Unmanned ship navigation control system based on virtual navigation control service

Abstract

The invention provides an unmanned ship navigation control method based on a virtual navigation control service. The unmanned ship navigation control method based on the virtual navigation control service comprises the following steps: acquiring unmanned ship navigation data according to a sensor preset on an unmanned ship, and sending the unmanned ship navigation data to a virtual navigation control server; different virtual navigation control modules are distributed through the virtual navigation control server according to the unmanned ship navigation data and received task requirements; and the virtual navigation control module obtains a navigation control instruction according to the navigation data of the unmanned ship and a preset route planning strategy, and sends the navigation control instruction to the unmanned ship through the virtual navigation control server so as to control the navigation of the unmanned ship. The route planning of the unmanned ship is calculated through the virtual navigation control module, navigation of the unmanned ship is controlled based on the route planning, and the technical problems that in the prior art, no calculation resource configuration is reasonable, and navigation control of the unmanned ship is poor in adaptability and slow in response are solved.

Description

Technical field:

[0001] The present invention relates to the field of unmanned boat navigation control, and in particular to an unmanned boat navigation control system based on virtual navigation control service. Background technology:

[0002] Unmanned surface vehicle (USV) is a kind of ship that can navigate autonomously and does not require human control. It uses advanced sensors, navigation systems and navigation control algorithms to perform various tasks in oceans, lakes, rivers and other waters, such as marine scientific research, marine monitoring, underwater surveys, rescue missions, etc. However, for the complex and changing marine environment and mission requirements, traditional localized control methods may face some challenges, such as limited computing resources, poor adaptability, slow response speed, etc. In order to overcome these problems and realize more advanced control strategies, the navigation control method of unmanned surface vehicle based on virtual navigation control service came into being.

[0003] Therefore, there is an urgent need for an unmanned boat navigation control system based on virtual navigation control services, which can help solve the technical problem of the lack of an unreasonable configuration of computing resources in the existing technology, resulting in poor adaptability and slow response of the unmanned boat navigation control. Summary of the invention:

[0004] In one embodiment, the present invention provides an unmanned boat navigation control method based on a virtual navigation control service, in which the route planning of the unmanned boat is calculated by a virtual navigation control module, and the navigation of the unmanned boat is controlled based on this. This helps to solve the technical problem in the prior art that the computing resources are not reasonably configured, resulting in poor adaptability and slow response of the unmanned boat navigation control.

[0005] The unmanned boat navigation control method based on virtual navigation control service includes:

[0006] The navigation data of the unmanned boat is obtained according to the sensors preset in the unmanned boat and sent to the virtual navigation control server;

[0007] Allocating different virtual navigation control modules through the virtual navigation control server according to the unmanned boat navigation data and the received mission requirements;

[0008] The virtual navigation control module obtains a navigation control instruction according to the navigation data of the unmanned boat according to a preset route planning strategy, and then sends the navigation control instruction to the unmanned boat through the virtual navigation control server to control the navigation of the unmanned boat.

[0009] In one embodiment, the unmanned boat navigation control method based on virtual navigation control service includes:

[0010] The unmanned boat navigation data includes GPS data, inertial navigation data, and visual data.

[0011] In one embodiment, the virtual navigation control server can deploy and call multiple virtual navigation control modules, and the virtual navigation control modules are isolated from each other.

[0012] In one embodiment, the route planning strategy includes PID control, path planning algorithm, and obstacle avoidance algorithm.

[0013] In one embodiment, the virtual navigation control server can dynamically call different virtual navigation control modules according to changes in the unmanned boat navigation data and the mission requirements.

[0014] In one embodiment, the virtual navigation control server is further used to monitor the mission scenario and environmental data in real time to switch the virtual navigation control module corresponding to the route planning strategy.

[0015] In one embodiment, the present invention further provides an unmanned boat navigation control system based on a virtual navigation control service, wherein the unmanned boat navigation control system based on a virtual navigation control service comprises the unmanned boat and the virtual navigation control server as described above, and the virtual navigation control module;

[0016] In one embodiment, the virtual navigation control server is used to obtain the unmanned boat navigation data according to the sensors preset in the unmanned boat and send it to the virtual navigation control server; different virtual navigation control modules are allocated through the virtual navigation control server according to the unmanned boat navigation data and the received mission requirements; the virtual navigation control module obtains the navigation control instruction according to the unmanned boat navigation data according to the preset route planning strategy, and then sends it to the unmanned boat through the virtual navigation control server to control the navigation of the unmanned boat.

[0017] In one embodiment, the sensors of the unmanned boat include GPS navigation, camera, inertial navigation system, and sonar.

[0018] In one embodiment, the virtual navigation control server further includes a decision-making module and a navigation control algorithm module, as well as a control instruction generation module and a data receiving module.

[0019] In one embodiment, the virtual navigation control module further includes module A and module B, and module C and module D;

[0020] The module A is used for maritime navigation tasks and includes control algorithms for environmental factors such as ocean currents and wind direction, as well as strategies for avoiding maritime obstacles;

[0021] The module B is used for lake and river navigation tasks, including lake / river specific navigation path planning algorithms and coastal obstacle avoidance strategies;

[0022] The module C is used for night navigation missions and includes navigation and target recognition algorithms in infrared or low-light environments;

[0023] The module D is used for emergency rescue missions and has a control strategy for high-speed response and rapid path planning. Description of the drawings:

[0024] Figure 1 It is a schematic diagram of an unmanned boat navigation control method based on virtual navigation control service in one embodiment of the present invention;

[0025] Figure 2 A schematic diagram of a virtualized architecture of navigation control capability in another embodiment of the present invention;

[0026] Figure 3 A schematic diagram of a scheduling process of a dynamic virtual navigation control module in another embodiment of the present invention;

[0027] Figure 4 Schematic diagram of an intelligent multi-module virtual navigation control system architecture in another embodiment of the present invention. Specific implementation method:

[0028] The unmanned boat navigation control method based on virtual navigation control service abstracts the navigation control capability of the unmanned boat from the local system and transfers it to a remote virtual navigation control server. Through virtualization technology, the control task of the unmanned boat is separated from the local environment and can be executed on a more powerful remote server, providing more advanced navigation control capabilities. Sensor data is transmitted from the unmanned boat to the virtual navigation control server, and then the server makes navigation decisions and path planning, generates control instructions and returns them to the unmanned boat for execution. At the same time, virtualization technology also allows multiple virtual navigation control modules to coexist, and dynamically switch to call the appropriate control module according to task requirements and environmental changes, so as to achieve flexible adaptation to different task scenarios.

[0029] Figure 1 It is a schematic diagram of an unmanned boat navigation control method based on virtual navigation control service in one embodiment of the present invention; Figure 2 A schematic diagram of a virtualized architecture of navigation control capability in another embodiment of the present invention; Figure 3 A schematic diagram of a scheduling process of a dynamic virtual navigation control module in another embodiment of the present invention; Figure 4 FIG. 1 is a schematic diagram of an intelligent multi-module virtual navigation control system architecture according to another embodiment of the present invention. Figures 1 to 4 As shown, in one embodiment, the present invention provides an unmanned boat navigation control method based on a virtual navigation control service, and the unmanned boat navigation control method based on a virtual navigation control service includes:

[0030] S101, obtaining the navigation data of the unmanned boat according to the sensors preset in the unmanned boat and sending it to the virtual navigation control server.

[0031] In this step, a specific step is provided for obtaining the navigation data of the unmanned boat according to the sensors preset in the unmanned boat and sending the data to the virtual navigation control server.

[0032] S102: allocating different virtual navigation control modules through the virtual navigation control server according to the unmanned boat navigation data and received mission requirements.

[0033] In this step, a specific step is provided for allocating different virtual navigation control modules through the virtual navigation control server according to the unmanned boat navigation data and the received mission requirements.

[0034] S103, the virtual navigation control module obtains a navigation control instruction according to the navigation data of the unmanned boat according to a preset route planning strategy, and then sends the navigation control instruction to the unmanned boat through the virtual navigation control server to control the navigation of the unmanned boat.

[0035] In this step, a specific step is provided in which the virtual navigation control module obtains navigation control instructions according to the unmanned boat navigation data in accordance with a preset route planning strategy, and then sends the instructions to the unmanned boat through the virtual navigation control server to control the navigation of the unmanned boat.

[0036] In this embodiment, a specific implementation of an unmanned boat navigation control method based on a virtual navigation control service is provided.

[0037] Among them, the virtual navigation control module;

[0038] In order to realize virtual navigation control, the navigation control capability needs to be abstracted into an independent virtual navigation control module. Each virtual navigation control module represents a specific navigation control strategy, and different modules can be designed according to mission requirements and environmental changes.

[0039] Virtual navigation control server;

[0040] The virtual flight control server is a remote computer or cloud computing platform used to deploy the virtual flight control module. The server should have sufficient computing power and storage space to handle large amounts of data processing and complex algorithm calculations.

[0041] Data transmission and interaction;

[0042] The sensors on the unmanned boat transmit data to the virtual navigation control server through the network. The virtual navigation control server receives the sensor data and processes the data and makes navigation decisions. The server generates control instructions and transmits the instructions back to the local system of the unmanned boat through the network to realize navigation control.

[0043] In one embodiment, the unmanned boat navigation control method based on virtual navigation control service includes:

[0044] The unmanned boat navigation data includes GPS data, inertial navigation data, and visual data.

[0045] In one embodiment, the virtual navigation control server can deploy and call multiple virtual navigation control modules, and the virtual navigation control modules are isolated from each other. Multiple virtual navigation control module instances can be run on the server, and virtualization technology is used to achieve mutual isolation to ensure that the modules do not interfere with each other.

[0046] In one embodiment, the route planning strategy includes PID control, path planning algorithm, and obstacle avoidance algorithm.

[0047] In one embodiment, the virtual navigation control server can dynamically call different virtual navigation control modules according to the changes in the navigation data of the unmanned boat and the mission requirements. Dynamic calling means dynamically selecting a suitable virtual navigation control module according to changes in mission requirements or environmental conditions during navigation. This requires the central control system to monitor sensor data and environmental information in real time and select a suitable module according to actual needs. In this way, the unmanned boat can flexibly adapt to different scenarios and tasks and obtain better navigation performance.

[0048] In one embodiment, the virtual navigation control server is also used to monitor the mission scenario and environmental data in real time to switch the virtual navigation control module corresponding to the route planning strategy. Multiple virtual navigation control modules are run on the remote virtual navigation control server, and the appropriate control module is dynamically switched and called according to the mission requirements and environmental changes. In order to achieve this, it is necessary to design a central control system or strategy to monitor the mission scenario and environmental data and select the appropriate virtual navigation control module according to the switching strategy. The control instruction is sent to the server, requiring switching to the specified virtual navigation control module instance.

[0049] In one embodiment, the present invention further provides an unmanned boat navigation control system based on a virtual navigation control service, wherein the unmanned boat navigation control system based on a virtual navigation control service comprises the unmanned boat and the virtual navigation control server as described above, and the virtual navigation control module;

[0050] The virtual navigation control server is used to obtain the navigation data of the unmanned boat according to the sensors preset in the unmanned boat and send it to the virtual navigation control server; different virtual navigation control modules are allocated through the virtual navigation control server according to the navigation data of the unmanned boat and the received mission requirements; the virtual navigation control module obtains the navigation control instruction according to the navigation data of the unmanned boat according to the preset route planning strategy, and then sends it to the unmanned boat through the virtual navigation control server to control the navigation of the unmanned boat.

[0051] In one embodiment, the virtual navigation control server is used to obtain the unmanned boat navigation data according to the sensors preset in the unmanned boat and send it to the virtual navigation control server; different virtual navigation control modules are allocated through the virtual navigation control server according to the unmanned boat navigation data and the received mission requirements; the virtual navigation control module obtains the navigation control instruction according to the unmanned boat navigation data according to the preset route planning strategy, and then sends it to the unmanned boat through the virtual navigation control server to control the navigation of the unmanned boat.

[0052] In one embodiment, the sensors of the unmanned boat include GPS navigation, camera, inertial navigation system, and sonar.

[0053] In one embodiment, the virtual navigation control server further includes a decision-making module and a navigation control algorithm module, as well as a control instruction generation module and a data receiving module.

[0054] In one embodiment, the virtual navigation control module further includes module A and module B, and module C and module D;

[0055] The module A is used for maritime navigation tasks and includes control algorithms for environmental factors such as ocean currents and wind direction, as well as strategies for avoiding maritime obstacles;

[0056] The module B is used for lake and river navigation tasks, including lake / river specific navigation path planning algorithms and coastal obstacle avoidance strategies;

[0057] The module C is used for night navigation missions and includes navigation and target recognition algorithms in infrared or low-light environments;

[0058] The module D is used for emergency rescue missions and has a control strategy for high-speed response and rapid path planning.

[0059] The application of virtualization technology in unmanned boat navigation control has significant advantages and challenges. Specifically, its advantages are as follows:

[0060] More powerful computing and data processing capabilities: The remote virtual navigation control server has higher-performance computing power and storage space, can execute complex navigation control algorithms, and provide more accurate and efficient navigation control.

[0061] Multi-module switching and dynamic calling: Through the switching and calling of multiple virtual navigation control modules, the unmanned boat can flexibly switch between different mission scenarios to achieve highly adaptable and intelligent navigation control.

[0062] Global remote control: Since navigation control tasks are concentrated on remote servers, global remote control and monitoring can be achieved through the Internet, realizing centralized management of multiple unmanned boats.

[0063] Challenges it faces:

[0064] Network communication stability: Real-time data transmission has high requirements for network communication, and it is necessary to ensure network stability and low latency to ensure the timeliness and accuracy of navigation control.

[0065] Security assurance: The navigation control of unmanned boats involves a large amount of sensor data and control instructions. It is necessary to ensure the security of data transmission to prevent data leakage and hacker attacks.

[0066] Virtualization technology cost: Building a high-performance virtual navigation control server requires corresponding costs, including server hardware, virtualization software and maintenance costs.

[0067] The unmanned boat navigation control method based on virtual navigation control service brings more powerful, flexible and intelligent navigation control capabilities to the unmanned boat system. By abstracting the navigation control capability from the local virtualization, remote control and intelligent decision-making can be achieved on a global scale, providing more possibilities for unmanned boats in the fields of marine science, marine monitoring, rescue missions, etc. At the same time, it is also necessary to overcome challenges such as network communication, security assurance and virtualization technology costs, and continuously improve and optimize the unmanned boat navigation control system to achieve safer, more efficient and intelligent navigation control.

[0068] Compared with the unmanned boat navigation control method based on virtual navigation control service, the traditional method has some defects and limitations. These defects prompted us to propose a new method to overcome the limitations of the traditional method and achieve more advanced unmanned boat navigation control.

[0069] Limited computing power and storage space: Traditional unmanned boat navigation control methods usually implement navigation decisions and control command generation in the local system of the unmanned boat. However, the computing power and storage space of the local system of the unmanned boat are limited, and it is difficult to support complex navigation algorithms and decision models. This results in the limited navigation control capabilities of the unmanned boat, making it difficult to adapt to complex and changing environments and mission requirements.

[0070] Poor adaptability: Traditional unmanned boat navigation control methods are usually optimized for specific tasks and environments, lacking flexibility and adaptability. Once the environment or mission changes, the existing control algorithms and strategies may no longer be applicable and need to be re-optimized and adjusted. This results in the inefficiency of unmanned boats in dealing with new mission scenarios and their inability to fully realize their potential.

[0071] Communication delay: The traditional navigation control method of unmanned boats usually sends sensor data to the local system through wireless communication, and then returns the control instructions to the unmanned boat for execution. However, due to the delay of the communication link, the transmission of control instructions may have a certain delay, which affects the real-time and accuracy of navigation control.

[0072] Data security risk: In the traditional unmanned boat navigation control method, the navigation control algorithm and decision-making strategy are usually stored in the local system of the unmanned boat. This may lead to data security risks. If the unmanned boat is attacked or illegally invaded, the control algorithm may be leaked or tampered with, thus endangering the safety of the unmanned boat.

[0073] We propose a method for unmanned boat navigation control based on virtual navigation control services to overcome the defects of traditional methods, improve the navigation control capability and adaptability of unmanned boats, and achieve more intelligent, efficient and safe unmanned boat navigation control. The specific reasons are as follows:

[0074] Improve computing power and storage space: The virtual navigation control service-based method abstracts the navigation control capability from the local system of the unmanned boat and transfers it to the remote virtual navigation control server. The remote server has more powerful computing power and storage space, and can execute complex navigation algorithms and decision models, improving the accuracy and real-time performance of navigation control.

[0075] Achieve flexible adaptation: In the method based on virtual navigation control service, we designed multiple virtual navigation control modules and switched and called these modules according to mission requirements and environmental changes. Each virtual navigation control module represents a specific navigation control strategy, such as suitable for different mission scenarios such as sea navigation, lake and river navigation, and night navigation. This flexibility enables the unmanned boat to adjust the control strategy in real time according to mission requirements, improving the completion rate and efficiency of the mission.

[0076] Realize global remote control: The method based on virtual flight control service allows unmanned boats to achieve global remote control and monitoring through the Internet. In this way, unmanned boats can perform tasks in remote places, such as marine scientific research, underwater surveys, etc., and realize global applications and services.

[0077] Improve data security: In the method based on virtual navigation control service, the navigation control algorithm and decision-making strategy are no longer stored in the local system of the unmanned boat, but run on the remote virtual navigation control server. In this way, the local system of the unmanned boat only needs to transmit sensor data and receive control instructions, which reduces data security risks and ensures the security of navigation control.

[0078] In summary, the unmanned boat navigation control method based on virtual navigation control service has obvious advantages, which can overcome the limitations of traditional methods, improve the navigation control capability and adaptability of unmanned boats, and realize more advanced and intelligent unmanned boat navigation control. This will bring broader development space for the application field of unmanned boats and promote the continuous progress and innovation of unmanned boat technology.

[0079] 3. Technical solution

[0080] In the unmanned boat navigation control method designed by us based on virtual navigation control service, the following two points are proposed to address the above defects:

[0081] A method for virtualization of navigation control capability is proposed;

[0082] In this design, we abstract the navigation control capability of the unmanned boat from the local system and transfer it to a remote virtual navigation control server through virtualization technology.

[0083] Sensor data collection: The unmanned boat is equipped with various sensors to perceive the environment, collect data, and transmit the data to the virtual navigation control server through the network.

[0084] Virtual navigation control server: The remote virtual navigation control server receives sensor data and implements navigation control decisions based on pre-defined algorithms and control models.

[0085] Control command transmission: The virtual navigation control server generates navigation control commands and transmits them back to the local system of the unmanned boat through the network.

[0086] Unmanned boat execution: The local system of the unmanned boat receives the control instructions sent back by the virtual navigation control server and executes the corresponding navigation actions.

[0087] A navigation control method for unmanned boats with multiple virtual navigation control modules coexisting and switching on demand is proposed.

[0088] In order to meet dynamic needs and adapt to different mission scenarios, we can design multiple virtual navigation control modules and switch and call them according to actual conditions.

[0089] Virtual navigation control module: Multiple virtual navigation control modules can be designed for different types of tasks and environments. Each module contains specific control algorithms, planning methods and decision-making strategies.

[0090] Virtual navigation control module switching: According to mission requirements and environmental changes, the virtual navigation control module is switched through the central control system or pre-set strategies.

[0091] Dynamic call: During the navigation process, when the mission requirements change or the environmental conditions change, the appropriate virtual navigation control module is dynamically called according to actual needs.

[0092] Module coexistence: Different virtual navigation control modules can coexist on the remote virtual navigation control server and be switched and called as needed, so as to flexibly adapt to the requirements of different tasks.

[0093] By virtualizing the navigation control capability and implementing the switching call of multiple virtual navigation control modules, this design can provide a more flexible and intelligent solution for the navigation control of unmanned boats. At the same time, the virtualization method can also provide the unmanned boat system with more powerful computing and data processing capabilities, and realize more advanced navigation control functions. However, the implementation of the actual system also needs to fully consider the stability of network communication, data security and other aspects to ensure the reliability and security of the system.

[0094] 4. Beneficial effects

[0095] The unmanned boat navigation control method we designed based on virtual navigation control service has more advantages. Specifically:

[0096] Improve navigation control capabilities: The unmanned boat navigation control method based on virtual navigation control services abstracts the navigation control capabilities from the local system and transfers them to the remote virtual navigation control server. This can fully utilize the high-performance computing power and storage space of the remote server to improve the accuracy and real-time performance of navigation control decisions. The virtual navigation control server can process the navigation data of multiple unmanned boats in parallel, realize the centralized management and control of large-scale unmanned boats, and enable unmanned boats to perform autonomous navigation and mission execution in more complex environments.

[0097] Flexible adaptation to different mission scenarios: In the method based on virtual navigation control service, we designed multiple virtual navigation control modules and switched and called these modules according to mission requirements and environmental changes. Each virtual navigation control module represents a specific navigation control strategy, such as suitable for different mission scenarios such as sea navigation, lake and river navigation, and night navigation. This flexibility enables the unmanned boat to adjust the control strategy in real time according to mission requirements, improving the completion rate and efficiency of the mission.

[0098] Global remote control: By virtualizing and centralizing navigation control capabilities on remote servers, unmanned boats can be remotely controlled and monitored worldwide through the Internet. This means that there are no geographical restrictions and missions can be performed in distant oceans, lakes or rivers. This is of great significance for missions that require long-distance marine scientific research, underwater surveys or emergency rescue.

[0099] Multi-module switching and dynamic calling: Multiple virtual navigation control modules can coexist on the remote virtual navigation control server and can be dynamically called according to mission requirements and environmental changes. During the navigation process, the central control system continuously monitors sensor data and environmental information and selects the appropriate virtual navigation control module according to actual needs. This dynamic calling allows the unmanned boat to flexibly adapt to different scenarios and tasks and obtain better navigation performance.

[0100] Data security protection: By virtualizing and transferring the navigation control tasks from the local environment to the remote server, the local system of the unmanned boat only needs to transmit sensor data and receive control instructions, without carrying sensitive navigation control algorithms and decision-making strategies. This can effectively reduce the risks of the local system of the unmanned boat and improve the security and protection of data.

[0101] Reducing the burden on the local system of the unmanned boat: The virtual navigation control service makes it unnecessary for the local system of the unmanned boat to undertake complex navigation decision calculations and control command generation tasks. Most of the calculation tasks can be completed on the remote virtual navigation control server. In this way, the local system of the unmanned boat can focus more on collecting sensor data and executing control instructions, reducing its calculation burden and making the local system lighter and more efficient.

[0102] High scalability: The unmanned boat navigation control method based on virtual navigation control service is highly scalable. With the development of technology and changes in mission requirements, we can deploy new control modules on the virtual navigation control server to adapt to new mission scenarios and algorithm requirements. This high scalability makes the entire system more applicable and has development potential in the long term.

[0103] In general, the unmanned boat navigation control method based on virtual navigation control service has brought unprecedented advantages and beneficial effects to the navigation control of unmanned boats. By virtualizing the navigation control capability and concentrating it on the remote server, the navigation control capability is improved, flexible adaptation to different mission scenarios is achieved, global remote control, multi-module switching and dynamic calling are achieved, data security is guaranteed, the burden on the local system of the unmanned boat is reduced, and it is highly scalable. These advantages and beneficial effects have brought a broader development space for the application field of unmanned boats, and provided strong support for achieving major breakthroughs in unmanned boats in marine science, underwater surveys, rescue missions, etc. Through continuous improvement and optimization, the unmanned boat navigation control method based on virtual navigation control service is expected to play a more important role in the future and promote the rapid development and widespread application of unmanned boat technology.

[0104] This is further described as follows:

[0105] We have the following specific implementation methods for the virtualization of navigation control capabilities. In order to virtualize the navigation control capabilities of the unmanned boat, we need to abstract the navigation control process into an independent virtual navigation control module. This module should contain the following main components:

[0106] Data receiving module: responsible for receiving data from various sensors on the unmanned boat, such as GPS data, inertial navigation data, visual data, etc.

[0107] Navigation control algorithm module: contains various navigation control algorithms, such as PID control, path planning algorithm, obstacle avoidance algorithm, etc.

[0108] Decision-making module: Make navigation decisions based on sensor data and mission objectives and determine the next navigation action.

[0109] Control instruction generation module: Generates corresponding navigation control instructions, such as rudder angle control instructions, throttle control instructions, etc. according to the decision results and control algorithms.

[0110] Remote virtual navigation control server settings

[0111] In order to realize remote virtual navigation control, we need to deploy the virtual navigation control module on the remote server and ensure that the server has sufficient computing power and network bandwidth to process sensor data and execute the navigation control algorithm.

[0112] Choose the right server: Choose a high-performance server, which can be a dedicated physical server or a virtual server instance provided by a cloud computing service provider.

[0113] Virtualization technology selection: You can use virtual machine technology or container technology to create the operating environment of the virtual flight control module. Virtual machines provide higher isolation, while containers are lighter and quicker to start.

[0114] Data transfer and communication

[0115] Ensure that the sensor data on the unmanned boat can be transmitted to the remote virtual navigation control server through the network, and ensure that the control instructions can be transmitted back to the local system of the unmanned boat.

[0116] Communication protocol: Select an appropriate communication protocol to transmit data, such as TCP / IP or UDP.

[0117] Data encryption and security: Considering the secure transmission of data, encryption technology can be used to protect the confidentiality of data.

[0118] Multi-module switching and dynamic calling

[0119] In order to realize the switching and dynamic calling of multiple virtual navigation control modules, multiple independent virtual navigation control module instances can be set on the remote virtual navigation control server, and the appropriate module can be dynamically selected for calling according to the task requirements and environmental changes.

[0120] Dynamic call logic: Design a central control system or strategy to monitor mission requirements and environmental changes, and dynamically select appropriate virtual navigation control module instances for calling according to actual needs.

[0121] Module coexistence: ensure that multiple virtual navigation control module instances can coexist on the remote virtual navigation control server and switch calls as needed, so as to flexibly adapt to the requirements of different tasks.

[0122] By virtualizing the navigation control capability and concentrating the navigation control tasks on the remote server, more powerful computing and data processing capabilities can be achieved, enabling the unmanned boat to perform autonomous navigation and mission execution in more complex environments. At the same time, by switching and calling multiple virtual navigation control modules, the goal of flexibly adapting to different mission requirements can be achieved. Attention should be paid to ensuring the security and stability of data transmission, as well as the reliability and high performance of the server.

[0123] For the unmanned boat navigation control method with multiple virtual navigation control modules coexisting and switching calls as needed, we have the following specific implementation methods. In order to implement multiple virtual navigation control modules and design specific control algorithms and strategies for different tasks and environments, we can create the following virtual navigation control modules:

[0124] Module A: Applicable to maritime navigation tasks, including control algorithms for environmental factors such as ocean currents and wind direction, as well as strategies for avoiding maritime obstacles.

[0125] Module B: Applicable to lake and river navigation tasks, including lake / river specific navigation path planning algorithms and coastal obstacle avoidance strategies.

[0126] Module C: Suitable for night navigation missions, including navigation and target recognition algorithms in infrared or low-light environments.

[0127] Module D: Suitable for emergency rescue missions, with control strategies for high-speed response and rapid path planning.

[0128] Remote virtual navigation control server settings

[0129] In order to realize the coexistence and switching calls of multiple virtual navigation control modules, we need to create a corresponding virtual environment on the remote server and deploy an instance of each virtual navigation control module. The specific steps are as follows:

[0130] Choose a suitable server: Choose a high-performance server or a virtual server instance provided by a cloud computing service provider, and ensure that the server has sufficient computing power and storage space.

[0131] Virtualization technology selection: You can use virtual machine technology or container technology to create the operating environment of the virtual flight control module. Virtual machines provide higher isolation, while containers are lighter and quicker to start.

[0132] Module deployment: On the remote server, create an independent virtual environment for each virtual navigation control module, and deploy the corresponding control algorithms, strategies and decision modules into their respective virtual environments.

[0133] Virtual navigation control module switch call

[0134] In order to implement the switching call of the virtual navigation control module, we need to design a central control system or strategy to monitor task requirements and environmental changes, and dynamically select the appropriate virtual navigation control module instance for calling. The specific steps are as follows:

[0135] Switching strategy definition: According to the mission requirements and environmental changes, formulate the strategy for switching virtual navigation control modules. For example, when the mission needs to switch from sea navigation to lake navigation, select module B for calling.

[0136] Central control system: Design a central control system that is responsible for monitoring mission scenarios and environmental data, and selecting appropriate virtual navigation control modules based on switching strategies.

[0137] Module switching: When the central control system detects the need to switch the navigation control module, it will send a command to the remote server to switch to the specified virtual navigation control module instance.

[0138] Dynamic call

[0139] In order to dynamically call the virtual navigation control module, we need to implement the corresponding logic and algorithm in the central control system and dynamically select the appropriate virtual navigation control module according to actual needs. The specific steps are as follows:

[0140] Environmental data monitoring: The central control system continuously monitors sensor data and environmental information, such as ocean currents, wind direction, obstacles, etc.

[0141] Decision-making strategy: According to actual needs and mission objectives, the central control system runs the corresponding decision-making strategy and selects the most suitable virtual navigation control module.

[0142] Module call: Once the central control system determines the appropriate virtual navigation control module, it sends a command to the remote server to call the corresponding module.

[0143] Module coexistence:

[0144] In order to realize the coexistence of multiple virtual navigation control modules, ensure that they can exist on the remote server at the same time and switch calls as needed. The specific steps are as follows:

[0145] Virtual environment isolation: Create an independent virtual environment for each virtual navigation control module to ensure that they are isolated from each other and do not interfere with each other.

[0146] Resource allocation: According to the needs of each virtual navigation control module, the server's computing resources and storage space are reasonably allocated to ensure that they can run smoothly.

[0147] Switching and calling: According to the instructions of the central control system, timely switch and call different virtual navigation control modules to adapt to the requirements of different tasks.

[0148] By designing a switching calling method for multiple virtual navigation control modules, we can achieve flexible adaptation of the navigation control capability of the unmanned boat, dynamically call the appropriate control module according to the mission requirements and environmental changes, and improve the navigation performance and safety of the unmanned boat in different scenarios. At the same time, we must ensure the reliability and high performance of virtualization technology to ensure the stable operation of the virtual navigation control server.

[0149] like Figure 2 As shown, the figure described above is a workflow diagram of the unmanned boat navigation control method based on virtual navigation control service. The figure contains the following main components: sensor, data receiving module, navigation control algorithm module, decision module, control instruction generation module and unmanned boat local system. Let us explain the functions and interaction process of these components step by step.

[0150] sensor:

[0151] Sensors are devices installed on unmanned boats, including GPS, cameras, sonar, and inertial navigation systems. They are used to sense the environment around the unmanned boat and collect relevant data, such as location, attitude, obstacle information, etc. Through monitoring and detection, the sensors transmit the collected data to the local system of the unmanned boat for navigation control decisions.

[0152] Data receiving module:

[0153] The data receiving module is located on the virtual navigation control server and is responsible for receiving data from the unmanned boat sensor. This module parses and processes the information collected by the sensor and passes the processed data to the subsequent navigation control algorithm module.

[0154] Navigation control algorithm module:

[0155] The navigation control algorithm module is the core component of the virtual navigation control server. It performs navigation control calculations and decisions based on the received sensor data. The module runs a variety of navigation control algorithms, path planning strategies, and obstacle avoidance algorithms to achieve intelligent navigation and control of the unmanned boat.

[0156] Decision module:

[0157] After the navigation control algorithm module obtains the algorithm result of the navigation control, it passes it to the decision module. The decision module is responsible for comprehensively considering the current environmental information and task requirements, and further making decisions and adjusting strategies. This may involve consideration of factors such as task priority and dynamic environmental changes.

[0158] Control instruction generation module:

[0159] After the decision module generates the final navigation control decision, it passes it to the control instruction generation module. The control instruction generation module will generate corresponding control instructions based on the decision results, including speed, heading, steering angle and other information.

[0160] Unmanned boat local system:

[0161] The unmanned boat local system is the built-in control system of the unmanned boat, which receives control instructions from the virtual navigation control server and executes corresponding navigation actions. The unmanned boat local system includes actuators, navigation control units and other equipment, which can realize real-time control of the unmanned boat.

[0162] Through this unmanned boat navigation control method based on virtual navigation control service, the navigation control capability of the unmanned boat is abstracted from the local system and transferred to the remote virtual navigation control server. The sensor data is transmitted to the server in real time, and intelligent calculation and decision-making are performed through the navigation control algorithm module. Then, the decision module considers the mission requirements and environmental changes to make further decisions and generate control instructions. Finally, the control instructions are transmitted back to the local system of the unmanned boat to perform the corresponding navigation actions. This method can overcome the problems of insufficient computing power, poor adaptability, communication delay and data security risks of traditional methods, improve the navigation control capability and flexibility of unmanned boats, and promote the development and application of unmanned boat technology.

[0163] Figure 3 Sensor data and mission information are transmitted from the unmanned vehicle system to the mission and environmental monitoring system, which may involve environmental data, mission type, target location, etc.

[0164] The central control system and decision makers receive the monitored data and task information and make judgments and choices based on pre-defined decision strategies. The system may include task priorities, processing logic for environmental changes, etc.

[0165] The central control system and decision makers select the appropriate virtual navigation control module based on the decision strategy, and then send instructions to the remote virtualization and control server to activate the corresponding module.

[0166] After receiving the instruction, the remote virtualization and control server activates the corresponding virtual navigation control module, such as module A, module B, module C or module D, in the virtualization environment.

[0167] The virtual navigation control module (such as module A) runs in the virtual environment, processes the data from the unmanned boat sensors, executes specific control algorithms and strategies, and sends control instructions back to the unmanned boat system to achieve navigation control, such as Figure 4 shown.

[0168] This complex architecture diagram shows a system involving multiple virtual flight control modules. The core of the system is the central control system and decision maker, which is responsible for monitoring mission requirements and environmental changes and selecting appropriate virtual flight control modules based on pre-defined strategies. The summary is as follows:

[0169] Sensor system: responsible for collecting sensor data of the unmanned boat system, such as environmental data and mission information, and sending it to the mission and environment monitoring system.

[0170] Mission and environment monitoring system: Receives sensor data and mission information, monitors the mission environment of the unmanned boat in real time, and provides relevant information to the central control system.

[0171] Central control system and decision maker: Based on the monitored data and mission information, it runs decision strategies to select the appropriate virtual navigation control module. This is the core part of the entire system, ensuring that the navigation control module is dynamically adjusted according to demand.

[0172] Virtualized environment: Create an independent virtual environment for each virtual navigation control module to ensure their isolation and independent operation. Each control module executes the navigation control algorithm in its own virtual environment.

[0173] Remote virtualization and control server: hosts instances of virtualized environments and control modules, provides high-performance computing and resource allocation, and ensures the stable operation of virtual navigation control modules.

[0174] Control module: The system includes multiple virtual navigation control modules (control module A, control module B, control module C, control module D and control module E), each module is designed with specific control algorithms and strategies for different tasks and environments.

[0175] Control command flow: The central control system sends control commands to the remote server based on the decision-making strategy to activate the corresponding virtual navigation control module.

[0176] Virtual navigation control process: Each virtual navigation control module receives sensor data and control commands in its own virtual environment, executes specific control algorithms, and sends navigation control instructions back to the unmanned boat system to achieve navigation control.

[0177] Coexistence and switching of control modules: Multiple virtual navigation control modules coexist on the server. According to the instructions of the central control system, different virtual navigation control modules are switched and called in time to meet the requirements of different tasks.

[0178] This complex architecture diagram shows a flexible and highly intelligent virtual navigation control system that enables the unmanned boat to navigate in an efficient and safe manner in different mission scenarios and environments. Through the intelligent decision-making of the central control system and the support of virtualization technology, the system can dynamically select the most appropriate control module according to real-time conditions, thereby giving full play to the performance and adaptability of the unmanned boat.

Claims

1. A method for controlling an unmanned boat based on a virtual navigation control service, characterized in that: The unmanned boat navigation control method based on virtual navigation control service includes: The navigation data of the unmanned boat is obtained according to the sensors preset in the unmanned boat and sent to the virtual navigation control server; Allocating different virtual navigation control modules through the virtual navigation control server according to the unmanned boat navigation data and the received mission requirements; The virtual navigation control module obtains a navigation control instruction according to the navigation data of the unmanned boat according to a preset route planning strategy, and then sends the navigation control instruction to the unmanned boat through the virtual navigation control server to control the navigation of the unmanned boat.

2. The unmanned boat navigation control method based on virtual navigation control service according to claim 1 is characterized in that: The unmanned boat navigation control method based on virtual navigation control service includes: The unmanned boat navigation data includes GPS data, inertial navigation data, and visual data.

3. The unmanned boat navigation control method based on virtual navigation control service according to claim 2 is characterized in that: The virtual navigation control server can deploy and call multiple virtual navigation control modules, and the virtual navigation control modules are isolated from each other.

4. The unmanned boat navigation control method based on virtual navigation control service according to claim 3 is characterized in that: The route planning strategy includes PID control, path planning algorithm, and obstacle avoidance algorithm.

5. The unmanned boat navigation control method based on virtual navigation control service according to claim 4 is characterized in that: The virtual navigation control server can dynamically call different virtual navigation control modules according to changes in the unmanned boat navigation data and the mission requirements.

6. The unmanned boat navigation control method based on virtual navigation control service according to claim 5 is characterized in that: The virtual navigation control server is also used to monitor the mission scene and environmental data in real time to switch the virtual navigation control module corresponding to the route planning strategy.

7. An unmanned boat navigation control system based on virtual navigation control service, characterized in that: The unmanned boat navigation control system based on virtual navigation control service comprises the unmanned boat according to any one of claims 1 to 6 and the virtual navigation control server, and the virtual navigation control module; The virtual navigation control server is used to obtain the navigation data of the unmanned boat according to the sensors preset in the unmanned boat and send it to the virtual navigation control server; different virtual navigation control modules are allocated through the virtual navigation control server according to the navigation data of the unmanned boat and the received mission requirements; the virtual navigation control module obtains the navigation control instruction according to the navigation data of the unmanned boat according to the preset route planning strategy, and then sends it to the unmanned boat through the virtual navigation control server to control the navigation of the unmanned boat.

8. The unmanned boat navigation control system based on virtual navigation control service according to claim 7 is characterized in that: The sensors of the unmanned boat include GPS navigation, camera, inertial navigation system and sonar.

9. The unmanned boat navigation control system based on virtual navigation control service according to claim 8, characterized in that: The virtual navigation control server also includes a decision-making module and a navigation control algorithm module, as well as a control instruction generation module and a data receiving module.

10. The unmanned boat navigation control system based on virtual navigation control service according to claim 9, characterized in that: The virtual navigation control module also includes module A and module B, as well as module C and module D; The module A is used for maritime navigation tasks and includes control algorithms for environmental factors such as ocean currents and wind direction, as well as strategies for avoiding maritime obstacles; The module B is used for lake and river navigation tasks, including lake / river specific navigation path planning algorithms and coastal obstacle avoidance strategies; The module C is used for night navigation missions and includes navigation and target recognition algorithms in infrared or low-light environments; The module D is used for emergency rescue missions and has a control strategy for high-speed response and rapid path planning.

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