Hydrology-based underwater route planning method, system, equipment, product and medium

Abstract

The invention is based on the field of underwater vehicle control, and provides a hydrological-based underwater route planning method, system, device, product and medium, and the method comprises the steps: obtaining a three-dimensional ocean topographic map of a target sea area, layering to obtain a two-dimensional ocean topographic map, and carrying out the grid division to obtain a grid topographic map comprising a grid region; marking the grating topographic map through the minimum water depth to obtain a marked topographic map, and performing large-step node division to obtain an initial node map; shading is carried out through the grid area according to the labeling result, shading parameters are calculated, and a shading node graph is obtained; performing small-step node division in the risk grid to obtain an intermediate node graph; establishing a navigation safety evaluation matrix, performing fuzzy synthesis on the navigation safety evaluation matrix and the weight vector to obtain an evaluation result, screening the intermediate node graph to obtain a target node graph, and determining the navigation route of the underwater vehicle through the target node graph. According to the invention, the safety of underwater route planning is effectively improved.

Description

Technical Field

[0001] The present invention is based on the technical field of underwater vehicle control, and in particular relates to a hydrologically based underwater route planning method, system, equipment, product and medium. Background Art

[0002] When underwater vehicles plan their underwater paths, the PRM (Probabilistic Roadmap) path planning algorithm is an effective path planning algorithm, considering the vast planning area and underwater obstacles with complex shapes. The PRM algorithm is a graph-based search algorithm. It is currently one of the most successful and popular motion planning methods based on random sampling. The PRM algorithm mainly consists of two stages: the construction of a path grid graph and the query of a path. Usually, the construction stage of the path grid graph is based on random sampling to construct a random path graph. In order to ensure that more terrain information is retained, the random algorithm increases the number of nodes or the number of constructions, which increases the amount of algorithm calculations. In addition, the existing PRM algorithm does not consider the particularity of the underwater environment in the process of path planning. Underwater turbulence, internal waves, and seawater density differences may threaten the navigation safety of underwater vehicles. The existing PRM algorithm does not take this factor into account in the process of planning the navigation path of underwater vehicles, which poses a threat to the navigation safety of the vehicle. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a method, system, device, product and medium for underwater route planning based on hydrology, so as to realize efficient and safe planning of the navigation route of underwater vehicles.

[0004] The present invention provides a hydrologically based underwater route planning method, comprising: S1: determining a target sea area, obtaining a three-dimensional ocean topographic map of the target sea area, layering the three-dimensional ocean topographic map to obtain a two-dimensional ocean topographic map, and gridding the two-dimensional ocean topographic map to obtain a grid topographic map including a grid area; S2: obtaining the minimum water depth of the grid area in the grid topographic map, annotating the grid topographic map according to the minimum water depth to obtain an annotated topographic map including the annotated results, performing large-step node division on the annotated topographic map to obtain an initial node map; S3: in the initial node graph, according to the annotation result, and by performing shading through the grid area, calculating the shading parameter of each grid area to obtain a shading node graph; S4: in the shading node graph, obtaining a risk grid through shading parameters, performing small step node division in the risk grid to obtain an intermediate node graph; S5: Acquire the hydrological parameters of the target sea area, establish a navigation safety evaluation matrix through the hydrological parameters, construct a weight vector, perform fuzzy synthesis on the navigation safety evaluation matrix and the weight vector to obtain an evaluation result, screen the intermediate node graph according to the evaluation result to obtain a target node graph, and determine the navigation route of the underwater vehicle through the target node graph.

[0005] According to the hydrological-based underwater route planning method provided by the present invention, step S1 specifically includes: S11: determining a target sea area, performing a topographic survey on the target sea area, and obtaining a three-dimensional ocean topographic map of the target sea area; S12: performing equal depth cross-sectioning and stratification on the three-dimensional ocean topographic map according to the water depth to obtain a two-dimensional ocean topographic map, and performing grid division on the two-dimensional ocean topographic map to obtain a grid topographic map including grid areas.

[0006] According to the hydrological-based underwater route planning method provided by the present invention, step S2 specifically includes: S21: obtaining the minimum water depth in each grid area through the three-dimensional ocean topographic map, determining a safety redundant depth, and marking the grid topographic map through the safety redundant depth and the minimum water depth to obtain the marked topographic map including the marked result; S22: Determine the large-step node positions in the grid area, and perform node marking in the marked topographic map according to the large-step node positions to obtain the initial node map.

[0007] According to the hydrological-based underwater route planning method provided by the present invention, step S3 specifically includes: S31: In the initial node graph, a target grid is selected, and the labeling results of the target grid and other grid areas around the target grid are obtained, and the mean of the labeling results of the target grid and other grid areas around the target grid are calculated to obtain the shading parameters of the target grid; S32: traverse all the grid areas in the initial node graph by repeating step S31 to obtain the shading parameters of each grid area and obtain the shading node graph.

[0008] According to the hydrology-based underwater route planning method provided by the present invention, in step S4, after determining the risk grid, the small step node positions are determined, and the small step node positions are marked in the risk grid to obtain the intermediate node graph.

[0009] According to the hydrological-based underwater route planning method provided by the present invention, step S5 specifically includes: S51: Acquire the hydrological parameters of the target sea area, establish the navigation safety index set of the risk grid through the hydrological parameters, and establish the navigation safety evaluation matrix through the navigation safety index set; S52: construct a weight vector, perform fuzzy synthesis on the navigation safety evaluation matrix and the weight vector through fuzzy synthesis operation to obtain an evaluation result, determine a screening condition, and screen the intermediate node graph through the screening condition to obtain a target node graph; S53: Determine the spatial angle constraint, obtain all the target node graphs of the target sea area, and determine the navigation route of the underwater vehicle in the target sea area through the target node graph under the restriction of the spatial angle constraint.

[0010] The present invention also provides a hydrologically based underwater route planning system, comprising: Grid topographic map module: used to determine the target sea area, obtain a three-dimensional ocean topographic map of the target sea area, layer the three-dimensional ocean topographic map to obtain a two-dimensional ocean topographic map, grid-divide the two-dimensional ocean topographic map to obtain a grid topographic map including a grid area; An initial node graph module: used for obtaining the minimum water depth of the grid area in the grid topographic map, marking the grid topographic map according to the minimum water depth to obtain a marked topographic map including the marking results, and performing large-step node division on the marked topographic map to obtain an initial node graph; A blending node graph module is used to perform blending in the initial node graph according to the annotation result and through the grid area, calculate the blending parameters of each grid area, and obtain a blending node graph; Intermediate node graph module: used to obtain a risk grid through the shading parameters in the shading node graph, perform small step node division in the risk grid, and obtain an intermediate node graph; Navigation route planning module: used to obtain the hydrological parameters of the target sea area, establish a navigation safety evaluation matrix through the hydrological parameters, construct a weight vector, fuzzy synthesize the navigation safety evaluation matrix and the weight vector to obtain an evaluation result, screen the intermediate node graph according to the evaluation result to obtain a target node graph, and determine the navigation route of the underwater vehicle through the target node graph.

[0011] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of any of the above-described hydrology-based underwater route planning methods are implemented.

[0012] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-described hydrology-based underwater route planning methods.

[0013] The present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the steps of any of the hydrological-based underwater route planning methods described above.

[0014] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: The hydrologically based underwater route planning method provided by the present invention can preserve more original terrain information while reducing the amount of calculation in the underwater path planning process by blurring and dividing the risk grid into small-step nodes, thereby ensuring the navigation safety of underwater vehicles in relatively narrow and complex waters with a smaller amount of calculation. In addition, the influence of hydrological parameters on the safety of underwater vehicles is also considered, avoiding dangers caused by factors such as turbulence when the underwater vehicle is navigating near obstacles, and further ensuring the navigation safety of the underwater vehicle.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a flow chart of the hydrology-based underwater route planning method provided by the present invention.

[0018] Figure 2 It is a schematic diagram of the risk grid of the hydrology-based underwater route planning method provided by the present invention.

[0019] Figure 3 It is a node distribution map in the target sea area of ​​the hydrology-based underwater route planning method provided by the present invention.

[0020] Figure 4 It is a structural schematic diagram of the hydrology-based underwater route planning system provided by the present invention.

[0021] Figure 5 It is a structural schematic diagram of the hydrology-based underwater route planning device provided by the present invention.

[0022] Reference numerals: 100, grid terrain map module; 200, initial node map module; 300, shading node map module; 400, intermediate node map module; 500, navigation route planning module; 810, processor; 820, communication interface; 830, memory; 840, communication bus. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme in the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0024] In the description of the embodiments of the present invention, it should be noted that the terms “first”, “second” and “third” are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0025] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0026] Combine the following Figures 1 to 5 Describe the specific embodiment of the present invention: Figure 1It is a flow chart of the hydrological-based underwater route planning method provided by the present invention. First, a three-dimensional ocean topographic map is obtained, and a two-dimensional ocean topographic map is obtained by layering, and then grid division is performed together to obtain a grid topographic map; then the grid topographic map is annotated to obtain an annotated topographic map, and then a large-step node division is performed on it to obtain an initial node map; then, according to the annotated result, shading is performed, and the shading parameters are calculated to obtain a shading result map; then a risk grid is obtained, and small-step node division is performed in the risk grid to obtain an intermediate node map; finally, the evaluation result is obtained through the safety evaluation matrix and the weight vector, and the target node map is obtained by screening, so as to determine the navigation route.

[0027] With respect to the above steps, the specific implementation methods in this embodiment are as follows: S1: determining a target sea area, obtaining a three-dimensional ocean topographic map of the target sea area, layering the three-dimensional ocean topographic map to obtain a two-dimensional ocean topographic map, and gridding the two-dimensional ocean topographic map to obtain a grid topographic map including a grid area; Furthermore, the purpose of this stage is to obtain a two-dimensional ocean topographic map of the target sea area, and obtain a grid topographic map by grid division. Specifically, step S1 specifically includes: S11: determining a target sea area, performing a topographic survey on the target sea area, and obtaining a three-dimensional ocean topographic map of the target sea area; S12: performing equal depth cross-sectioning and stratification on the three-dimensional ocean topographic map according to the water depth to obtain a two-dimensional ocean topographic map, and performing grid division on the two-dimensional ocean topographic map to obtain a grid topographic map including grid areas.

[0028] With respect to the above steps, the specific implementation methods in this embodiment are as follows: First, it is necessary to determine the target sea area, that is, the sea area where the underwater vehicle is active, and then use sonar to detect the ocean terrain of the target sea area to obtain a three-dimensional ocean topographic map that can reflect the distribution of the underwater topography and landforms in the target sea area. Then, it is necessary to perform equal-depth cross-sectioning and stratification of the three-dimensional ocean topographic map according to the water depth, that is, to regard the three-dimensional ocean topographic map as a three-dimensional structure, which can be regarded as a cube here, and then determine the depth of the three-dimensional ocean topographic map, and determine the appropriate depth interval according to the depth. The three-dimensional ocean topographic map is cross-sectioned once every depth interval, thereby obtaining multiple two-dimensional ocean topographic maps. Then, according to the size of the two-dimensional ocean topographic map, the size of the grid is determined, and the grid is used for grid division, and the two-dimensional ocean topographic map is divided into several grid areas of the same size to obtain a grid topographic map including the grid area.

[0029] S2: obtaining the minimum water depth of the grid area in the grid topographic map, annotating the grid topographic map according to the minimum water depth to obtain an annotated topographic map including the annotated results, performing large-step node division on the annotated topographic map to obtain an initial node map; Furthermore, the purpose of this stage is to annotate the grid topographic map by the minimum water depth and safety redundancy depth of each grid area to obtain an annotated topographic map, and to divide nodes in the annotated topographic map to obtain an initial node map. Specifically, step S2 specifically includes: S21: obtaining the minimum water depth in each grid area through the three-dimensional ocean topographic map, determining a safety redundant depth, and marking the grid topographic map through the safety redundant depth and the minimum water depth to obtain the marked topographic map including the marked result; S22: Determine the large-step node positions in the grid area, and perform node marking in the marked topographic map according to the large-step node positions to obtain the initial node map.

[0030] With respect to the above steps, the specific implementation methods in this embodiment are as follows: First, since the three-dimensional ocean topographic map can reflect the underwater topographic distribution of the target sea area, the water depth of each location in the two-dimensional ocean topographic map can be known through the three-dimensional ocean topographic map, and the minimum water depth in the grid area is used as the minimum water depth of the grid area. Then, the safety redundancy depth is determined according to the size of the underwater vehicle and experience, and the difference between the minimum water depth and the depth of the plane of the two-dimensional ocean topographic map, that is, the plane depth, is calculated. If the difference between the minimum water depth and the plane depth is ≤ the safety redundancy depth, then in this embodiment, the grid area is marked as 1, indicating that there are obstacles in the grid area or the safety redundancy depth is insufficient and navigation is impossible. Otherwise, the grid area is marked as 0, indicating that there are no obstacles and it is safe to navigate. All grid areas are marked to obtain a marked topographic map.

[0031] Then determine the large-step node position in the grid area. In this embodiment, the large-step node position is the grid center of the grid area marked as 0. Here, the large-step node position can be arbitrarily set in one or several consecutive grid areas marked as 0. All grid areas marked as 0 in the annotated topographic map are marked with nodes through the large-step node position so that they have a node inside, thereby obtaining an initial node graph.

[0032] S3: in the initial node graph, according to the annotation result, and by performing shading through the grid area, calculating the shading parameter of each grid area to obtain a shading node graph; Furthermore, the purpose of this stage is to obtain a shading node graph for the shading parameters of the grid area in the initial node graph. Specifically, step S3 specifically includes: S31: In the initial node graph, a target grid is selected, and the labeling results of the target grid and other grid areas around the target grid are obtained, and the mean of the labeling results of the target grid and other grid areas around the target grid are calculated to obtain the shading parameters of the target grid; S32: traverse all the grid areas in the initial node graph by repeating step S31 to obtain the shading parameters of each grid area and obtain the shading node graph.

[0033] With respect to the above steps, the specific implementation methods in this embodiment are as follows: First, in the initial node graph, a grid area is selected as the target grid, then the labeling results of the target grid and other grid areas around the target grid are obtained, and the average of the labeling results of the target grid and other grid areas around the target grid is calculated to obtain the shading parameter. Here, when the target grid is located at the corner of the initial node graph, the target grid and other grid areas around the target grid add up to a total of four grid areas, when the target grid is located at the edge of the initial node graph, there are a total of six grid areas, and when the target grid is located at a position other than the corner and edge of the initial node graph, there are a total of nine grid areas.

[0034] Finally, step S31 is repeated to traverse all the grid areas in the initial node graph, obtain the shading parameters of each grid area, and obtain the shading node graph.

[0035] S4: in the shading node graph, obtaining a risk grid through shading parameters, performing small step node division in the risk grid to obtain an intermediate node graph; Furthermore, the purpose of this stage is to determine the risk grid and perform small step node division in the risk grid to obtain an intermediate node graph. Specifically, in step S4, after determining the risk grid, the small step node positions are determined, and the small step node positions are marked in the risk grid to obtain the intermediate node graph.

[0036] With respect to the above steps, the specific implementation methods in this embodiment are as follows: First, determine the risk grid in the shading node graph. Here, the risk grid refers to a grid area that has no obstacles inside, that is, the grid area itself is marked as 0, but the grid area is close to obstacles or the safety redundancy depth is insufficient. Such grid areas are classified as risk grids, so the shading parameters of the risk grid are not 0. Figure 2It is a schematic diagram of the risk grid, wherein the grid area itself is marked as 0 and the shading parameter is also 0 is called a safety grid, and the grid area itself is marked as 1 is called an obstacle grid. Since the risk grid is close to the obstacle, it is necessary to determine the small step node position, and the small step node division is performed according to the small step node position. In this embodiment, the small step node position is any two positions on the diagonal of the risk grid with an interval of 1 / 2 of the short side length of the risk grid, and for the small step node position, its position, number and specific distribution method in the risk grid can be flexibly formulated. By marking the small step node position in all risk grids, an intermediate node diagram can be obtained.

[0037] S5: Acquire the hydrological parameters of the target sea area, establish a navigation safety evaluation matrix through the hydrological parameters, construct a weight vector, perform fuzzy synthesis on the navigation safety evaluation matrix and the weight vector to obtain an evaluation result, screen the intermediate node graph according to the evaluation result to obtain a target node graph, and determine the navigation route of the underwater vehicle through the target node graph.

[0038] Furthermore, the purpose of this stage is to establish a navigation safety evaluation matrix through hydrological parameters, and obtain the evaluation results of dangerous areas through fuzzy synthesis, so as to screen the intermediate node graph, obtain the target node graph, and finally determine the navigation route of the underwater vehicle through the target node graph. Specifically, step S5 specifically includes: S51: Acquire the hydrological parameters of the target sea area, establish the navigation safety index set of the risk grid through the hydrological parameters, and establish the navigation safety evaluation matrix through the navigation safety index set; S52: construct a weight vector, perform fuzzy synthesis on the navigation safety evaluation matrix and the weight vector through fuzzy synthesis operation to obtain an evaluation result, determine a screening condition, and screen the intermediate node graph through the screening condition to obtain a target node graph; S53: Determine the spatial angle constraint, obtain all the target node graphs of the target sea area, and determine the navigation route of the underwater vehicle in the target sea area through the target node graph under the restriction of the spatial angle constraint.

[0039] With respect to the above steps, the specific implementation methods in this embodiment are as follows: First, the hydrological parameters of the target sea area are obtained. In this embodiment, the hydrological parameters include the turbulence intensity, internal wave intensity, and seawater density change value per unit depth at each location in the target sea area. The navigation safety index set of the risk grid is established through the hydrological parameters, including the distance between each node in the risk grid and the nearest obstacle, turbulence intensity, internal wave intensity, and seawater density change value per unit depth. The navigation safety evaluation matrix R of the nodes in the risk grid is established through the navigation safety index set: in, is the degree of membership of the distance between the node and the nearest obstacle to the distance between the node and the nearest obstacle. In this embodiment, the value is 1. is the degree of membership of the distance between the node and the nearest obstacle to the turbulence intensity, is the degree of membership of the distance between the node and the nearest obstacle to the internal wave intensity, is the degree of membership of the distance between the node and the nearest obstacle to the change in seawater density within unit depth, is the degree of membership of the turbulence intensity to the distance between the node and the nearest obstacle, is the membership degree of turbulence intensity to turbulence intensity, and in this embodiment, the value is 1. is the degree of membership of turbulence intensity to internal wave intensity, is the degree of membership of turbulence intensity to the change in seawater density per unit depth, is the degree of membership of the internal wave intensity to the distance between the node and the nearest obstacle, is the degree of membership of internal wave intensity to turbulence intensity, is the degree of membership of the internal wave intensity to the internal wave intensity, and in this embodiment, the value is 1. is the degree of membership of the internal wave intensity to the change in seawater density per unit depth, is the degree of membership of the seawater density change within a unit depth to the distance between the node and the nearest obstacle, is the membership of the seawater density change value within unit depth to the turbulence intensity, is the degree of membership of the seawater density change within unit depth to the internal wave intensity, is the degree of membership of the seawater density change value within a unit depth to the seawater density change value within a unit depth. In this embodiment, the value is 1. The specific value of each membership degree can be determined by the membership function and experience.

[0040] Then, a weight vector A is constructed. The weight vector is the weight of each influencing factor in the navigation safety index set. In this embodiment, the weight vector corresponds to the four influencing factors in the navigation safety index set. There are four values ​​in total, and all four values ​​are 1. The number of weights and specific values ​​in the weight vector can be flexibly determined as needed. Then, the navigation safety evaluation matrix and the weight vector are fuzzy synthesized through fuzzy synthesis operation: Among them, B is the evaluation result, To perform fuzzy synthesis, that is, to perform a synthesis operation of fuzzy relations. Since there are four influencing factors in the navigation safety index set, there are also four values ​​in the evaluation result, and the first value represents very safe, the second value represents safety, the third value represents general, and the fourth value represents danger. The evaluation result of each node in the risk grid is obtained. Then the screening condition is determined. In this embodiment, the screening condition is to eliminate all nodes with dangerous evaluation results, so as to screen the intermediate node graph and obtain the target node graph.

[0041] Finally, all target node graphs in the target sea area are obtained using the above method, and all target node graphs are set to corresponding positions in the target sea area according to the depth and position relationship, so as to Figure 3 As shown, a node distribution map in the target sea area is obtained, and the starting point and the end point of the unmanned vehicle in the target sea area are determined. The nodes between the starting point and the end point are connected, and the path formed by the shortest connection is taken to obtain the navigation route of the underwater vehicle. In this embodiment, in order to further save computing resources, the nodes in the grid area marked as 0 and the shading parameter is also 0 can be further streamlined, that is, a part of the nodes in the grid area that are continuously marked as 0 and the shading parameter is also 0 are deleted. In the process of connecting lines to determine the navigation route of the underwater vehicle, it is also necessary to comply with the spatial angle constraint, that is, in the navigation route of the underwater vehicle, the angle between the lines between two nodes in the vertical direction shall not be greater than the angle threshold determined according to experience, so as to avoid the inability to navigate according to the navigation route due to exceeding the performance of the underwater vehicle.

[0042] The present invention effectively provides a method for planning the navigation route of an underwater vehicle which is highly efficient and fully considers the impact of the hydrological conditions on the safety of the underwater vehicle by combining the hydrological conditions and the three-dimensional ocean topographic map.

[0043] The hydrology-based underwater route planning device provided by the present invention is described below. The hydrology-based underwater route planning device described below and the hydrology-based underwater route planning method described above can be referenced to each other.

[0044] Figure 4 The structural diagram of the underwater route planning system based on hydrology is shown as an example. Figure 4 As shown, the method for executing the hydrological-based underwater route planning as described above comprises: The grid topographic map module 100 is used to determine the target sea area, obtain a three-dimensional ocean topographic map of the target sea area, layer the three-dimensional ocean topographic map to obtain a two-dimensional ocean topographic map, and grid-divide the two-dimensional ocean topographic map to obtain a grid topographic map including a grid area; The initial node graph module 200 is used to obtain the minimum water depth of the grid area in the grid topographic map, annotate the grid topographic map according to the minimum water depth to obtain an annotated topographic map including the annotated results, and perform large-step node division on the annotated topographic map to obtain an initial node graph; The shading node graph module 300 is used to calculate the shading parameters of each grid area in the initial node graph according to the marking result and by shading the grid area to obtain a shading node graph; The intermediate node graph module 400 is used to obtain a risk grid in the shading node graph by using shading parameters, and perform small-step node division in the risk grid to obtain an intermediate node graph; The navigation route planning module 500 is used to obtain the hydrological parameters of the target sea area, establish a navigation safety evaluation matrix through the hydrological parameters, construct a weight vector, perform fuzzy synthesis on the navigation safety evaluation matrix and the weight vector to obtain an evaluation result, screen the intermediate node graph according to the evaluation result to obtain a target node graph, and determine the navigation route of the underwater vehicle through the target node graph.

[0045] on the other hand, Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the hydrology-based underwater route planning method, which includes: S1: determining a target sea area, obtaining a three-dimensional ocean topographic map of the target sea area, layering the three-dimensional ocean topographic map to obtain a two-dimensional ocean topographic map, and gridding the two-dimensional ocean topographic map to obtain a grid topographic map including a grid area; S2: obtaining the minimum water depth of the grid area in the grid topographic map, annotating the grid topographic map according to the minimum water depth to obtain an annotated topographic map including the annotated results, performing large-step node division on the annotated topographic map to obtain an initial node map; S3: in the initial node graph, according to the annotation result, and by performing shading through the grid area, calculating the shading parameter of each grid area to obtain a shading node graph; S4: in the shading node graph, obtaining a risk grid through shading parameters, performing small step node division in the risk grid to obtain an intermediate node graph; S5: Acquire the hydrological parameters of the target sea area, establish a navigation safety evaluation matrix through the hydrological parameters, construct a weight vector, perform fuzzy synthesis on the navigation safety evaluation matrix and the weight vector to obtain an evaluation result, screen the intermediate node graph according to the evaluation result to obtain a target node graph, and determine the navigation route of the underwater vehicle through the target node graph.

[0046] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially 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, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0047] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer, the computer can execute the hydrological-based underwater route planning method provided by the above methods, the method comprising: S1: determining a target sea area, obtaining a three-dimensional ocean topographic map of the target sea area, layering the three-dimensional ocean topographic map to obtain a two-dimensional ocean topographic map, and gridding the two-dimensional ocean topographic map to obtain a grid topographic map including a grid area; S2: obtaining the minimum water depth of the grid area in the grid topographic map, annotating the grid topographic map according to the minimum water depth to obtain an annotated topographic map including the annotated results, performing large-step node division on the annotated topographic map to obtain an initial node map; S3: in the initial node graph, according to the annotation result, and by performing shading through the grid area, calculating the shading parameter of each grid area to obtain a shading node graph; S4: in the shading node graph, obtaining a risk grid through shading parameters, performing small step node division in the risk grid to obtain an intermediate node graph; S5: Acquire the hydrological parameters of the target sea area, establish a navigation safety evaluation matrix through the hydrological parameters, construct a weight vector, perform fuzzy synthesis on the navigation safety evaluation matrix and the weight vector to obtain an evaluation result, screen the intermediate node graph according to the evaluation result to obtain a target node graph, and determine the navigation route of the underwater vehicle through the target node graph.

[0048] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the hydrological-based underwater route planning method provided by the above methods, the method comprising: S1: determining a target sea area, obtaining a three-dimensional ocean topographic map of the target sea area, layering the three-dimensional ocean topographic map to obtain a two-dimensional ocean topographic map, and gridding the two-dimensional ocean topographic map to obtain a grid topographic map including a grid area; S2: obtaining the minimum water depth of the grid area in the grid topographic map, annotating the grid topographic map according to the minimum water depth to obtain an annotated topographic map including the annotated results, performing large-step node division on the annotated topographic map to obtain an initial node map; S3: in the initial node graph, according to the annotation result, and by performing shading through the grid area, calculating the shading parameter of each grid area to obtain a shading node graph; S4: in the shading node graph, obtaining a risk grid through shading parameters, performing small step node division in the risk grid to obtain an intermediate node graph; S5: Acquire the hydrological parameters of the target sea area, establish a navigation safety evaluation matrix through the hydrological parameters, construct a weight vector, perform fuzzy synthesis on the navigation safety evaluation matrix and the weight vector to obtain an evaluation result, screen the intermediate node graph according to the evaluation result to obtain a target node graph, and determine the navigation route of the underwater vehicle through the target node graph.

[0049] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0050] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hydrologically based underwater route planning method, characterized in that: include: S1: determining a target sea area, obtaining a three-dimensional ocean topographic map of the target sea area, layering the three-dimensional ocean topographic map to obtain a two-dimensional ocean topographic map, and gridding the two-dimensional ocean topographic map to obtain a grid topographic map including a grid area; S2: obtaining the minimum water depth of the grid area in the grid topographic map, annotating the grid topographic map according to the minimum water depth to obtain an annotated topographic map including the annotated results, performing large-step node division on the annotated topographic map to obtain an initial node map; S3: in the initial node graph, according to the annotation result, and by performing shading through the grid area, calculating the shading parameter of each grid area to obtain a shading node graph; S4: in the shading node graph, obtaining a risk grid through shading parameters, performing small step node division in the risk grid to obtain an intermediate node graph; S5: Acquire the hydrological parameters of the target sea area, establish a navigation safety evaluation matrix through the hydrological parameters, construct a weight vector, perform fuzzy synthesis on the navigation safety evaluation matrix and the weight vector to obtain an evaluation result, screen the intermediate node graph according to the evaluation result to obtain a target node graph, and determine the navigation route of the underwater vehicle through the target node graph.

2. The method for underwater route planning based on hydrology according to claim 1, characterized in that: Step S1 specifically includes: S11: determining a target sea area, performing a topographic survey on the target sea area, and obtaining a three-dimensional ocean topographic map of the target sea area; S12: performing equal depth cross-sectioning and stratification on the three-dimensional ocean topographic map according to the water depth to obtain a two-dimensional ocean topographic map, and performing grid division on the two-dimensional ocean topographic map to obtain a grid topographic map including grid areas.

3. The method for underwater route planning based on hydrology according to claim 1, characterized in that: Step S2 specifically includes: S21: obtaining the minimum water depth in each grid area through the three-dimensional ocean topographic map, determining a safety redundant depth, and marking the grid topographic map through the safety redundant depth and the minimum water depth to obtain the marked topographic map including the marked result; S22: Determine the large-step node positions in the grid area, and perform node marking in the marked topographic map according to the large-step node positions to obtain the initial node map.

4. The method for underwater route planning based on hydrology according to claim 1, characterized in that: Step S3 specifically includes: S31: In the initial node graph, a target grid is selected, and the labeling results of the target grid and other grid areas around the target grid are obtained, and the mean of the labeling results of the target grid and other grid areas around the target grid are calculated to obtain the shading parameters of the target grid; S32: traverse all the grid areas in the initial node graph by repeating step S31 to obtain the shading parameters of each grid area and obtain the shading node graph.

5. The method for underwater route planning based on hydrology according to claim 1, characterized in that: In step S4, after the risk grid is determined, the small step node positions are determined, and the small step node positions are marked in the risk grid to obtain the intermediate node graph.

6. The method for underwater route planning based on hydrology according to claim 1, characterized in that: Step S5 specifically includes: S51: Acquire the hydrological parameters of the target sea area, establish the navigation safety index set of the risk grid through the hydrological parameters, and establish the navigation safety evaluation matrix through the navigation safety index set; S52: construct a weight vector, perform fuzzy synthesis on the navigation safety evaluation matrix and the weight vector through fuzzy synthesis operation to obtain an evaluation result, determine a screening condition, and screen the intermediate node graph through the screening condition to obtain a target node graph; S53: Determine the spatial angle constraint, obtain all the target node graphs of the target sea area, and determine the navigation route of the underwater vehicle in the target sea area through the target node graph under the restriction of the spatial angle constraint.

7. A hydrologically based underwater route planning system, used to execute the hydrologically based underwater route planning method according to any one of claims 1 to 6, characterized in that: include: Grid topographic map module: used to determine the target sea area, obtain a three-dimensional ocean topographic map of the target sea area, layer the three-dimensional ocean topographic map to obtain a two-dimensional ocean topographic map, grid-divide the two-dimensional ocean topographic map to obtain a grid topographic map including a grid area; An initial node graph module: used for obtaining the minimum water depth of the grid area in the grid topographic map, marking the grid topographic map according to the minimum water depth to obtain a marked topographic map including the marking results, and performing large-step node division on the marked topographic map to obtain an initial node graph; A blending node graph module is used to perform blending in the initial node graph according to the annotation result and through the grid area, calculate the blending parameters of each grid area, and obtain a blending node graph; Intermediate node graph module: used to obtain a risk grid through the shading parameters in the shading node graph, perform small step node division in the risk grid, and obtain an intermediate node graph; Navigation route planning module: used to obtain the hydrological parameters of the target sea area, establish a navigation safety evaluation matrix through the hydrological parameters, construct a weight vector, fuzzy synthesize the navigation safety evaluation matrix and the weight vector to obtain an evaluation result, screen the intermediate node graph according to the evaluation result to obtain a target node graph, and determine the navigation route of the underwater vehicle through the target node graph.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the hydrology-based underwater route planning method according to any one of claims 1 to 6 are implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the hydrology-based underwater route planning method according to any one of claims 1 to 6 are implemented.

10. A computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, characterized in that: When the program instructions are executed by a computer, the computer can perform the steps of the hydrological-based underwater route planning method according to any one of claims 1 to 6.

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