for passing the must-pass points, minimum time interval for each boat to pass through the must-pass points in turn, each endpoint information and safety adjustment time, the navigation path and time for each boat to pass through the must-pass points in turn and reach their respective endpoint areas and perform low-speed circling are pre-planned.

[0050] In a third aspect, the present application shows an electronic device, which includes: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the method described in any of the above aspects.

[0051] In a fourth aspect, the present application illustrates a non-temporary computer-readable storage medium, which, when instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to execute a method as described in any of the above aspects.

[0052] In a fifth aspect, the present application illustrates a computer program product. When instructions in the computer program product are executed by a processor of an electronic device, the electronic device is enabled to execute the method described in any of the above aspects.

[0053] The beneficial effects brought by the present invention are as follows:

[0054] It can be seen from the above scheme that the embodiment of the present invention provides a control method and device for an unmanned boat system, which is applied to an unmanned boat system, wherein the unmanned boat system includes at least an onshore interoperability control station and a plurality of control stations of unmanned boat cluster subsystems, and the control station of the unmanned boat cluster subsystem is used to control the unmanned boat and the unmanned boat, and the method includes: before the task starts, in response to the application request for control authority input by the user, the onshore interoperability control station generates an authority application data packet according to the application request for control authority, and the onshore interoperability control station sends the authority application data packet to the control station of the unmanned boat cluster subsystem, so that the control station of the unmanned boat cluster subsystem detects the authority application data packet; when the authority detection is completed, the onshore interoperability control station receives the authority result returned by the control station of the unmanned boat cluster subsystem, and the authority result includes at least an authority consent data packet and an authority rejection data packet, which can support the interoperability requirements in typical cross-domain and cross-platform mission scenarios. It can flexibly adapt to diversified combat tasks and quickly generate combat capabilities; adopt an open intelligent architecture to achieve cross-domain collaborative control capabilities; and can log in to the data processing server through the browser on the console and establish a connection with the unmanned boat to achieve task control of the unmanned boat cluster or single platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A schematic flow chart of a control method for an unmanned boat system provided according to an embodiment;

[0056] Figure 2 A result block diagram of a control system of an unmanned boat system provided according to an embodiment;

[0057] Figure 3 A control right arbitration flow chart provided according to an embodiment;

[0058] Figure 4 A control right arbitration flow chart provided according to an embodiment;

[0059] Figure 5 A schematic diagram of a cluster collaboration basic capability test scenario provided according to an embodiment;

[0060] Figure 6 A navigation track diagram of each boat in a cluster collaboration basic capability test scenario provided according to an embodiment;

[0061] Figure 7 A three-layer architecture diagram of an unmanned boat cluster system provided according to an embodiment;

[0062] Figure 8 The following is an architecture diagram of an unmanned boat cluster system provided according to an embodiment;

[0063] Fig. 9It is a structural block diagram of a control device of an unmanned boat system of the present application.

[0064] Fig.10 It is a block diagram of an electronic device of the present application.

[0065] Fig.11 It is a block diagram of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] Reference Figure 1 , shows a flow chart of the steps of a control method of an unmanned boat system of the present application, the method can be applied to electronic equipment, applied to an unmanned boat system, the unmanned boat system at least has an onshore interoperability control station and a plurality of control stations of unmanned boat cluster subsystems, the control station of the unmanned boat cluster subsystem is used to control the drone and the unmanned boat, wherein the method may specifically include the following steps:

[0068] S101. Before a task starts, in response to a control authority application request input by a user, the shore interoperability control station generates an authority application data packet according to the control authority application request;

[0069] S102, the onshore interoperability control station sends a permission application data packet to the control station of the unmanned boat swarm subsystem, so that the control station of the unmanned boat swarm subsystem detects the permission application data packet;

[0070] S103. When the authority detection is completed, the onshore interoperability control station receives the authority result returned by the control station of the unmanned boat swarm subsystem, and the authority result at least includes an authority approval data packet and an authority rejection data packet.

[0071] In order to achieve effective access to the unmanned boat system by multiple nodes such as the shore-side cross-domain control station and other unmanned platforms, research on the control rights arbitration technology of the unmanned boat system for interoperable access is carried out. Based on the composition relationship of the interoperating system and the control rights arbitration function requirements, the control rights arbitration process of people in the loop is specifically designed. The main system nodes involved in the unmanned boat system control rights arbitration process include the onshore interoperability control station of the interoperating system, the interoperability environment hardware deployed on the unmanned boat platform, the control station of the unmanned boat cluster subsystem and the public service integration equipment on the platform. The composition and link relationship are as follows: Figure 2 As shown, Figure 7 and Figure 8 shown.

[0072] Another embodiment of the present application further supplements the control method of the unmanned boat system provided in the above embodiment.

[0073] like Figure 3 As shown in FIG, the control right arbitration process can be decomposed into the control right application before the task and the control right application during the task based on the interoperability task process of the typical task scenario.

[0074] Pre-task control request,

[0075] The cross-domain control station applies for permission from the unmanned boat cluster control station. The specific process and information interaction relationship are as follows: Figure 3 And as shown in Table 1.

[0076] Table 1 Control Arbitration Process

[0077]

[0078] like Figure 4 As shown in the figure, the control right application during the mission is based on the background that the UAV and the unmanned boat jointly perform the mission. During the mission, when the UAV finds the target, the control right application process can be used to enable the UAV to directly send target guidance information to the unmanned boat. The specific process and information interaction relationship are shown in the figure. Figure 4 And as shown in Table 2.

[0079] Table 2 Control Arbitration Process

[0080]

[0081] The method further includes:

[0082] In the case where the UAV and the unmanned boat perform tasks together, when the UAV finds a target, the UAV sends an unmanned boat control authority request to the shore interoperability control station, and generates an unmanned boat authority application data packet based on the unmanned boat control authority request;

[0083] Determine whether to accept the permission application based on the unmanned boat permission application data packet;

[0084] If the permission application is accepted, the shore-based interoperability control station sends a permission application notification to the control station of the unmanned boat swarm subsystem;

[0085] When the control station of the unmanned boat swarm subsystem approves the permission application, it returns a permission approval data packet to the drone.

[0086] Optionally, the method further comprises:

[0087] If the onshore interoperability control station does not accept the permission application, or the control station of the unmanned boat cluster subsystem does not approve the permission application, a permission rejection data packet is returned to the drone.

[0088] The basic capability test of cluster collaboration, for example, is given a rectangular test area of ​​3 nautical miles long and 2 nautical miles wide, a circular approach area and exit area, a circular mission area A near the center of the test area, and four circular mission areas B1 to B4 near the boundaries of the test area, to examine the platform / load performance of the unmanned boat, the capability of the cluster system, and safety. The main process is as follows.

[0089] a) Navigation to mission area A: After the evaluation system issues the "start test" command, the unmanned boat cluster forms a column formation plan and an initial planned route within 10 seconds based on the given mission area A location. During the navigation process, the unmanned boat cluster sails in a column, autonomously avoiding surface obstacles, and the speed of each single boat is controlled at 8 to 12 knots, and the distance between adjacent unmanned boats is controlled at 50 to 150 meters. After arriving at mission area A, each boat maintains a certain safe distance and waits for subsequent instructions.

[0090] b) Navigate to mission area B: The evaluation system issues mission area B1 to B4 to any boat in the cluster. The boat issues corresponding mission areas to each unmanned boat in the unmanned boat cluster according to the command, and reasonably plans the speed and broken line path (including Z-shaped route) according to the current position of each boat and the target area, and displays it on the designated interface of the shore-based control system within 2 seconds to ensure that it arrives at the given mission area at the same time.

[0091] c) Single boats sail along a circular trajectory: After reaching the given mission area, each boat sails along the circular outline of the mission area, and the speed of each single boat is controlled at 8 to 12 knots.

[0092] d) Autonomous return after communication loss: Cut off the communication link between the unmanned boat and the shore-based control system. The unmanned boat should autonomously sense that the communication link has been cut off and it lasts for 5 minutes. The unmanned boat cluster should terminate the circular trajectory within 1 minute and sail to the pre-given departure area. During the navigation process, it should avoid water obstacles, such as Figure 5 shown.

[0093] Optionally, the method further comprises:

[0094] Using the cluster area entry and location distribution path planning algorithm, the shore interoperability control station controls the unmanned boat to navigate, including:

[0095] Based on the given circular entry area coordinates, path navigation speed range, current position of each boat in the cluster, each boat ID, azimuth angle and radius ratio coefficient, the navigation path and time for each boat to simultaneously arrive at the corresponding position in the circular entry area from the current position are pre-planned.

[0096] Optionally, the method further comprises:

[0097] The cluster sub-area approaching and surrounding path planning algorithm is adopted, and the shore interoperability control station controls the unmanned boat to navigate, including:

[0098] According to the given rectangular or polygonal task area coordinates, prohibited circular area coordinates and radius, each sub-area coordinates, sub-area outer expansion circling distance, circling direction, circling speed, circling number of circles, path navigation speed range, the current position of each boat in the cluster, each boat ID and safety adjustment time, the best matching scheme for each boat and sub-area is calculated, and the navigation path and time for each boat to avoid the prohibited area from the current position and reach the circling route outside the respective sub-area as soon as possible and circling are pre-planned.

[0099] Optionally, the method further comprises:

[0100] Using a single boat orbital path planning algorithm, the shore-based interactive control station controls the unmanned boat to navigate, including:

[0101] Based on the current position information of all sub-areas, the circling information outside each boat's sub-area, the circling information inside each boat's sub-area, the circling direction, and the number of circling circles, a navigation path is pre-planned for each boat to go from the circling route outside the sub-area, through the tangent of the circling route within the sub-area, and then make a circling movement within the sub-area.

[0102] Optionally, the method further comprises:

[0103] The cluster area is passed through and the location distribution path planning algorithm is adopted, and the shore interoperability control station controls the unmanned boat to navigate, including:

[0104] Based on the given mission area coordinates, prohibited area center coordinates and radius, path navigation speed range, current position of each boat in the cluster, each boat ID, speed, heading, must-pass point coordinates, speed range for passing the must-pass points, minimum time interval for each boat to pass through the must-pass points in turn, each endpoint information and safety adjustment time, the navigation path and time for each boat to pass through the must-pass points in turn and reach their respective endpoint areas and perform low-speed circling are pre-planned.

[0105] The main algorithms used are: cluster area entry and position distribution path planning algorithm, cluster sub-area approach and surround path planning algorithm, single boat surround path planning algorithm, cluster area passing and position distribution path planning algorithm, cluster formation maintenance control algorithm, cluster obstacle avoidance algorithm. The main functions of each algorithm are described as follows.

[0106] a) Cluster area entry and location distribution path planning algorithm

[0107] Based on the given circular entry area (approach area / mission area A) coordinates, path navigation speed range, current position of each boat in the cluster, each boat ID, azimuth, radius ratio coefficient (the ratio of the position radius in the circular entry area to the radius of the circular entry area) and other information, it is possible to pre-plan the navigation path and time for each boat to simultaneously arrive at the corresponding position in the circular entry area from the current position.

[0108] b) Cluster sub-region approaching surround path planning algorithm

[0109] It can calculate the best matching scheme for each boat and sub-area according to the given mission area (rectangle or polygon) coordinates, prohibited area (circle) coordinates and radius, coordinates of each sub-area (circular mission area B), sub-area outer expansion circling distance, circling direction, circling speed, circling number of circles, path navigation speed range, current position of each boat in the cluster, each boat ID, safety adjustment time and other information, and pre-plan the navigation path and time for each boat to avoid the prohibited area from the current position and reach the circling route outside the respective sub-area as soon as possible and circling at the same time.

[0110] c) Single boat circumnavigation path planning algorithm

[0111] According to the current position information of all sub-areas (center coordinates, radius), the outer circling information of each boat sub-area (radius extension distance, circling speed outside the sub-area, current position coordinates), the circling information within each boat sub-area (sub-area radius ratio coefficient, circling speed within the sub-area), circling direction, circling number of circles and other information, it is possible to pre-plan the navigation path of each boat from the circling route outside the sub-area, through the tangent of the circling route within the sub-area, and to make circling motion within the sub-area.

[0112] d) Cluster area and location distribution path planning algorithm

[0113] It can pre-plan the navigation path and time for each boat to pass the necessary points in turn and reach its respective terminal area and perform a low-speed circle according to the given mission area (rectangle or polygon) coordinates, prohibited area (circle) center coordinates and radius, path navigation speed range, current position of each boat in the cluster, each boat ID, speed, heading, must-pass point (exit area) coordinates, speed range for passing the must-pass points, minimum time interval for each boat to pass the must-pass points in turn, each terminal (circle) information (distance from the must-pass points, angle between adjacent terminal points, terminal circle radius, circle direction, circle number, terminal circle speed of each boat), safety adjustment time and other information.

[0114] e) Cluster formation maintenance control algorithm

[0115] It can calculate in real time the single-boat navigation control instructions (expected speed, expected heading) required for each boat to complete formation navigation based on the given formation parameters (formation spacing, relative position relationship, etc.) and formation navigation path (waypoint coordinates, waypoint speed), so as to control each boat to sail stably according to a specific formation configuration relationship.

[0116] f) Cluster obstacle avoidance algorithm

[0117] It can re-plan the path or speed and heading of each boat in real time within a given mission area (rectangle or polygon) according to the pre-planned path of the cluster, the navigation status of each boat in the cluster (current speed, heading, expected speed, expected heading), and obstacle information (position, speed, heading, threat radius) for each cluster member boat and external static and dynamic obstacles, so as to ensure that each boat in the cluster can avoid internal and external obstacles of the cluster and try to maintain a certain formation geometry.

[0118] The test results are as follows:

[0119] The overall adaptability of the algorithms in the cluster collaboration basic capability test was good. All algorithms were able to adaptively respond under different initial conditions, different performance index requirements, and satellite guidance signal anomalies, and successfully supported the completion of the test. Among them, during the field test, the formation speed increased from 10kn during the self-test to 14kn during the process of the formation from the entry area to the mission area A, and the formation maintenance control algorithm was still able to control the distance between adjacent boats and the speed of each boat to meet the requirements; when the corresponding sub-area B of each boat was randomly assigned and the radius of different sub-areas B was different, the cluster sub-area approaching surround path planning algorithm can still plan a reasonable collision-free path and ensure that all boats arrive at the same time. The completion of the field test of the cluster system consisting of the 3-ton No. 1 boat, the 3-ton No. 3 boat, the 7-ton boat, and the 50-ton boat is as follows. Figure 6 shown.

[0120] The completion status of the assessment indicators is shown in Table 3.

[0121] Table 3 Completion of cluster collaboration basic capability test indicators

[0122]

[0123] The embodiment of the present invention provides a control method and device for an unmanned boat system, which is applied to an unmanned boat system. The unmanned boat system includes at least an onshore interoperability control station and control stations of multiple unmanned boat cluster subsystems. The control station of the unmanned boat cluster subsystem is used to control the unmanned boat and the unmanned boat. The method includes: before the task starts, in response to the application request for control authority input by the user, the onshore interoperability control station generates an authority application data packet according to the application request for control authority, and the onshore interoperability control station sends the authority application data packet to the control station of the unmanned boat cluster subsystem, so that the control station of the unmanned boat cluster subsystem detects the authority application data packet; when the authority detection is completed, the onshore interoperability control station receives the authority result returned by the control station of the unmanned boat cluster subsystem, and the authority result includes at least an authority consent data packet and an authority rejection data packet, which can support the interoperability requirements in typical cross-domain and cross-platform mission scenarios. It can flexibly adapt to diversified combat tasks and quickly generate combat capabilities; adopt an open intelligent architecture to achieve cross-domain collaborative control capabilities; and can log in to the data processing server through the browser on the control station and establish a connection with the unmanned boat to achieve task control of the unmanned boat cluster or single platform.

[0124] It should be noted that each implementable method in this embodiment may be implemented separately, or may be implemented in combination in any combination without conflict, and this application is not limited thereto.

[0125] Another embodiment of the present application provides a control device for an unmanned boat system, which is used to execute the control method for the unmanned boat system provided in the above embodiment.

[0126] like Fig. 9 As shown, it is a schematic diagram of the structure of the control device of the unmanned boat system provided by the embodiment of the present application. Applied to the unmanned boat system, the unmanned boat system comprises at least an onshore interoperability control station and a control station of multiple unmanned boat cluster subsystems, and the control station of the unmanned boat cluster subsystem is used to control the drone and the unmanned boat, and the device comprises:

[0127] The sending module 901 is used to generate a permission application data packet in response to the application request for control authority input by the user before the task starts, and the shore interoperability control station generates a permission application data packet according to the application request for control authority;

[0128] The detection module 902 is used for the onshore interoperability control station to send a permission application data packet to the control station of the unmanned boat swarm subsystem, so that the control station of the unmanned boat swarm subsystem detects the permission application data packet;

[0129] The receiving module 903 is used for receiving the permission result returned by the control station of the unmanned boat cluster subsystem at the onshore interoperability control station when the permission detection is completed. The permission result at least includes a permission approval data packet and a permission rejection data packet.

[0130] Regarding the device in this embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0131] Another embodiment of the present application further supplements the control device of the unmanned boat system provided in the above embodiment.

[0132] Optionally, the detection module is used to:

[0133] In the case where the UAV and the unmanned boat perform tasks together, when the UAV finds a target, the UAV sends an unmanned boat control authority request to the shore interoperability control station, and generates an unmanned boat authority application data packet based on the unmanned boat control authority request;

[0134] Determine whether to accept the permission application based on the unmanned boat permission application data packet;

[0135] If the permission application is accepted, the shore-based interoperability control station sends a permission application notification to the control station of the unmanned boat swarm subsystem;

[0136] When the control station of the unmanned boat swarm subsystem approves the permission application, it returns a permission approval data packet to the drone.

[0137] Optionally, the detection module is used to:

[0138] If the onshore interoperability control station does not accept the permission application, or the control station of the unmanned boat cluster subsystem does not approve the permission application, a permission rejection data packet is returned to the drone.

[0139] Optionally, the detection module is used to:

[0140] Using the cluster area entry and location distribution path planning algorithm, the shore interoperability control station controls the unmanned boat to navigate, including:

[0141] Based on the given circular entry area coordinates, path navigation speed range, current position of each boat in the cluster, each boat ID, azimuth angle and radius ratio coefficient, the navigation path and time for each boat to simultaneously arrive at the corresponding position in the circular entry area from the current position are pre-planned.

[0142] Optionally, the detection module is used to:

[0143] The cluster sub-area approaching and surrounding path planning algorithm is adopted, and the shore interoperability control station controls the unmanned boat to navigate, including:

[0144] According to the given rectangular or polygonal task area coordinates, prohibited circular area coordinates and radius, each sub-area coordinates, sub-area outer expansion circling distance, circling direction, circling speed, circling number of circles, path navigation speed range, the current position of each boat in the cluster, each boat ID and safety adjustment time, the best matching scheme for each boat and sub-area is calculated, and the navigation path and time for each boat to avoid the prohibited area from the current position and reach the circling route outside the respective sub-area as soon as possible and circling are pre-planned.

[0145] Optionally, the detection module is used to:

[0146] Using a single boat orbital path planning algorithm, the shore-based interactive control station controls the unmanned boat to navigate, including:

[0147] Based on the current position information of all sub-areas, the circling information outside each boat's sub-area, the circling information inside each boat's sub-area, the circling direction, and the number of circling circles, a navigation path is pre-planned for each boat to go from the circling route outside the sub-area, through the tangent of the circling route within the sub-area, and then make a circling movement within the sub-area.

[0148] Optionally, the detection module is used to:

[0149] The cluster area is passed through and the location distribution path planning algorithm is adopted, and the shore interoperability control station controls the unmanned boat to navigate, including:

[0150] Based on the given mission area coordinates, prohibited area center coordinates and radius, path navigation speed range, current position of each boat in the cluster, each boat ID, speed, heading, must-pass point coordinates, speed range for passing the must-pass points, minimum time interval for each boat to pass through the must-pass points in turn, each endpoint information and safety adjustment time, the navigation path and time for each boat to pass through the must-pass points in turn and reach their respective endpoint areas and perform low-speed circling are pre-planned.

[0151] The embodiment of the present invention provides a control method and device for an unmanned boat system, which is applied to an unmanned boat system. The unmanned boat system includes at least an onshore interoperability control station and control stations of multiple unmanned boat cluster subsystems. The control station of the unmanned boat cluster subsystem is used to control the unmanned boat and the unmanned boat. The method includes: before the task starts, in response to the application request for control authority input by the user, the onshore interoperability control station generates an authority application data packet according to the application request for control authority, and the onshore interoperability control station sends the authority application data packet to the control station of the unmanned boat cluster subsystem, so that the control station of the unmanned boat cluster subsystem detects the authority application data packet; when the authority detection is completed, the onshore interoperability control station receives the authority result returned by the control station of the unmanned boat cluster subsystem, and the authority result includes at least an authority consent data packet and an authority rejection data packet, which can support the interoperability requirements in typical cross-domain and cross-platform mission scenarios. It can flexibly adapt to diversified combat tasks and quickly generate combat capabilities; adopt an open intelligent architecture to achieve cross-domain collaborative control capabilities; and can log in to the data processing server through the browser on the control station and establish a connection with the unmanned boat to achieve task control of the unmanned boat cluster or single platform.

[0152] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0153] Optionally, an embodiment of the present application further provides an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the various processes of the above-mentioned method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0154] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, each process of the above method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0155] Fig.10 800 is a block diagram of an electronic device 800 shown in the present application. For example, the electronic device 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0156] Reference Fig.10, the electronic device 800 may include one or more of the following components: a processing component 802 , a memory 804 , a power component 806 , a multimedia component 808 , an audio component 810 , an input / output (I / O) interface 812 , a sensor component 814 , and a communication component 816 .

[0157] The processing component 802 generally controls the overall operation of the electronic device 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above method. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0158] The memory 804 is configured to store various types of data to support operations on the device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phone book data, messages, images, videos, etc. The memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0159] The power supply component 806 provides power to the various components of the electronic device 800. The power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the electronic device 800.

[0160] The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. When the device 800 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and the rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0161] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone (MIC), and when the electronic device 800 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 804 or sent via the communication component 816. In some embodiments, the audio component 810 also includes a speaker for outputting audio signals.

[0162] I / O interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: home button, volume button, start button, and lock button.

[0163] The sensor assembly 814 includes one or more sensors for providing various aspects of status assessment for the electronic device 800. For example, the sensor assembly 814 can detect the open / closed state of the device 800, the relative positioning of components, such as the display and keypad of the electronic device 800, and the sensor assembly 814 can also detect the position change of the electronic device 800 or a component of the electronic device 800, the presence or absence of contact between the user and the electronic device 800, the orientation or acceleration / deceleration of the electronic device 800, and the temperature change of the electronic device 800. The sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 814 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0164] The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 can access a wireless network based on a communication standard, such as WiFi, a carrier network (such as 2G, 3G, 4G or 5G), or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast operation information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0165] In an exemplary embodiment, the electronic device 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above methods.

[0166] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, and the instructions can be executed by a processor 820 of an electronic device 800 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0167] Fig.11 19 is a block diagram of a computer-readable storage medium 1900 shown in the present application. For example, the computer-readable storage medium 1900 may be provided as a server.

[0168] Reference Fig.11 , the computer-readable storage medium 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource represented by a memory 1932 for storing instructions, such as an application, that can be executed by the processing component 1922. The application stored in the memory 1932 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 1922 is configured to execute instructions to perform the above method.

[0169] The computer readable storage medium 1900 may also include a power supply component 1926 configured to perform power management of the computer readable storage medium 1900, a wired or wireless network interface 1950 configured to connect the computer readable storage medium 1900 to a network, and an input / output (I / O) interface 1958. The computer readable storage medium 1900 may operate based on an operating system stored in the memory 1932, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™ or the like.

[0170] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0171] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0172] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0173] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the present application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0174] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0175] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0176] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0177] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0178] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0179] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0180] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A control method for an unmanned boat system, characterized in that: Applied to an unmanned boat system, the unmanned boat system comprises at least an onshore interoperability control station and a plurality of control stations of unmanned boat cluster subsystems, the control station of the unmanned boat cluster subsystem is used to control the drone and the unmanned boat, the method comprising: Before the task starts, in response to a control authority application request input by a user, the onshore interoperability control station generates an authority application data packet according to the control authority application request; The onshore interoperability control station sends the permission application data packet to the control station of the unmanned boat swarm subsystem, so that the control station of the unmanned boat swarm subsystem detects the permission application data packet; When the authority check is completed, the onshore interoperability control station receives the authority result returned by the control station of the unmanned boat swarm subsystem, and the authority result at least includes an authority approval data packet and an authority rejection data packet.

2. The control method of the unmanned boat system according to claim 1, characterized in that: The method further comprises: In the case where the UAV and the unmanned boat perform a task together, when the UAV finds a target, the UAV sends an unmanned boat control authority request to the onshore interoperability control station, and generates an unmanned boat authority application data packet according to the unmanned boat control authority request; Determining whether to accept the permission application based on the unmanned boat permission application data packet; If the permission application is accepted, the onshore interoperability control station sends a permission application notification to the control station of the unmanned boat swarm subsystem; When the control station of the unmanned boat swarm subsystem approves the permission application, a permission approval data packet is returned to the unmanned boat.

3. The control method of the unmanned boat system according to claim 2, characterized in that: The method further comprises: If the onshore interoperability control station does not accept the permission application, or the control station of the unmanned boat swarm subsystem does not approve the permission application, a permission denial data packet is returned to the unmanned aerial vehicle.

4. The control method of the unmanned boat system according to claim 1, characterized in that: The method further comprises: The onshore interoperability control station controls the unmanned boat to navigate by adopting the cluster area entry and position distribution path planning algorithm, specifically including: Based on the given circular entry area coordinates, path navigation speed range, current position of each boat in the cluster, each boat ID, azimuth angle and radius ratio coefficient, the navigation path and time for each boat to simultaneously arrive at the corresponding position in the circular entry area from the current position are pre-planned.

5. The control method of the unmanned boat system according to claim 1, characterized in that: The method further comprises: The cluster sub-area approaching and surrounding path planning algorithm is adopted, and the onshore interoperability control station controls the unmanned boat to navigate, specifically including: According to the given rectangular or polygonal task area coordinates, prohibited circular area coordinates and radius, each sub-area coordinates, sub-area outer expansion circling distance, circling direction, circling speed, circling number of circles, path navigation speed range, the current position of each boat in the cluster, each boat ID and safety adjustment time, the best matching scheme for each boat and sub-area is calculated, and the navigation path and time for each boat to avoid the prohibited area from the current position and reach the circling route outside the respective sub-area as soon as possible and circling are pre-planned.

6. The control method of the unmanned boat system according to claim 1, characterized in that: The method further comprises: The single boat circumnavigation path planning algorithm is adopted, and the onshore interoperability control station controls the unmanned boat to navigate, specifically including: Based on the current position information of all sub-areas, the circling information outside each boat's sub-area, the circling information inside each boat's sub-area, the circling direction, and the number of circling circles, a navigation path is pre-planned for each boat to go from the circling route outside the sub-area, through the tangent of the circling route within the sub-area, and then make a circling movement within the sub-area.

7. The control method of the unmanned boat system according to claim 1, characterized in that: The method further comprises: The onshore interoperability control station controls the unmanned boat to navigate by adopting the cluster area passing and position distribution path planning algorithm, specifically including: Based on the given mission area coordinates, prohibited area center coordinates and radius, path navigation speed range, current position of each boat in the cluster, each boat ID, speed, heading, must-pass point coordinates, speed range for passing the must-pass points, minimum time interval for each boat to pass through the must-pass points in turn, each endpoint information and safety adjustment time, the navigation path and time for each boat to pass through the must-pass points in turn and reach their respective endpoint areas and perform low-speed circling are pre-planned.

8. A control device for an unmanned boat system, characterized in that: Applied to an unmanned boat system, the unmanned boat system comprises at least an onshore interoperability control station and a plurality of control stations of unmanned boat cluster subsystems, the control station of the unmanned boat cluster subsystem is used to control the drone and the unmanned boat, and the device comprises: A sending module, used for, before the task starts, in response to a control authority application request input by a user, the onshore interoperability control station generates an authority application data packet according to the control authority application request; A detection module, used for the onshore interoperability control station to send the permission application data packet to the control station of the unmanned boat swarm subsystem, so that the control station of the unmanned boat swarm subsystem detects the permission application data packet; The receiving module is used for the onshore interoperability control station to receive the permission result returned by the control station of the unmanned boat cluster subsystem when the permission detection is completed, and the permission result at least includes a permission approval data packet and a permission rejection data packet.

9. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the method according to any one of claims 1 to 7 when executed by the processor.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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