Hydrology-based Underwater Route Planning Method, System, Device, Product and Medium

Abstract

The present invention is based on the field of underwater vehicle control, and provides a hydrography-based underwater route planning method, system, device, product and medium, including obtaining a three-dimensional ocean topographic map of a target sea area, obtaining a two-dimensional ocean topographic map by layering, and performing grid division to obtain a grid topographic map including grid areas; annotating the grid topographic map with the minimum water depth to obtain an annotated topographic map and performing large-step node division to obtain an initial node map; calculating smudging parameters by smudging according to the annotation results and through the grid areas to obtain a smudged node map; performing small-step node division in the risk grid to obtain an intermediate node map; establishing a navigation safety evaluation matrix, performing fuzzy synthesis on the navigation safety evaluation matrix and a weight vector to obtain an evaluation result, screening the intermediate node map to obtain a target node map, and determining the navigation route of the underwater vehicle through the target node map. The present invention effectively improves the safety of underwater route planning.

Description

Technical Field

[0001] The present invention is based on the technical field of underwater vehicle control, and particularly relates to a method, system, device, product and medium for underwater route planning based on hydrology. Background Art

[0002] When an underwater vehicle conducts underwater path planning, considering the vast planning area and underwater obstacles with complex shapes, the PRM (Probabilistic Roadmap) path planning algorithm is an effective path planning algorithm. The PRM algorithm is a graph-based search algorithm and is 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 constructs a random path graph based on random sampling. To ensure the retention of more terrain information, the random algorithm increases the number of nodes or the number of construction times, which increases the computational complexity of the algorithm. Moreover, the existing PRM algorithm does not consider the particularity of the underwater environment during the path planning process. Underwater turbulence, internal waves, seawater density differences, etc. may all pose threats to the navigation safety of the underwater vehicle, and the existing PRM algorithm does not consider this factor during the process of planning the navigation path of the underwater vehicle, thus posing 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. For this purpose, the present invention provides a method, system, device, product and medium for underwater route planning based on hydrology, so as to realize the efficient and safe planning of the navigation route of the underwater vehicle.

[0004] The present invention provides a method for underwater route planning based on hydrology, including:

[0005] S1: Determine the target sea area, obtain the 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 perform grid division on the two-dimensional ocean topographic map to obtain a grid topographic map including grid areas;

[0006] S2: Obtain the minimum water depth of the grid area in the grid topographic map, annotate the grid topographic map with the minimum water depth to obtain an annotated topographic map including the annotation result, and perform large-step node division in the annotated topographic map to obtain an initial node map;

[0007] S3: In the initial node map, according to the annotation result and through the grid area for shading, calculate the shading parameter of each grid area to obtain a shaded node map;

[0008] S4: In the smudging node map, obtain a risk grid through smudging parameters, and perform small-step node division in the risk grid to obtain an intermediate node map;

[0009] S5: 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 map according to the evaluation result to obtain a target node map, and determine the navigation route of the underwater vehicle through the target node map.

[0010] According to the underwater route planning method based on hydrology provided by the present invention, step S1 specifically includes:

[0011] S11: Determine the target sea area, conduct topographic surveys on the target sea area to obtain a three-dimensional ocean topographic map of the target sea area;

[0012] S12: Perform isobath cross-section stratification on the three-dimensional ocean topographic map according to water depth to obtain a two-dimensional ocean topographic map, and perform grid division on the two-dimensional ocean topographic map to obtain a grid topographic map including grid regions.

[0013] According to the underwater route planning method based on hydrology provided by the present invention, step S2 specifically includes:

[0014] S21: Obtain the minimum water depth in each grid region through the three-dimensional ocean topographic map, determine the safety redundancy depth, and label the grid topographic map with the safety redundancy depth and the minimum water depth to obtain the labeled topographic map including the labeling result;

[0015] S22: Determine the positions of large-step nodes in the grid regions, and perform node labeling in the labeled topographic map through the positions of the large-step nodes to obtain the initial node map.

[0016] According to the underwater route planning method based on hydrology provided by the present invention, step S3 specifically includes:

[0017] S31: In the initial node map, select a target grid, obtain the labeling results of the target grid and other grid regions around the target grid, calculate the mean value of the labeling results of the target grid and other grid regions around the target grid to obtain the smudging parameter of the target grid;

[0018] S32: Traverse all grid regions in the initial node map by repeating step S31 to obtain the smudging parameter of each grid region and obtain the smudging node map.

[0019] According to the underwater route planning method based on hydrology provided by the present invention, in step S4, after determining the risk grid, determine the positions of small-step nodes, and mark in the risk grid through the positions of the small-step nodes to obtain the intermediate node map.

[0020] According to the underwater route planning method based on hydrology provided by the present invention, step S5 specifically includes:

[0021] S51: Obtain the hydrological parameters of the target sea area, establish a navigation safety index set of the risk grid through the hydrological parameters, and establish a navigation safety evaluation matrix through the navigation safety index set;

[0022] S52: Construct a weight vector, perform fuzzy composition on the navigation safety evaluation matrix and the weight vector through fuzzy composition operation to obtain an evaluation result, determine screening conditions, and screen the intermediate node map through the screening conditions to obtain a target node map;

[0023] S53: Determine the spatial angle constraint, obtain all the target node maps of the target sea area, and determine the navigation route of the underwater vehicle in the target sea area through the target node map under the limitation of the spatial angle constraint.

[0024] The present invention also provides an underwater route planning system based on hydrology, including:

[0025] Grid topographic map module: used to determine the target sea area, obtain the 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 perform grid division on the two-dimensional ocean topographic map to obtain a grid topographic map including grid areas;

[0026] Initial node map module: used to obtain the minimum water depth of the grid area in the grid topographic map, mark the grid topographic map through the minimum water depth to obtain a marked topographic map including the marking result, and perform large-step node division in the marked topographic map to obtain an initial node map;

[0027] Shading node map module: used to shade in the initial node map according to the marking result and through the grid area, calculate the shading parameters of each grid area to obtain a shading node map;

[0028] Intermediate node map module: used to obtain a risk grid through the shading parameters in the shading node map, and perform small-step node division in the risk grid to obtain an intermediate node map;

[0029] 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, 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.

[0030] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the hydrology-based underwater route planning method as described in any one of the above are implemented.

[0031] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the hydrology-based underwater route planning method as described in any one of the above are implemented.

[0032] The present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the steps of the hydrology-based underwater route planning method as described in any one of the above.

[0033] One or more of the above technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0034] The hydrology-based underwater route planning method provided by the present invention, through shading and small-step node division of the risk grid, can save more original terrain information while reducing the calculation amount in the process of underwater path planning, thereby ensuring the passage safety of the underwater vehicle in relatively narrow and complex waters with a small calculation amount. In addition, the influence of hydrological parameters on the safety of the underwater vehicle is considered, avoiding the danger of the underwater vehicle caused by factors such as turbulence during navigation near obstacles, and further ensuring the navigation safety of the underwater vehicle.

[0035] The additional aspects and advantages of the present invention will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0037] Figure 1 It is a schematic flowchart of the underwater route planning method based on hydrology provided by the present invention.

[0038] Figure 2 It is a schematic diagram of the risk grid of the underwater route planning method based on hydrology provided by the present invention.

[0039] Figure 3 It is a distribution map of nodes in the target sea area of the underwater route planning method based on hydrology provided by the present invention.

[0040] Figure 4 It is a schematic structural diagram of the underwater route planning system provided by the present invention.

[0041] Figure 5 It is a schematic structural diagram of the underwater route planning device provided by the present invention.

[0042] Reference numerals:

[0043] 100, grid topographic map module; 200, initial node map module; 300, shaded node map module; 400, intermediate node map module; 500, navigation route planning module; 810, processor; 820, communication interface; 830, memory; 840, communication bus. Detailed implementation manners

[0044] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to 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.

[0045] 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 construed as indicating or implying relative importance.

[0046] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0047] The following will describe the specific implementation manners of the present invention in conjunction with Figures 1 to 5 Describe the specific implementation manners of the present invention:

[0048] Figure 1 It is a schematic flowchart of the underwater route planning method based on hydrology provided by the present invention. First, obtain the three-dimensional ocean topographic map, layer it to obtain the two-dimensional ocean topographic map, and then perform grid division together to obtain the grid topographic map; Subsequently, label the grid topographic map to obtain the labeled topographic map, and then perform large-step node division on it to obtain the initial node map; Then, perform shading according to the labeling results, calculate the shading parameters to obtain the shading result map; Then obtain the risk grid, perform small-step node division in the risk grid to obtain the intermediate node map; Finally, obtain the evaluation result through the safety evaluation matrix and the weight vector, and screen to obtain the target node map, thereby determining the navigation route.

[0049] For the above steps, the specific implementation manners in this embodiment are as follows:

[0050] S1: Determine the target sea area, obtain the three-dimensional ocean topographic map of the target sea area, layer the three-dimensional ocean topographic map to obtain the two-dimensional ocean topographic map, and perform grid division on the two-dimensional ocean topographic map to obtain the grid topographic map including the grid area;

[0051] Further, the purpose of this stage is to obtain the two-dimensional ocean topographic map of the target sea area and obtain the grid topographic map through grid division. Specifically, step S1 specifically includes:

[0052] S11: Determine the target sea area, conduct topographic survey on the target sea area to obtain the three-dimensional ocean topographic map of the target sea area;

[0053] S12: Perform isobath cross-section layering on the three-dimensional ocean topographic map according to the water depth to obtain the two-dimensional ocean topographic map, and perform grid division on the two-dimensional ocean topographic map to obtain the grid topographic map including the grid area.

[0054] For the above steps, the specific implementation manners in this embodiment are as follows:

[0055] First, it is necessary to determine the target sea area, that is, the sea area where the underwater vehicle conducts activities. Then, the underwater terrain of the target sea area is detected by sonar to obtain a three-dimensional ocean topographic map that can reflect the distribution state of the underwater topographic features of the target sea area. Next, it is necessary to perform isobath cross-section stratification on the three-dimensional ocean topographic map according to the water depth, that is, regard the three-dimensional ocean topographic map as a three-dimensional structure, which can be regarded as a cube here. Then, determine the depth of the three-dimensional ocean topographic map and determine a suitable depth interval according to the depth. Perform a cross-section on the three-dimensional ocean topographic map every depth interval, so as to obtain a plurality of two-dimensional ocean topographic maps. Then, according to the size of the two-dimensional ocean topographic map, determine the size of the grid to use the grid for grid division, divide the two-dimensional ocean topographic map into several grid areas with the same size, and obtain a grid topographic map including the grid areas.

[0056] S2: Obtain the minimum water depth of the grid area in the grid topographic map, label the grid topographic map through the minimum water depth to obtain a labeled topographic map including the labeling result, and perform large-step node division in the labeled topographic map to obtain an initial node map;

[0057] Furthermore, the purpose of this stage is to label the grid topographic map through the minimum water depth and the safety redundancy depth of each grid area to obtain a labeled topographic map, and perform node division in the labeled topographic map to obtain an initial node map. Specifically, step S2 specifically includes:

[0058] S21: Obtain the minimum water depth in each grid area through the three-dimensional ocean topographic map, determine the safety redundancy depth, and label the grid topographic map through the safety redundancy depth and the minimum water depth to obtain the labeled topographic map including the labeling result;

[0059] S22: Determine the large-step node positions in the grid area, and perform node labeling in the labeled topographic map through the large-step node positions to obtain the initial node map.

[0060] For the above steps, the specific implementation manners in this embodiment are as follows:

[0061] First, since the three-dimensional ocean topographic map can reflect the underwater topographic and geomorphic distribution state of the target sea area, the water depth at each position in the two-dimensional ocean topographic map can be obtained through the three-dimensional ocean topographic map. 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 and experience of the underwater vehicle. 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 ≤ the safety redundancy depth, in this embodiment, the grid area is marked as 1, indicating that there are obstacles or the safety redundancy depth is insufficient in the grid area and navigation is not possible. Otherwise, the grid area is marked as 0, indicating that there are no obstacles and safe navigation is possible. All grid areas are marked to obtain a marked topographic map.

[0062] Next, determine the large-step node positions in the grid area. In this embodiment, the large-step node positions are the grid centers of the grid areas marked as 0. Here, the large-step node positions can be arbitrarily set in one or several consecutive grid areas marked as 0. The grid areas marked as 0 in the marked topographic map are marked with nodes through the large-step node positions so that there is one node inside, and an initial node map is obtained.

[0063] S3: In the initial node map, according to the marking result and through the grid area for shading, calculate the shading parameter of each grid area to obtain a shaded node map;

[0064] Furthermore, the purpose of this stage is to obtain the shading parameters of the grid areas in the initial node map to obtain a shaded node map. Specifically, step S3 specifically includes:

[0065] S31: In the initial node map, select a target grid, obtain the marking results of the target grid and other grid areas around the target grid, calculate the mean value of the marking results of the target grid and other grid areas around the target grid to obtain the shading parameter of the target grid;

[0066] S32: By repeating step S31 to traverse all grid areas in the initial node map, obtain the shading parameter of each grid area to obtain the shaded node map.

[0067] For the above steps, the specific implementation in this embodiment is as follows:

[0068] First, in the initial node graph, select a grid area as the target grid. Then, obtain the annotation results of the target grid and other grid areas around the target grid, and calculate the average value of the annotation results of the target grid and other grid areas around the target grid, so as to obtain the shading parameter. Here, when the target grid is located at the corner of the initial node graph, there are a total of four grid areas including the target grid and other grid areas around the target grid. 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.

[0069] Finally, repeat step S31 to traverse all the grid areas in the initial node graph, obtain the shading parameter of each grid area, and obtain the shaded node graph.

[0070] S4: In the shaded node graph, obtain the risk grid through the shading parameter, and perform small-step node division in the risk grid to obtain the intermediate node graph;

[0071] Furthermore, the purpose of this stage is to determine the risk grid and perform small-step node division in the risk grid to obtain the intermediate node graph. Specifically, in step S4, after determining the risk grid, determine the small-step node positions, and mark in the risk grid through the small-step node positions to obtain the intermediate node graph.

[0072] For the above steps, the specific implementation method in this embodiment is as follows:

[0073] First, determine the risk grid in the shaded node graph. Here, the risk grid refers to a grid area that does not have obstacles inside itself, that is, the grid area is marked as 0 itself, but this grid area is close to an obstacle or has insufficient safety redundancy depth. Such grid areas are classified as risk grids. Therefore, the shading parameter of the risk grid is not 0. Figure 2 is a schematic diagram of the risk grid. Among them, the grid area marked as 0 itself and with a shading parameter of 0 is called a safety grid, and the grid area marked as 1 itself is called an obstacle grid. Since the risk grid is close to an obstacle, it is necessary to determine the small-step node positions and perform small-step node division through the small-step node positions. In this embodiment, the small-step node positions are 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 positions, their positions, quantities, and specific distribution methods in the risk grid can be flexibly determined. Mark through the small-step node positions in all risk grids to obtain the intermediate node graph.

[0074] S5: Obtain the hydrological parameters of the target sea area, establish a navigation safety evaluation matrix based on 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.

[0075] Further, the purpose of this stage is to establish a navigation safety evaluation matrix through hydrological parameters and obtain the evaluation result of the dangerous area through fuzzy synthesis, so as to screen the intermediate node graph to obtain a target node graph, and finally determine the navigation route of the underwater vehicle through the target node graph. Specifically, step S5 specifically includes:

[0076] S51: Obtain the hydrological parameters of the target sea area, establish a 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;

[0077] 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 the screening conditions, and screen the intermediate node graph according to the screening conditions to obtain a target node graph;

[0078] 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 limitation of the spatial angle constraint.

[0079] For the above steps, the specific implementation in this embodiment is as follows:

[0080] First, obtain the hydrological parameters of the target sea area. In this embodiment, the hydrological parameters include the turbulence intensity, internal wave intensity, and the change value of seawater density per unit depth at each position in the target sea area. Establish a navigation safety index set of the risk grid through the hydrological parameters, including the distance between each node in the risk grid and the nearest obstacle, turbulence intensity, internal wave intensity, and the change value of seawater density per unit depth. Establish a navigation safety evaluation matrix R of the nodes in the risk grid through the navigation safety index set:

[0081]

[0082] Among them, is the membership degree of the distance between the node and the nearest obstacle to the distance between the node and the nearest obstacle, and the value in this embodiment is 1. is the membership degree of the distance between the node and the nearest obstacle to the turbulence intensity. is the membership degree of the distance between the node and the nearest obstacle to the internal wave intensity. is the membership degree of the distance between the node and the nearest obstacle to the change value of seawater density within a unit depth, is the membership degree of the turbulence intensity to the distance between the node and the nearest obstacle, is the membership degree of the turbulence intensity to the turbulence intensity, which takes the value of 1 in this embodiment, is the membership degree of the turbulence intensity to the internal wave intensity, is the membership degree of the turbulence intensity to the change value of seawater density within a unit depth, is the membership degree of the internal wave intensity to the distance between the node and the nearest obstacle, is the membership degree of the internal wave intensity to the turbulence intensity, is the membership degree of the internal wave intensity to the internal wave intensity, which takes the value of 1 in this embodiment, is the membership degree of the internal wave intensity to the change value of seawater density within a unit depth, is the membership degree of the change value of seawater density within a unit depth to the distance between the node and the nearest obstacle, is the membership degree of the change value of seawater density within a unit depth to the turbulence intensity, is the membership degree of the change value of seawater density within a unit depth to the internal wave intensity, is the membership degree of the change value of seawater density within a unit depth to the change value of seawater density within a unit depth, which takes the value of 1 in this embodiment. The specific values of each membership degree can be determined through the membership degree function and experience.

[0083] Next, construct the weight vector A. The weight vector is the weight of each influencing factor in the navigation safety index set. In this embodiment, the weight vector corresponds to four influencing factors in the navigation safety index set, with a total of four values, and all four values are taken as 1. The number of weights and the specific values in the weight vector can be flexibly determined according to needs. Subsequently, perform fuzzy composition operation on the navigation safety evaluation matrix and the weight vector:

[0084]

[0085] where B is the evaluation result, is for fuzzy composition, that is, performing the composition 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 highest value of the first one represents very safe, the highest value of the second one represents safe, the highest value of the third one represents average, and the highest value of the fourth one represents dangerous. Obtain the evaluation results of each node in the risk grid. Then determine the screening condition. 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.

[0086] Finally, all the target node maps in the target sea area are obtained by using the above method, and all the target node maps are set at the corresponding positions in the target sea area according to the depth and position relationship, so as to Figure 3 as shown in, obtain the node distribution map in the target sea area, determine the starting point and the ending point of the unmanned vehicle in the target sea area, connect the nodes between the starting point and the ending point, and take the path formed by the shortest connecting line among them to obtain the navigation route of the underwater vehicle. In this embodiment, in order to further save computing resources, nodes in the grid area marked as 0 and with a smearing parameter of 0 can be further streamlined, that is, some nodes in the continuous grid area marked as 0 and with a smearing parameter of 0 are deleted. During the process of determining the navigation route of the underwater vehicle by connecting the lines, the spatial angle constraint also needs to be observed, that is, in the navigation route of the underwater vehicle, the angle between the connecting lines of two nodes in the vertical direction shall not be greater than the angle threshold determined according to experience, so as to avoid being unable to navigate according to the navigation route due to exceeding the performance of the underwater vehicle.

[0087] The present invention effectively provides a method for planning the navigation route of an underwater vehicle with high efficiency and fully considering the safety impact of hydrological conditions on the underwater vehicle by combining hydrological conditions and a three-dimensional ocean topographic map.

[0088] The underwater route planning device based on hydrology provided by the present invention is described below. The underwater route planning device based on hydrology described below can be mutually referred to with the underwater route planning method based on hydrology described above.

[0089] Figure 4 The structural schematic diagram of the underwater route planning system based on hydrology is exemplified, as Figure 4 shown, for executing the underwater route planning method based on hydrology as described above, including:

[0090] Grid topographic map module 100: used to determine the target sea area, obtain the 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 perform grid division on the two-dimensional ocean topographic map to obtain a grid topographic map including grid areas;

[0091] Initial node map module 200: used to obtain the minimum water depth of the grid area in the grid topographic map, mark the grid topographic map through the minimum water depth to obtain a marked topographic map including the marking result, and perform large-step node division in the marked topographic map to obtain an initial node map;

[0092] Smearing node map module 300: used to smear in the initial node map according to the marking result and through the grid area, calculate the smearing parameter of each grid area, and obtain a smearing node map;

[0093] Intermediate Node Map Module 400: Used to obtain a risk grid through rendering parameters in the rendering node map, perform small-step node division in the risk grid to obtain an intermediate node map;

[0094] Navigation Route Planning Module 500: 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 map according to the evaluation result to obtain a target node map, and determine the navigation route of the underwater vehicle through the target node map.

[0095] On the other hand, Figure 5 An example of a schematic physical structure of an electronic device is shown as Figure 5 shown. The electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840. Among them, the processor 810, the communication interface 820, and the memory 830 complete mutual communication through the communication bus 840. The processor 810 can call the logical instructions in the memory 830 to execute a hydrology-based underwater route planning method, and the method includes:

[0096] S1: Determine the target sea area, obtain the 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 perform grid division on the two-dimensional ocean topographic map to obtain a grid topographic map including grid areas;

[0097] S2: Obtain the minimum water depth of the grid area in the grid topographic map, label the grid topographic map through the minimum water depth to obtain a labeled topographic map including the labeling result, and perform large-step node division in the labeled topographic map to obtain an initial node map;

[0098] S3: In the initial node map, according to the labeling result and through the grid area for rendering, calculate the rendering parameters of each grid area to obtain a rendering node map;

[0099] S4: In the rendering node map, obtain a risk grid through the rendering parameters, perform small-step node division in the risk grid to obtain an intermediate node map;

[0100] S5: 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 map according to the evaluation result to obtain a target node map, and determine the navigation route of the underwater vehicle through the target node map.

[0101] In addition, when the logical instructions in the above-mentioned memory 830 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0102] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the hydrography-based underwater route planning method provided by the above-mentioned various methods. The method includes:

[0103] S1: Determine the target sea area, obtain the 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 perform grid division on the two-dimensional ocean topographic map to obtain a grid topographic map including grid areas;

[0104] S2: Obtain the minimum water depth of the grid area in the grid topographic map, annotate the grid topographic map through the minimum water depth to obtain an annotated topographic map including the annotation result, and perform large-step node division in the annotated topographic map to obtain an initial node map;

[0105] S3: In the initial node map, according to the annotation result, and through the grid area for shading, calculate the shading parameter of each grid area to obtain a shaded node map;

[0106] S4: In the shaded node map, obtain a risk grid through the shading parameter, perform small-step node division in the risk grid to obtain an intermediate node map;

[0107] S5: Obtain the hydrographic parameters of the target sea area, establish a navigation safety evaluation matrix through the hydrographic 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 map according to the evaluation result to obtain a target node map, and determine the navigation route of the underwater vehicle through the target node map.

[0108] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is used to execute the hydrology-based underwater route planning method provided by the above-mentioned various methods. The method includes:

[0109] S1: Determine the target sea area, obtain the 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 perform grid division on the two-dimensional ocean topographic map to obtain a grid topographic map including grid areas;

[0110] S2: Obtain the minimum water depth of the grid area in the grid topographic map, annotate the grid topographic map through the minimum water depth to obtain an annotated topographic map including the annotation result, and perform large-step node division in the annotated topographic map to obtain an initial node map;

[0111] S3: In the initial node map, according to the annotation result, and through the grid area for shading, calculate the shading parameter of each grid area to obtain a shaded node map;

[0112] S4: In the shaded node map, obtain the risk grid through the shading parameter, perform small-step node division in the risk grid to obtain an intermediate node map;

[0113] S5: 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 map according to the evaluation result to obtain a target node map, and determine the navigation route of the underwater vehicle through the target node map.

[0114] The device 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 may be 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. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0115] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable 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.

[0116] 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 them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hydrology-based underwater route planning method, characterized in that, Including: S1: Determine the target sea area, obtain the 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 perform grid division on the two-dimensional ocean topographic map to obtain a grid topographic map including grid areas; S2: Obtain the minimum water depth of the grid area in the grid topographic map, annotate the grid topographic map with the minimum water depth to obtain an annotated topographic map including the annotation result, and perform large-step node division in the annotated topographic map to obtain an initial node map; S3: In the initial node map, according to the annotation result and through the grid area for shading, calculate the shading parameter of each grid area to obtain a shaded node map; S4: In the shaded node map, obtain a risk grid through the shading parameter, perform small-step node division in the risk grid to obtain an intermediate node map; S5: 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 map according to the evaluation result to obtain a target node map, and determine the navigation route of the underwater vehicle through the target node map.

2. The underwater route planning method based on hydrology according to claim 1, wherein Step S1 specifically includes: S11: Determine the target sea area, conduct topographic surveys on the target sea area to obtain the three-dimensional ocean topographic map of the target sea area; S12: Perform isobath cross-section layering on the three-dimensional ocean topographic map according to the water depth to obtain a two-dimensional ocean topographic map, and perform grid division on the two-dimensional ocean topographic map to obtain a grid topographic map including grid areas.

3. The underwater route planning method based on hydrology according to claim 1, characterized in that Step S2 specifically includes: S21: Obtain the minimum water depth in each grid area through the three-dimensional ocean topographic map, determine the safety redundancy depth, and annotate the grid topographic map with the safety redundancy depth and the minimum water depth to obtain the annotated topographic map including the annotation result; S22: Determine the large-step node positions in the grid area, and perform node annotation in the annotated topographic map through the large-step node positions to obtain the initial node map.

4. The underwater route planning method based on hydrology according to claim 1, characterized in that Step S3 specifically includes: S31: In the initial node map, select a target grid, obtain the annotation results of the target grid and other grid areas around the target grid, calculate the mean value of the annotation results of the target grid and other grid areas around the target grid to obtain the shading parameter of the target grid; S32: By repeating step S31 to traverse all grid areas in the initial node map, obtain the shading parameter of each grid area to obtain the shaded node map.

5. The underwater route planning method based on hydrology according to claim 1, characterized in that In step S4, after determining the risk grid, determine the small-step node positions, and perform annotation in the risk grid through the small-step node positions to obtain the intermediate node map.

6. The underwater route planning method based on hydrology according to claim 1, wherein Step S5 specifically includes: S51: Obtain the hydrological parameters of the target sea area, establish a navigation safety index set for 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 composition on the navigation safety evaluation matrix and the weight vector through fuzzy composition operation to obtain an evaluation result, determine screening conditions, and screen the intermediate node graph through the screening conditions 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 graphs under the limitation of the spatial angle constraint.

7. A hydrology-based underwater route planning system for performing the hydrology-based underwater route planning method according to any one of claims 1 to 6, characterized in that, Including: Gridded topographic map module: used to determine the target sea area, obtain the 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 perform gridded division on the two-dimensional ocean topographic map to obtain a gridded topographic map including grid areas; Initial node graph module: used to obtain the minimum water depth of the grid area in the gridded topographic map, mark the gridded topographic map through the minimum water depth to obtain a marked topographic map including the marking result, and perform large-step node division in the marked topographic map to obtain an initial node graph; Shaded node graph module: used to shade in the initial node graph according to the marking result and through the grid area, calculate the shading parameter of each grid area to obtain a shaded node graph; Intermediate node graph module: used to obtain a risk grid through the shading parameter in the shaded node graph, and perform small-step node division in the risk grid to 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, perform fuzzy composition 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.

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

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

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 the computer, the computer can execute the steps of the hydrology-based underwater route planning method according to any one of claims 1 to 6.

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