An unmanned ship control method and system based on real-time environmental parameters

Abstract

The present invention discloses a control method and system for an unmanned ship based on real-time environmental parameters. The method includes: obtaining the real-time oar parameters and real-time environmental parameters of the target unmanned ship; inputting the real-time oar parameters and real-time environmental parameters of the target unmanned ship into a ship power regulation model, so that the ship power regulation model generates a real-time environmental parameter vector matrix according to the real-time environmental parameters, generates a weight vector matrix of the real-time power of the target unmanned ship according to the real-time oar parameters, adjusts the weight vector matrix of the real-time power of the target unmanned ship with the real-time environmental parameter vector matrix to obtain an adjusted vector matrix of the power of the target unmanned ship, and outputs the corrected power values of each oar of the target unmanned ship according to the adjusted vector matrix of the power of the target unmanned ship; regulating the power of each oar of the unmanned ship with the corrected power values of each oar of the target unmanned ship. By implementing the present invention, the unmanned ship can flexibly respond to the changing marine environment, and the practicability and application range of the unmanned ship are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned ship control, and particularly to a method and system for controlling an unmanned ship based on real-time environmental parameters. Background Art

[0002] The control of an unmanned ship in a complex marine environment needs to consider various factors, such as ship dynamics limitations, ship kinematics limitations, channel navigation conditions, and meteorological and sea conditions. When an unmanned ship sails at sea, its heading and oar power are mainly affected by natural environmental parameters such as wind, waves, and ocean currents. For example, when an unmanned ship is sailing, strong winds will affect the sailing speed and heading of the unmanned ship, resulting in drifting and deflection of the unmanned ship. From the above example, it can be seen that real-time control of an unmanned ship according to environmental parameters is of great significance to the development of unmanned ship navigation technology.

[0003] Existing unmanned ship control mainly plans the control logic of the unmanned ship during navigation before sailing based on the weather conditions predicted by meteorology. However, there are significant mutations in the marine environment during the actual process. This single control logic of existing unmanned ships cannot adapt to the mutations of the marine environment and cannot adjust the unmanned ship in real time according to the changing environmental parameters. Summary of the Invention

[0004] An embodiment of the present invention provides a method and system for controlling an unmanned ship based on real-time environmental parameters, which can enable the unmanned ship to adjust the power values of each oar according to real-time data, flexibly respond to the changing marine environment, and improve the practicability and application range of the unmanned ship.

[0005] An embodiment of the present invention provides a method for controlling an unmanned ship based on real-time environmental parameters, including:

[0006] Obtaining real-time oar parameters and real-time environmental parameters of a target unmanned ship; wherein, the target unmanned ship is a multi-oar unmanned ship, and the oar parameters include: the number of operating oars, the real-time power value of each oar, the power upper limit of each oar, and the power constraint relationship between each oar; the real-time environmental parameters include: wind volume, wind direction, wave height, and ocean current intensity;

[0007] Inputting the real-time oar parameters and real-time environmental parameters of the target unmanned ship into a ship power regulation model, so that the ship power regulation model generates a real-time environmental parameter vector matrix according to the real-time environmental parameters, generates a weight vector matrix of the real-time power of the target unmanned ship according to the real-time oar parameters, adjusts the weight vector matrix of the real-time power of the target unmanned ship with the real-time environmental parameter vector matrix to obtain an adjusted vector matrix of the power of the target unmanned ship, and outputs the corrected power value of each oar of the target unmanned ship according to the adjusted vector matrix of the power of the target unmanned ship;

[0008] Adjust the power of each oar of the target unmanned ship according to the corrected power value of each oar.

[0009] Further, the construction of the ship power regulation model includes:

[0010] Obtain a number of environmental parameter samples and a number of oar parameter samples;

[0011] Combine each environmental parameter sample and each oar parameter sample in pairs to obtain a number of data to be simulated;

[0012] Perform simulation based on each data to be simulated to obtain the corrected power value of each oar under the simulation corresponding to each data to be simulated;

[0013] Generate a number of training samples according to each data to be simulated and the corrected power value of each oar under the simulation corresponding to each data to be simulated;

[0014] Construct an initial ship power regulation model, use the data to be simulated as the input, and use the corrected power value of each oar under the simulation corresponding to the data to be simulated as the output, and perform iterative training on the initial ship power regulation model until the initial ship power regulation model reaches the preset convergence condition, then generate the ship power regulation model.

[0015] Further, the generation of the weight vector matrix of the real-time power of the target unmanned ship according to the real-time oar parameters includes:

[0016] Construct an initial weight vector matrix of the real-time power of the target unmanned ship according to the number of operating oars, the real-time power value of each oar, and the power upper limit of each oar;

[0017] For each oar of the target unmanned ship, select the three oars with the strongest power constraint relationship with the current oar according to the power constraint relationship between the oars;

[0018] Generate a constraint triangular body of the current oar power according to the eigenvector of the real-time power value of the current oar and the eigenvectors of the real-time power values of the three selected oars;

[0019] Adjust the initial weights of the initial weight vector matrix according to the constraint triangular bodies of each oar power to obtain the weight vector matrix of the real-time power of the target unmanned ship.

[0020] Further, the generation of the real-time environmental parameter vector matrix according to the real-time environmental parameters includes:

[0021] Generate a wind volume vector, a wind direction vector, a wave height vector, and an ocean current intensity vector according to the wind volume, wind direction, wave height, and ocean current intensity respectively;

[0022] Fuse the wind volume vector and the wind direction vector to obtain a wind factor influence vector;

[0023] Generate a real-time environmental parameter vector matrix based on the wave height vector, ocean current intensity vector, and wind factor influence vector.

[0024] Furthermore, adjusting the weight vector matrix of the real-time power of the target unmanned ship with the real-time environmental parameter vector matrix to obtain an adjusted vector matrix of the power of the target unmanned ship includes:

[0025] Adjust the weight vector matrix of the real-time power of the target unmanned ship with the wind factor influence vector, wave height vector, and ocean current intensity vector respectively to obtain a first adjustment result, a second adjustment result, and a third adjustment result;

[0026] Adjust the weight vector matrix of the real-time power of the target unmanned ship with the wind factor influence vector, wave height vector, and ocean current intensity vector to obtain a fourth adjustment result;

[0027] Establish a space rectangular coordinate system based on the real-time environmental parameter vector matrix, and use the wind factor influence vector, wave height vector, and ocean current intensity vector as the horizontal axis, vertical axis, and vertical axis respectively;

[0028] Project the first adjustment result, the second adjustment result, and the third adjustment result onto the first coordinate plane formed by the vertical axis and the vertical axis, the second coordinate plane formed by the horizontal axis and the vertical axis, and the third coordinate plane formed by the horizontal axis and the vertical axis respectively to obtain the first projection of the weight vector matrix of the real-time power of the target unmanned ship on the first coordinate plane, the second projection on the second coordinate plane, and the third projection on the third coordinate plane;

[0029] Superimpose the first projection, the second projection, and the third projection to obtain a superimposed projection, and convert the superimposed projection into a superimposed projection vector, and adjust the fourth adjustment result with the superimposed projection vector to obtain an adjusted vector matrix of the power of the target unmanned ship.

[0030] Furthermore, outputting the corrected power values of each oar of the target unmanned ship according to the adjusted vector matrix of the power of the target unmanned ship includes:

[0031] Determine the initial corrected power values of each oar of the target unmanned ship according to the adjusted vector matrix of the power of the target unmanned ship;

[0032] For each oar of the target unmanned ship, select the three oars with the strongest power constraint relationship with the current oar according to the power constraint relationship between the oars;

[0033] Generate a constraint triangular body for the corrected power value of the current oar according to the eigenvector of the initial corrected power value corresponding to the current oar and the eigenvectors of the initial corrected power values corresponding to the three selected oars;

[0034] Compare the constraint triangle of the current oar's corrected power value with the constraint triangle of the current oar's power;

[0035] If any angle deviation between the constraint triangle of the current oar's corrected power value and the constraint triangle of the current oar's power is greater than a preset threshold, adjust the initial corrected power value of the oar corresponding to the angle greater than the preset threshold and regenerate the constraint triangle of the current oar's corrected power value until each angle deviation between the constraint triangle of the current oar's corrected power value and the constraint triangle of the current oar's power is not greater than the preset threshold, and use the initial corrected power value of the oar corresponding to the current oar as the corrected power value of the current oar;

[0036] If each angle deviation between the constraint triangle of the current oar's corrected power value and the constraint triangle of the current oar's power is not greater than the preset threshold; use the initial corrected power value of the oar corresponding to the current oar as the corrected power value of the current oar.

[0037] Further, the comparison of the constraint triangle of the current oar's corrected power value with the constraint triangle of the current oar's power includes:

[0038] Obtain the first centroid of the constraint triangle of the current oar's corrected power value and the second centroid of the constraint triangle of the current oar's power, and align the constraint triangle of the current oar's corrected power value with the constraint triangle of the current oar's power based on the first centroid and the second centroid;

[0039] Taking the first centroid as a fixed point, adjust the constraint triangle of the current oar's corrected power value by scaling and alignment, so that the adjusted constraint triangle of the current oar's corrected power value is completely wrapped by the constraint triangle of the current oar's power;

[0040] Compare the angles of the adjusted constraint triangle of the current oar's corrected power value with the constraint triangle of the current oar's power.

[0041] Based on the above method item embodiments, the present invention correspondingly provides system item embodiments;

[0042] An embodiment of the present invention correspondingly provides an unmanned ship control system based on real-time environmental parameters, including: a parameter acquisition module, a power value output module, and a regulation module;

[0043] The parameter acquisition module is used to acquire the real-time oar parameters and real-time environmental parameters of the target unmanned ship; wherein, the target unmanned ship is a multi-oar unmanned ship, and the oar parameters include: the number of operating oars, the real-time power value of each oar, the power upper limit of each oar, and the power constraint relationship between each oar; the real-time environmental parameters include: wind volume, wind direction, wave height, and ocean current intensity;

[0044] The power value output module is configured to input the real-time oar parameters and real-time environmental parameters of the target unmanned ship into the ship power regulation model, so that the ship power regulation model generates a real-time environmental parameter vector matrix according to the real-time environmental parameters, generates a weight vector matrix of the real-time power of the target unmanned ship according to the real-time oar parameters, adjusts the weight vector matrix of the real-time power of the target unmanned ship with the real-time environmental parameter vector matrix to obtain an adjusted vector matrix of the power of the target unmanned ship, and outputs the corrected power values of each oar of the target unmanned ship according to the adjusted vector matrix of the power of the target unmanned ship;

[0045] The regulation module is configured to regulate the power of each oar of the unmanned ship with the corrected power values of each oar of the target unmanned ship.

[0046] Another embodiment of the present invention provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the method for controlling an unmanned ship based on real-time environmental parameters described in the above-mentioned embodiment of the present invention.

[0047] Another embodiment of the present invention provides a storage medium, which includes a stored computer program. When the computer program runs, it controls the device where the storage medium is located to execute the method for controlling an unmanned ship based on real-time environmental parameters described in the above-mentioned embodiment of the present invention.

[0048] By implementing the present invention, the following beneficial effects are achieved:

[0049] The present invention provides a method and system for controlling an unmanned ship based on real-time environmental parameters. The method for controlling the unmanned ship obtains the real-time oar parameters and real-time environmental parameters of the target unmanned ship, and then inputs the real-time oar parameters and real-time environmental parameters of the target unmanned ship into the ship power regulation model, so that the ship power regulation model outputs the corrected power values of each oar of the target unmanned ship according to the real-time environmental parameters and real-time oar parameters. After obtaining the corrected power values of each oar of the target unmanned ship by combining the real-time oar parameters with the real-time environmental parameters, the power of each oar of the unmanned ship is regulated with the corrected power values of each oar of the target unmanned ship, so that the unmanned ship can adjust the power values of each oar according to real-time data, flexibly respond to the changing marine environment, and improve the practicability and application range of the unmanned ship. Description of the Drawings

[0050] Figure 1 is a schematic flow chart of a method for controlling an unmanned ship based on real-time environmental parameters provided by an embodiment of the present invention.

[0051] Figure 2 is a schematic structural diagram of a system for controlling an unmanned ship based on real-time environmental parameters provided by an embodiment of the present invention. Detailed implementation manners

[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts belong to the scope of protection of the present invention.

[0053] To make the objectives, technical solutions, and advantages of this application clearer, the following will clearly and completely describe the technical solutions in this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts belong to the scope of protection of this application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above accompanying drawing descriptions are intended to cover non-exclusive inclusion. In the description of the embodiments of this application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order, or primary-secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "a plurality" is two or more, unless otherwise clearly and specifically defined. In this context, referring to "an embodiment" means that a specific feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of this application. The phrase does not necessarily refer to the same embodiment at every occurrence in the specification, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments. In the description of the embodiments of this application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after. In the description of the embodiments of this application, the term "a plurality" refers to two or more (including two). Similarly, "a plurality of groups" refers to two or more groups (including two groups), and "a plurality of pieces" refers to two or more pieces (including two pieces). In the description of the embodiments of this application, unless otherwise clearly specified and limited, technical terms such as "install", "connect", "couple", "fix", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can also be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of this application can be understood according to specific circumstances.

[0054] As Figure 1 shown, a method for controlling an unmanned ship based on real-time environmental parameters provided by an embodiment of the present invention includes:

[0055] Step S1: Obtain the real-time paddle parameters and real-time environmental parameters of the target unmanned ship; wherein, the target unmanned ship is a multi-paddle unmanned ship, and the paddle parameters include: the number of operating paddles, the real-time power value of each paddle, the power upper limit of each paddle, and the power constraint relationship between each paddle; the real-time environmental parameters include: wind volume, wind direction, wave height, and ocean current intensity;

[0056] Step S2: Input the real-time paddle parameters and real-time environmental parameters of the target unmanned ship into the ship power regulation model, so that the ship power regulation model generates a real-time environmental parameter vector matrix according to the real-time environmental parameters, generates a weight vector matrix of the real-time power of the target unmanned ship according to the real-time paddle parameters, adjusts the weight vector matrix of the real-time power of the target unmanned ship with the real-time environmental parameter vector matrix to obtain an adjusted vector matrix of the power of the target unmanned ship, and outputs the corrected power value of each paddle of the target unmanned ship according to the adjusted vector matrix of the power of the target unmanned ship;

[0057] Step S3: Regulate the power of each paddle of the unmanned ship with the corrected power value of each paddle of the target unmanned ship.

[0058] For step S1, obtain the real-time paddle parameters and real-time environmental parameters of the target unmanned ship. The real-time paddle parameters include the number of paddles during the operation of the target unmanned ship, the real-time power value of each paddle, the power upper limit of each paddle, and the power constraint relationship between each paddle. Among them, the power upper limit of each paddle is used to limit the maximum value of the power value of each paddle, and the power lower limit of each paddle takes the value of 0 in the present invention. The power constraint relationship between each paddle means that the power values of each paddle in the target unmanned ship need to satisfy the mutual constraint relationship, so that the overall power or driving direction of the target unmanned ship is coordinated. The real-time environmental parameters include: wind volume, wind direction, wave height, and ocean current intensity. In addition, in the present invention, the environment mainly refers to the marine environment.

[0059] For step S2, input the real-time paddle parameters and real-time environmental parameters of the target unmanned ship into the ship power regulation model. After receiving the real-time paddle parameters and real-time environmental parameters, the ship power regulation model first normalizes the real-time propagation parameters and real-time environmental parameters. After completing the normalization process, a real-time environmental parameter vector matrix is generated according to the real-time environmental parameters.

[0060] In a preferred embodiment, the generating the real-time environmental parameter vector matrix according to the real-time environmental parameters includes: generating a wind volume vector, a wind direction vector, a wave height vector, and an ocean current intensity vector according to the wind volume, wind direction, wave height, and ocean current intensity respectively; fusing the wind volume vector and the wind direction vector to obtain a wind factor influence vector; generating a real-time environmental parameter vector matrix according to the wave height vector, the ocean current intensity vector, and the wind factor influence vector.

[0061] Specifically, a wind volume vector is generated according to the wind volume, a wind direction vector is generated according to the wind direction, a wave height vector is generated according to the wave height, and an ocean current intensity vector is generated according to the ocean current intensity. Since both the wind volume vector and the wind direction vector are influence vectors generated by wind factors, the wind volume vector and the wind direction vector can be fused. After fusion, a wind factor influence vector is obtained to reduce the subsequent calculation complexity. A real-time environmental parameter vector matrix is generated according to the wave height vector, the ocean current intensity vector, and the wind factor influence vector.

[0062] Furthermore, a weight vector matrix of the real-time power of the target unmanned ship is generated according to the real-time oar parameters.

[0063] In a preferred embodiment, the generating a weight vector matrix of the real-time power of the target unmanned ship according to the real-time oar parameters includes: constructing an initial weight vector matrix of the real-time power of the target unmanned ship according to the number of operating oars, the real-time power values of each oar, and the power upper limit of each oar; for each oar of the target unmanned ship, according to the power constraint relationship between the oars, select the three oars with the strongest power constraint relationship with the current oar; generate a constraint triangular body of the current oar power according to the eigenvector of the real-time power value of the current oar and the eigenvectors of the real-time power values of the three selected oars; adjust the initial weights of the initial weight vector matrix according to the constraint triangular bodies of the powers of each oar to obtain the weight vector matrix of the real-time power of the target unmanned ship.

[0064] Specifically, after determining the number of operating oars, the real-time power values of each oar and the power upper limit of each oar are transformed into vector representations to obtain the real-time power value vector of each oar and the power upper limit vector of each oar, and then an initial weight vector matrix of the real-time power of the target unmanned ship is constructed through the real-time power value vector of each oar and the power upper limit vector of each oar. Further, the power constraint relationship between the oars is obtained. It should be noted that if all the oars of the target unmanned ship are exactly the same oars, the power constraint relationship between the oars can be determined only based on the shortest distance between the oars, and the shorter the straight-line distance, the stronger the constraint relationship. If the oars of the target unmanned ship are not all exactly the same, in addition to considering the straight-line distance, factors such as the importance between the oars, the main power oars, the secondary power oars, and the spare oars need to be comprehensively considered.

[0065] Next, it is necessary to construct a constraint triangular body for the power of each oar based on the power constraint relationship between the oars. Specifically, for each oar, select the three oars with the strongest power constraint relationship with the current oar from the power constraint relationships between the oars. Obtain the real-time power value of the current oar and the real-time power values of the three selected oars. Convert the real-time power value of the current oar into a feature vector representation, and convert the real-time power values of the three selected oars into feature vector representations. After the conversion, four feature vectors are obtained. By translating these four feature vectors, the four feature vectors intersect without changing their own vector characteristics, and a constraint triangular body for the power of the current oar is constructed. The generated constraint triangular body for the power of the current oar can be used as a constraint when adjusting the power value of the current oar. After completing the construction of the constraint triangular bodies for the powers of the oars, adjust the initial weights of the initial weight vector matrix according to the constraint triangular bodies for the powers of the oars. For each constraint triangular body for the power of the oar, adjust the weights of the feature vectors of the real-time power values of the oars associated with the constraint triangular body for the power of the current oar according to the ratio between the feature vectors of the constraint triangular body for the power of the oar. When the feature vectors of the real-time power value of the same oar are affected by multiple weights, after fusing the influencing weights, adjust them in combination with the overall weights of the weight vector matrix, and finally obtain the weight vector matrix for the real-time power of the target unmanned ship.

[0066] Furthermore, adjust the weight vector matrix for the real-time power of the target unmanned ship with the real-time environmental parameter vector matrix to obtain an adjusted vector matrix for the power of the target unmanned ship.

[0067] In a preferred embodiment, the adjusting the weight vector matrix for the real-time power of the target unmanned ship with the real-time environmental parameter vector matrix to obtain an adjusted vector matrix for the power of the target unmanned ship includes: respectively adjusting the weight vector matrix for the real-time power of the target unmanned ship with the wind factor influence vector, the wave height vector, and the ocean current intensity vector to obtain a first adjustment result, a second adjustment result, and a third adjustment result; adjusting the weight vector matrix for the real-time power of the target unmanned ship with the wind factor influence vector, the wave height vector, and the ocean current intensity vector to obtain a fourth adjustment result;

[0068] A spatial rectangular coordinate system is established based on the real-time environmental parameter vector matrix, with the wind factor influence vector, the wave height vector, and the ocean current intensity vector serving as the horizontal axis, the vertical axis, and the vertical axis respectively. The first adjustment result, the second adjustment result, and the third adjustment result are respectively projected onto the first coordinate plane formed by the vertical axis and the vertical axis, the second coordinate plane formed by the horizontal axis and the vertical axis, and the third coordinate plane formed by the horizontal axis and the vertical axis, to obtain the first projection of the weight vector matrix of the real-time power of the target unmanned ship on the first coordinate plane, the second projection on the second coordinate plane, and the third projection on the third coordinate plane. The first projection, the second projection, and the third projection are superimposed to obtain a superimposed projection, and the superimposed projection is converted into a superimposed projection vector. The fourth adjustment result is adjusted with the superimposed projection vector to obtain the adjusted vector matrix of the power of the target unmanned ship.

[0069] Specifically, the weight vector matrix of the real-time power of the target unmanned ship is adjusted by a single factor in the real-time environmental parameters, that is, the weight vector matrix of the real-time power of the target unmanned ship is adjusted by the wind factor influence vector, the wave height vector, and the ocean current intensity vector to obtain the first adjustment result, the second adjustment result, and the third adjustment result. In addition, the weight vector matrix of the real-time power of the target unmanned ship is adjusted by all factors in the real-time environmental parameters, that is, the weight vector matrix of the real-time power of the target unmanned ship is adjusted by the wind factor influence vector, the wave height vector, and the ocean current intensity vector to obtain the fourth adjustment result. A spatial rectangular coordinate system is established based on the real-time environmental parameter vector matrix, with the wind factor influence vector, the wave height vector, and the ocean current intensity vector serving as the horizontal axis, the vertical axis, and the vertical axis respectively. After the construction of the spatial rectangular coordinate system is completed, the first adjustment result, the second adjustment result, and the third adjustment result are projected onto the first coordinate plane formed by the vertical axis and the vertical axis, the second coordinate plane formed by the horizontal axis and the vertical axis, and the third coordinate plane formed by the horizontal axis and the vertical axis, to obtain the first projection of the weight vector matrix of the real-time power of the target unmanned ship on the first coordinate plane, the second projection on the second coordinate plane, and the third projection on the third coordinate plane. The first projection, the second projection, and the third projection are superimposed to obtain a superimposed projection, and the superimposed projection is converted into a superimposed projection vector, that is, the superimposed projection vector obtained by processing according to a single factor and then summarizing is obtained. Then, by comparing the superimposed projection vector and the fourth adjustment result, the fourth adjustment result is adjusted with the superimposed projection vector according to the comparison difference.

[0070] Furthermore, the corrected power values of each oar of the target unmanned ship are output according to the adjusted vector matrix of the power of the target unmanned ship.

[0071] In a preferred embodiment, outputting the corrected power values of the oars of the target unmanned ship according to the vector matrix of the adjusted power of the target unmanned ship includes: determining the initial corrected power values of the oars of the target unmanned ship according to the vector matrix of the adjusted power of the target unmanned ship; for each oar of the target unmanned ship, selecting the three oars with the strongest power constraint relationship with the current oar according to the power constraint relationship among the oars; generating a constraint triangular body of the corrected power value of the current oar according to the eigenvector of the initial corrected power value corresponding to the current oar and the eigenvectors of the initial corrected power values corresponding to the selected three oars; comparing the constraint triangular body of the corrected power value of the current oar with the constraint triangular body of the power of the current oar;

[0072] If any angle deviation between the constraint triangular body of the corrected power value of the current oar and the constraint triangular body of the power of the current oar is greater than a preset threshold, adjust the initial corrected power value of the oar corresponding to the angle greater than the preset threshold and regenerate the constraint triangular body of the corrected power value of the current oar until all angle deviations between the constraint triangular body of the corrected power value of the current oar and the constraint triangular body of the power of the current oar are not greater than the preset threshold, and use the initial corrected power value corresponding to the current oar as the corrected power value of the current oar;

[0073] If all angle deviations between the constraint triangular body of the corrected power value of the current oar and the constraint triangular body of the power of the current oar are not greater than the preset threshold; use the initial corrected power value corresponding to the current oar as the corrected power value of the current oar.

[0074] In a preferred embodiment, comparing the constraint triangular body of the corrected power value of the current oar with the constraint triangular body of the power of the current oar includes: obtaining the first centroid of the constraint triangular body of the corrected power value of the current oar and the second centroid of the constraint triangular body of the power of the current oar, and aligning the constraint triangular body of the corrected power value of the current oar with the constraint triangular body of the power of the current oar based on the first centroid and the second centroid; taking the first centroid as a fixed point, adjusting the constraint triangular body of the corrected power value of the current oar by scaling and alignment methods so that the adjusted constraint triangular body of the corrected power value of the current oar is completely wrapped by the constraint triangular body of the power of the current oar; comparing the angles of the adjusted constraint triangular body of the corrected power value of the current oar with the constraint triangular body of the power of the current oar.

[0075] Specifically, when comparing the constraint triangle of the current oar correction power value with the constraint triangle of the current oar power, first align the first centroid of the constraint triangle of the current oar correction power value with the second centroid of the constraint triangle of the current oar power, and align any vertex or edge belonging to the same oar in the two constraint triangles. Taking the first centroid as a fixed point, adjust the constraint triangle of the current oar correction power value by scaling so that the adjusted constraint triangle of the current oar correction power value is completely wrapped by the constraint triangle of the current oar power, and compare the included angles between the adjusted constraint triangle of the current oar correction power value and the constraint triangle of the current oar power.

[0076] In a preferred embodiment, the construction of the ship power regulation model includes: obtaining a number of environmental parameter samples and a number of oar parameter samples; combining each environmental parameter sample and each oar parameter sample in pairs to obtain a number of data to be simulated; performing simulation based on each data to be simulated to obtain the corrected power values of each oar under the simulation corresponding to each data to be simulated; generating a number of training samples according to each data to be simulated and the corrected power values of each oar under the simulation corresponding to each data to be simulated; constructing an initial ship power regulation model, using the data to be simulated as input and the corrected power values of each oar under the simulation corresponding to each data to be simulated as output, and performing iterative training on the initial ship power regulation model until the initial ship power regulation model reaches a preset convergence condition, and generating the ship power regulation model.

[0077] Specifically, since it is difficult to directly obtain the marine environment, the training data is mainly obtained in the form of simulation during construction. First, obtain a number of environmental parameter samples and a number of oar parameter samples, then combine each environmental parameter sample and each oar parameter sample in pairs to obtain a number of data to be simulated, and each data to be simulated represents a combination of an environmental parameter sample and an oar parameter sample. Perform simulation on each combination on the simulation system to obtain the corrected power values of each oar under the simulation corresponding to each data to be simulated. Generate a number of training samples according to each data to be simulated and the corrected power values of each oar under the simulation corresponding to each data to be simulated, and each training sample is labeled with the corrected power values of each oar under the simulation corresponding to each data to be simulated. Furthermore, construct a neural network model as the initial ship power regulation model, using the data to be simulated as input and the corrected power values of each oar under the simulation corresponding to each data to be simulated as output, and perform iterative training on the initial ship power regulation model until the initial ship power regulation model converges or reaches the maximum number of iterations, and generate the ship power regulation model.

[0078] For step S3, the power of each oar of the target unmanned ship is regulated with the corrected power value of each oar of the unmanned ship, so that each oar of the target unmanned ship outputs a power value equal to the corrected power value of each oar.

[0079] Based on the above method embodiment, the present invention correspondingly provides a system embodiment.

[0080] As Figure 2 shown, an embodiment of the present invention provides an unmanned ship control system based on real-time environmental parameters, including: a parameter acquisition module, a power value output module, and a regulation module;

[0081] The parameter acquisition module is used to acquire the real-time oar parameters and real-time environmental parameters of the target unmanned ship; wherein, the target unmanned ship is a multi-oar unmanned ship, and the oar parameters include: the number of operating oars, the real-time power value of each oar, the power upper limit of each oar, and the power constraint relationship between each oar; the real-time environmental parameters include: wind volume, wind direction, wave height, and ocean current intensity;

[0082] The power value output module is used to input the real-time oar parameters and real-time environmental parameters of the target unmanned ship into the ship power regulation model, so that the ship power regulation model generates a real-time environmental parameter vector matrix according to the real-time environmental parameters, generates a weight vector matrix of the real-time power of the target unmanned ship according to the real-time oar parameters, adjusts the weight vector matrix of the real-time power of the target unmanned ship with the real-time environmental parameter vector matrix, obtains an adjusted vector matrix of the power of the target unmanned ship, and outputs the corrected power value of each oar of the target unmanned ship according to the adjusted vector matrix of the power of the target unmanned ship;

[0083] The regulation module is used to regulate the power of each oar of the unmanned ship with the corrected power value of each oar of the target unmanned ship.

[0084] It should be noted that the system embodiments described above are merely illustrative. 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 to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the accompanying drawings of the system embodiment provided by the present invention, the connection relationship between the modules indicates that they have a communication connection, which can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art can understand and implement without creative work.

[0085] Those skilled in the art can clearly understand that for the convenience and conciseness, the specific working process of the system described above can refer to the corresponding process in the foregoing method embodiment, and will not be described herein again.

[0086] Based on the above method item embodiments, the present invention correspondingly provides terminal device item embodiments.

[0087] An embodiment of the present invention provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements a method for controlling an unmanned ship based on real-time environmental parameters described in any one of the present invention.

[0088] The terminal device can be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal device may include, but is not limited to, a processor and a memory.

[0089] The so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor is the control center of the terminal device, connecting various parts of the entire terminal device through various interfaces and lines.

[0090] The memory can be used to store the computer program. The processor realizes various functions of the terminal device by running or executing the computer program stored in the memory and calling the data stored in the memory. The memory may mainly include a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function, etc.; the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0091] Based on the above method item embodiments, the present invention correspondingly provides storage medium item embodiments.

[0092] An embodiment of the present invention provides a storage medium, which includes a stored computer program. When the computer program runs, it controls the device where the storage medium is located to execute any one of the methods for controlling an unmanned ship based on real-time environmental parameters in the present invention.

[0093] The storage medium is a computer-readable storage medium, and the computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of the above-mentioned various method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0094] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A method for controlling an unmanned ship based on real-time environmental parameters, characterized in that: include: Acquire the real-time propeller parameters and real-time environmental parameters of the target unmanned ship; wherein the target unmanned ship is a multi-propeller unmanned ship, and the propeller parameters include: the number of operating propellers, the real-time power value of each propeller, the upper limit of the power of each propeller, and the power constraint relationship between each propeller; the real-time environmental parameters include: wind volume, wind direction, wave height, and ocean current intensity; The real-time propeller parameters and real-time environmental parameters of the target unmanned ship are input into the ship power control model, so that the ship power control model generates a real-time environmental parameter vector matrix according to the real-time environmental parameters, generates a weight vector matrix of the real-time power of the target unmanned ship according to the real-time propeller parameters, adjusts the weight vector matrix of the real-time power of the target unmanned ship with the real-time environmental parameter vector matrix, obtains an adjusted vector matrix of the power of the target unmanned ship, and outputs a corrected power value of each propeller of the target unmanned ship according to the adjusted vector matrix of the power of the target unmanned ship; The power of each propeller of the target unmanned ship is regulated by the corrected power value of each propeller of the target unmanned ship; The step of generating a real-time environmental parameter vector matrix according to the real-time environmental parameters includes: generating a wind volume vector, a wind direction vector, a wave height vector and an ocean current intensity vector according to wind volume, wind direction, wave height and ocean current intensity respectively; fusing the wind volume vector and the wind direction vector to obtain a wind factor influence vector; generating a real-time environmental parameter vector matrix according to the wave height vector, the ocean current intensity vector and the wind factor influence vector; The method of generating a weight vector matrix of the real-time power of the target unmanned ship according to the real-time propeller parameters includes: constructing an initial weight vector matrix of the real-time power of the target unmanned ship according to the number of operating propellers, the real-time power value of each propeller and the upper limit of the power of each propeller; for each propeller of the target unmanned ship, selecting three propellers with the strongest power constraint relationship with the current propeller according to the power constraint relationship between the propellers; generating a constraint triangle of the current propeller power according to the characteristic vector of the real-time power value of the propeller corresponding to the current propeller and the characteristic vectors of the real-time power values ​​of the propellers corresponding to the selected three propellers; adjusting the initial weights of the initial weight vector matrix according to the constraint triangles of the power of each propeller to obtain the weight vector matrix of the real-time power of the target unmanned ship; The method adjusts the weight vector matrix of the real-time power of the target unmanned ship with the real-time environmental parameter vector matrix to obtain the adjusted vector matrix of the target unmanned ship power, including: adjusting the weight vector matrix of the real-time power of the target unmanned ship with the wind factor influence vector, the wave height vector and the ocean current intensity vector respectively to obtain the first adjustment result, the second adjustment result and the third adjustment result; adjusting the weight vector matrix of the real-time power of the target unmanned ship with the wind factor influence vector, the wave height vector and the ocean current intensity vector to obtain the fourth adjustment result; establishing a spatial rectangular coordinate system based on the real-time environmental parameter vector matrix, with the wind factor influence vector, the wave height vector and the ocean current intensity vector as the horizontal axis, The first adjustment result, the second adjustment result and the third adjustment result are projected on a first coordinate plane formed by the longitudinal axis and the vertical axis, on a second coordinate plane formed by the transverse axis and the vertical axis, and on a third coordinate plane formed by the transverse axis and the longitudinal axis, respectively, to obtain a first projection of the weight vector matrix of the real-time power of the target unmanned ship on the first coordinate plane, a second projection on the second coordinate plane, and a third projection on the third coordinate plane; the first projection, the second projection and the third projection are superimposed to obtain a superimposed projection, and the superimposed projection is converted into a superimposed projection vector, and the fourth adjustment result is adjusted with the superimposed projection vector to obtain an adjusted vector matrix of the power of the target unmanned ship; The construction of the ship power control model includes: obtaining a number of environmental parameter samples and a number of propeller parameter samples; combining each environmental parameter sample and each propeller parameter sample in pairs to obtain a number of data to be simulated; performing simulation based on each data to be simulated to obtain the corrected power value of each propeller under the simulation corresponding to each data to be simulated; generating a number of training samples according to each data to be simulated and the corrected power value of each propeller under the simulation corresponding to each data to be simulated; constructing an initial ship power control model, taking the data to be simulated as input and the corrected power value of each propeller under the simulation corresponding to the data to be simulated as output, iteratively training the initial ship power control model until the initial ship power control model reaches a preset convergence condition, and then generating the ship power control model.

2. The unmanned ship control method based on real-time environmental parameters as claimed in claim 1, characterized in that: Outputting the corrected power value of each propeller of the target unmanned ship according to the adjusted vector matrix of the target unmanned ship power includes: Determine the initial corrected power value of each propeller of the target unmanned ship according to the adjusted vector matrix of the power of the target unmanned ship; For each propeller of the target unmanned ship, three propellers with the strongest power constraint relationship with the current propeller are selected according to the power constraint relationship between the propellers; Generate a constraint triangle of the current oar correction power value according to the characteristic vector of the initial correction power value of the oar corresponding to the current oar and the characteristic vectors of the initial correction power values ​​of the oar corresponding to the three selected oars; Compare the constraint triangle of the current propeller correction power value with the constraint triangle of the current propeller power; If the deviation of any angle between the constraint triangle of the current paddle correction power value and the constraint triangle of the current paddle power is greater than a preset threshold, adjust the initial correction power value of the paddle corresponding to the angle greater than the preset threshold and regenerate the constraint triangle of the current paddle correction power value, until the deviations of each angle between the constraint triangle of the current paddle correction power value and the constraint triangle of the current paddle power are no greater than the preset threshold, and use the initial correction power value of the paddle corresponding to the current paddle as the correction power value of the current paddle; If the angle deviations between the constraint triangle of the current paddle correction power value and the constraint triangle of the current paddle power are not greater than the preset threshold; the initial paddle correction power value corresponding to the current paddle is used as the correction power value of the current paddle.

3. The unmanned ship control method based on real-time environmental parameters as claimed in claim 2, characterized in that: The comparing the constraint triangle of the current propeller correction power value with the constraint triangle of the current propeller power includes: Obtaining a first centroid of a constraint triangle of a current paddle correction power value and a second centroid of a constraint triangle of the current paddle power, and aligning the constraint triangle of the current paddle correction power value with the constraint triangle of the current paddle power based on the first centroid and the second centroid; Taking the first centroid as the fixed point, the constraint triangle of the current paddle correction power value is adjusted by scaling and aligning, so that the constraint triangle of the adjusted current paddle correction power value is completely wrapped by the constraint triangle of the current paddle power; The constraint triangle of the adjusted current propeller correction power value is compared with the angles of the constraint triangle of the current propeller power.

4. An unmanned ship control system based on real-time environmental parameters, characterized in that: include: Parameter acquisition module, power value output module and control module; The parameter acquisition module is used to acquire the real-time propeller parameters and real-time environmental parameters of the target unmanned ship; wherein the target unmanned ship is a multi-propeller unmanned ship, and the propeller parameters include: the number of operating propellers, the real-time power value of each propeller, the power upper limit of each propeller, and the power constraint relationship between each propeller; the real-time environmental parameters include: wind volume, wind direction, wave height, and ocean current intensity; The power value output module is used to input the real-time propeller parameters and real-time environmental parameters of the target unmanned ship into the ship power control model, so that the ship power control model generates a real-time environmental parameter vector matrix according to the real-time environmental parameters, generates a weight vector matrix of the real-time power of the target unmanned ship according to the real-time propeller parameters, adjusts the weight vector matrix of the real-time power of the target unmanned ship with the real-time environmental parameter vector matrix, obtains the adjusted vector matrix of the power of the target unmanned ship, and outputs the corrected power value of each propeller of the target unmanned ship according to the adjusted vector matrix of the power of the target unmanned ship; The step of generating a real-time environmental parameter vector matrix according to the real-time environmental parameters includes: generating a wind volume vector, a wind direction vector, a wave height vector and an ocean current intensity vector according to wind volume, wind direction, wave height and ocean current intensity respectively; fusing the wind volume vector and the wind direction vector to obtain a wind factor influence vector; generating a real-time environmental parameter vector matrix according to the wave height vector, the ocean current intensity vector and the wind factor influence vector; The method of generating a weight vector matrix of the real-time power of the target unmanned ship according to the real-time propeller parameters includes: constructing an initial weight vector matrix of the real-time power of the target unmanned ship according to the number of operating propellers, the real-time power value of each propeller and the upper limit of the power of each propeller; for each propeller of the target unmanned ship, selecting three propellers with the strongest power constraint relationship with the current propeller according to the power constraint relationship between the propellers; generating a constraint triangle of the current propeller power according to the characteristic vector of the real-time power value of the propeller corresponding to the current propeller and the characteristic vectors of the real-time power values ​​of the propellers corresponding to the selected three propellers; adjusting the initial weights of the initial weight vector matrix according to the constraint triangles of the power of each propeller to obtain the weight vector matrix of the real-time power of the target unmanned ship; The method adjusts the weight vector matrix of the real-time power of the target unmanned ship with the real-time environmental parameter vector matrix to obtain the adjusted vector matrix of the target unmanned ship power, including: adjusting the weight vector matrix of the real-time power of the target unmanned ship with the wind factor influence vector, the wave height vector and the ocean current intensity vector respectively to obtain the first adjustment result, the second adjustment result and the third adjustment result; adjusting the weight vector matrix of the real-time power of the target unmanned ship with the wind factor influence vector, the wave height vector and the ocean current intensity vector to obtain the fourth adjustment result; establishing a spatial rectangular coordinate system based on the real-time environmental parameter vector matrix, with the wind factor influence vector, the wave height vector and the ocean current intensity vector as the horizontal axis, The first adjustment result, the second adjustment result and the third adjustment result are projected on a first coordinate plane formed by the longitudinal axis and the vertical axis, on a second coordinate plane formed by the transverse axis and the vertical axis, and on a third coordinate plane formed by the transverse axis and the longitudinal axis, respectively, to obtain a first projection of the weight vector matrix of the real-time power of the target unmanned ship on the first coordinate plane, a second projection on the second coordinate plane, and a third projection on the third coordinate plane; the first projection, the second projection and the third projection are superimposed to obtain a superimposed projection, and the superimposed projection is converted into a superimposed projection vector, and the fourth adjustment result is adjusted with the superimposed projection vector to obtain an adjusted vector matrix of the power of the target unmanned ship; The construction of the ship power control model includes: obtaining a number of environmental parameter samples and a number of propeller parameter samples; combining each environmental parameter sample and each propeller parameter sample in pairs to obtain a number of data to be simulated; performing simulation based on each data to be simulated to obtain the corrected power value of each propeller under the simulation corresponding to each data to be simulated; generating a number of training samples according to each data to be simulated and the corrected power value of each propeller under the simulation corresponding to each data to be simulated; constructing an initial ship power control model, taking the data to be simulated as input and the corrected power value of each propeller under the simulation corresponding to the data to be simulated as output, iteratively training the initial ship power control model until the initial ship power control model reaches a preset convergence condition, and generating the ship power control model; The control module is used to control the power of each propeller of the unmanned ship according to the corrected power value of each propeller of the target unmanned ship.

5. A terminal device, characterized in that: It comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, an unmanned ship control method based on real-time environmental parameters as described in any one of claims 1 to 3 is implemented.

6. A storage medium, characterized in that: The storage medium includes a stored computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute an unmanned ship control method based on real-time environmental parameters as described in any one of claims 1 to 3.

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