A method, device, equipment and storage medium for arranging UUV missions and navigation

Abstract

The present application discloses a method, apparatus, device, and storage medium for arranging UUV tasks and navigation, which relates to the field of underwater navigation. The method includes: first obtaining the mission initial position, initial task point, and key track points; creating an initial path based on the mission initial position, initial task point, and key track points; generating a first task according to a user's instruction, and obtaining an execution path for the first task; updating the initial path based on the execution path of the first task to obtain a first path, optimizing the first path, and displaying an action animation of the optimized first path; the user confirms whether to retain the first task based on the displayed action animation, and upon receiving the user's confirmation operation for the optimized first path, the optimized first path is sent to the underwater platform. This method can improve the efficiency of task arrangement and reduce the risk of errors and omissions.

Description

Technical Field

[0001] The present application relates to the field of underwater navigation, and in particular to a method, device, equipment and storage medium for arranging UUV missions and navigation. Background Art

[0002] In the underwater navigation sector, the execution of unmanned underwater vehicles (UUVs) requires rational task allocation and path planning. During the initial mission planning phase, operators manually determine the specific tasks the UUV will perform based on the UUV's navigational status. Subsequently, navigation tasks are interspersed between these specific tasks to ensure the UUV can smoothly move from one mission point to another. Furthermore, path planning is required for each specific task to ensure the UUV can complete the mission efficiently and accurately. Furthermore, task orchestration and path planning are typically handled at different stages using different tools.

[0003] However, path planning and task scheduling are highly coupled. Path planning relies on the task's starting location, while task scheduling, in turn, requires reference to the results of path planning. This forces users to consider both the actual task execution and the UUV's navigation process during operation, increasing the complexity and difficulty of operation. Furthermore, users must perform separate operations for task construction and path planning, and manually connect the two. This can easily lead to configuration errors and missed tasks. Furthermore, when new task points are added or the environment changes, tasks must be replanned and paths rescheduled. This entire process is complex, time-consuming, and inefficient. Summary of the Invention

[0004] The present application provides a method, apparatus, device, and storage medium for arranging UUV tasks and navigation, which can effectively combine navigation planning within and outside the actual task during the path planning stage to achieve global optimization, allowing users to concentrate on the actual task, thereby improving task scheduling efficiency and reducing the risk of errors and omissions.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a method for arranging UUV missions and navigation, the method comprising:

[0007] Obtain the mission initial position, initial mission point and key track points;

[0008] Create an initial path based on the mission's initial position, initial mission points, and key track points;

[0009] Get the execution path of the first task;

[0010] The initial path is updated based on the execution path of the first task to obtain a first path, and the first path is optimized, and an action animation of the optimized first path is displayed;

[0011] When a confirmation operation of the user for the optimized first path is received, the optimized first path is sent to the underwater platform.

[0012] In some possible implementations, the method further includes:

[0013] When a denial operation of the optimized first path is received from the user, the first task is deleted.

[0014] In some possible implementations, the method further includes:

[0015] When receiving the user's reordering operation for the initial task point and the first task, the initial task point and the first task are reordered, the optimized first path is updated according to the sorting result, the second path is obtained, and the second path is optimized, and the action animation of the optimized second path is displayed.

[0016] In some possible implementations, obtaining the execution path of the first task includes:

[0017] After receiving the task construction instruction from the user, a first task is generated according to the task configuration parameters input by the user, and an execution path of the first task is obtained.

[0018] In some possible implementations, the method further includes:

[0019] The mission area is divided into multiple grids, the position of each grid is detected, and the inaccessible grids are marked; from the initial mission position, the Dijkstra algorithm is used to calculate the shortest path between the key track points and the initial mission point, and the sequence of grids passed through is recorded; the A* algorithm and the heuristic function with straight-line distance as the estimated cost are used to optimize the path based on the Dijkstra algorithm results, and the grid with the lowest comprehensive cost is selected to expand the path to the target point; the optimized paths are connected in the mission order to form the initial path.

[0020] In a second aspect, the present application provides a UUV mission and navigation scheduling device, the device comprising:

[0021] An acquisition module is used to obtain the mission initial position, initial task points and key track points; create an initial path based on the mission initial position, initial task points and key track points; and obtain the execution path of the first task;

[0022] an optimization module, configured to update the initial path based on the execution path of the first task to obtain a first path, optimize the first path, and display an action animation of the optimized first path;

[0023] The sending module is configured to send the optimized first path to the underwater platform upon receiving a confirmation operation from the user regarding the optimized first path.

[0024] In a third aspect, the present application provides a computing device, including a memory and a processor;

[0025] One or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the computing device executes the method as described in any one of the first aspects.

[0026] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method as described in any one of the first aspects.

[0027] In a fifth aspect, the present application provides a computer program product, which includes one or more computer instructions. When the computer instructions are executed by a computer, the computer executes the method as described in any one of the first aspects.

[0028] It can be seen from the above technical solution that this application has at least the following beneficial effects:

[0029] In this application, the initial position, initial task points, and key track points of the mission are first obtained; an initial path is created based on the initial position, initial task points, and key track points of the mission; a first task is generated according to the user's instructions, and the execution path of the first task is obtained; the initial path is updated based on the execution path of the first task to obtain the first path, and the first path is optimized, and the action animation of the optimized first path is displayed; the user confirms whether to retain the first task based on the displayed action animation, and upon receiving the user's confirmation operation for the optimized first path, the optimized first path is sent to the underwater platform. In traditional solutions, users need to perform operations in the task construction and path planning stages separately, and manually connect the two. This is very prone to configuration errors and task omissions. Moreover, when new task points are added or the environment changes, tasks need to be re-planned and path planning rearranged. The entire process is complicated, time-consuming, and inefficient. It can be seen that this application provides a visual interface to enable users to obtain real-time feedback during the task arrangement process, and updates the planned path in real time according to user needs. When new task points or environmental changes appear, new tasks and path planning solutions are quickly generated. The navigation planning inside and outside the actual task can be effectively combined in the path planning stage to achieve global optimization, allowing users to concentrate on the actual task, thereby improving the efficiency of task arrangement and reducing the risk of errors.

[0030] It should be understood that the description of technical features, technical solutions, beneficial effects or similar language in this application does not imply that all features and advantages can be realized in any single embodiment. On the contrary, it is understood that the description of a feature or beneficial effect means that a specific technical feature, technical solution or beneficial effect is included in at least one embodiment. Therefore, the description of a technical feature, technical solution or beneficial effect in this specification does not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions and beneficial effects described in the present embodiment can also be combined in any appropriate manner. Those skilled in the art will understand that the embodiment can be implemented without one or more specific technical features, technical solutions or beneficial effects of a specific embodiment. In other embodiments, additional technical features and beneficial effects can also be identified in specific embodiments that do not embody all embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of an application scenario provided in an embodiment of the present application;

[0032] Figure 2 A schematic diagram illustrating the relationship between modules in a service provided in an embodiment of the present application;

[0033] Figure 3 A schematic diagram of a UI application interface provided in an embodiment of the present application;

[0034] Figure 4 A flowchart of a method for arranging UUV missions and navigation provided in an embodiment of the present application;

[0035] Figure 5 A schematic diagram of the first mission task system provided in an embodiment of the present application;

[0036] Figure 6 A schematic diagram of a second mission system provided in an embodiment of the present application;

[0037] Figure 7 A schematic diagram of the third mission system provided in an embodiment of the present application;

[0038] Figure 8 A schematic diagram of the fourth mission system provided in an embodiment of the present application;

[0039] Figure 9 A schematic diagram of the fifth mission system provided in an embodiment of the present application;

[0040] Figure 10 A schematic diagram of the sixth mission system provided in an embodiment of the present application;

[0041] Figure 11 A schematic diagram of the seventh mission system provided in an embodiment of the present application;

[0042] Figure 12 A schematic diagram of the eighth mission system provided in an embodiment of the present application;

[0043] Figure 13 A schematic diagram of the ninth mission system provided in an embodiment of the present application;

[0044] Figure 14 A schematic diagram of a mission and navigation separation model is provided for an embodiment of the present application;

[0045] Figure 15 A schematic diagram of a UUV mission and navigation scheduling device provided in an embodiment of the present application;

[0046] Figure 16 A schematic diagram of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The terms "first", "second" and "third" in this application specification and the accompanying drawings are used to distinguish different objects rather than to limit a specific order.

[0048] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0049] Currently, mission scheduling and path planning are typically handled at different stages using different tools. Path planning relies on the mission's starting location, while mission scheduling must reference the results of path planning. This forces users to simultaneously consider both the actual mission execution and the UUV's navigation process, significantly increasing operational complexity and difficulty.

[0050] In practice, users need to independently perform tasks in both the task orchestration and route planning stages, and manually connect them. This process is prone to configuration errors and missed tasks. Whenever new tasks are added or the environment changes, users must re-plan tasks and re-arrange route planning. This entire process is complex, time-consuming, and inefficient.

[0051] In view of this, an embodiment of the present application provides a method for arranging tasks and navigation of a UUV, wherein the method first obtains the initial position of the mission, the initial task point, and the key track points; creates an initial path based on the initial position of the mission, the initial task point, and the key track points; generates a first task according to the user's instructions and obtains the execution path of the first task; updates the initial path based on the execution path of the first task to obtain a first path, optimizes the first path, and displays an action animation of the optimized first path; the user confirms whether to retain the first task based on the displayed action animation, and upon receiving the user's confirmation operation on the optimized first path, the optimized first path is sent to the underwater platform. As can be seen, the present application provides a visual interface, allowing users to obtain real-time feedback during the task arrangement process, and to update the planned path in real time according to user needs. In the event of new task points or environmental changes, new task and path planning solutions can be quickly generated. In the path planning stage, the navigation plan inside and outside the actual task can be effectively combined to achieve global optimization, allowing users to focus on the actual task, thereby improving the efficiency of task arrangement and reducing the risk of errors.

[0052] In order to make the technical solution of this application clearer and easier to understand, the application scenarios of the technical solution of this application are introduced below with reference to the accompanying drawings. Figure 1 As shown in the figure, this figure is a schematic diagram of an application scenario provided by an embodiment of the present application.

[0053] As can be seen in the figure, the application scenarios include surface platforms and underwater platforms. The underwater platform can be a UUV. The surface platform will be introduced in detail below.

[0054] The surface platform, a key component of the entire system, consists primarily of two main components: UI applications and services. These services encompass multiple functional areas, including path planning, mission tasks, and navigation display. Throughout the system's operation, these service modules enable efficient and stable communication between the surface and underwater platforms, ensuring smooth interaction and transfer of information.

[0055] Specifically, the mission task service contains multiple modules with different functions, such as mission builder, mission previewer, task builder, task scheduler, and task executor. These modules work together. The mission builder is used to build the mission framework, the mission previewer performs mission simulation, the task builder generates specific tasks, the task scheduler reasonably plans the task sequence, and the task executor is responsible for the actual execution, jointly ensuring the smooth progress of the mission task. The navigation display service includes modules such as the navigation state device, the path previewer, and the navigation previewer, which provide operators with an intuitive display of navigation information. The path planning service includes a path planner and a navigation coupler. The path planner is responsible for planning a reasonable path, and the navigation coupler combines the path with the actual navigation situation. Each module in the service cooperates and works together. The relationship between each module in the service is as follows: Figure 2 As shown, this figure is a schematic diagram of the relationship between modules in a service provided by an embodiment of the present application.

[0056] The UI application interface design is as follows Figure 3 As shown, this figure is a schematic diagram of a UI application interface provided by an embodiment of the present application. The UI application interface supports dragging preset task templates to construct tasks. During the dragging process, key information such as the task area range and the navigation route within the task will be displayed in real time, which greatly facilitates the user's intuitive control of the task layout. At the same time, it also allows the task template to be rotated to better adapt to different actual needs. After the user selects a suitable location on the map and releases the drag action, the system will immediately expand the setting dialog box for the detailed configuration of the task, which is convenient for the user to make more detailed parameter adjustments. In addition, the UI application interface is also provided with a task scheduling module, which initially sets tasks 1 to 5 to facilitate users to preview in advance, further improving the convenience and efficiency of user operations.

[0057] It can be seen that the UI application interface provides users with a visual interface, what you see is what you get, and provides real-time feedback and adjustment mechanisms to ensure that users understand the entire adjustment process. Preset task templates support the construction of tasks by dragging and dropping to specified locations on the map. The process is simple and easy to use, and realizes the integrated operation of task construction and path planning. The task arrangement and path planning are structurally separated, allowing users to focus on the actual tasks and leave the navigation to the surface platform. This reduces the complexity of user operations and thus reduces the risk of errors. In the path planning stage, the UI application interface effectively combines the navigation planning inside and outside the actual task to achieve global optimization; it reminds and assists users to adjust the task sequence and path design according to task requirements or environmental changes, and has higher availability when facing users; in the face of new task points or sudden changes in the environment, it can also quickly generate new tasks and path planning solutions to improve planning efficiency.

[0058] In order to make the technical solution of this application clearer and easier to understand, the following describes a method for arranging tasks and navigation of a UUV provided by an embodiment of this application in combination with the above application scenarios. Figure 4 As shown in FIG, this figure is a flow chart of a method for arranging UUV missions and navigation provided by an embodiment of the present application. The method for arranging UUV missions and navigation includes:

[0059] S401: Obtain the mission initial position, initial mission points and key track points, and create an initial path based on the mission initial position, initial mission points and key track points.

[0060] When the user clicks on the UI application interface, the surface platform uses the navigation device to display the nautical chart and prohibited areas and other environmental information according to the area settings, and displays it to the user through the UI application interface, such as Figure 5 As shown in the figure, this figure is a schematic diagram of the first mission task system provided by an embodiment of the present application. The position selected by the red box in the figure is a prohibited navigation area. To realize the path preview, the user creates the mission initial position, key track points and initial task points on the surface platform, and uses the path planner to create the initial path based on the mission initial position, initial task points and key track points, and uses the path previewer to refresh the preview path, as shown in the figure. Figure 6 As shown in the figure, this figure is a schematic diagram of the second mission system provided by the embodiment of the present application. The navigation path preview in the figure is the initial path, the starting point in the newly created mission is the initial position of the mission, the waypoint 1, the waypoint 2 and the end point are the key track points, and the initial mission point is at Figure 7 The task sequence in is shown below, including tasks 1 to 5.

[0061] In the embodiment of the present application, the specific steps of using the path planner to create an initial path are as follows:

[0062] Divide the mission area into multiple grid areas, perform position detection on each grid, obtain the passability of each grid point, and mark the inaccessible grid areas;

[0063] Starting from the initial mission position, the Dijkstra algorithm is used to calculate the shortest path from the initial mission point to each key track point. During the calculation process, the adjacent grids are continuously explored and the minimum cost path of each grid is updated. The grid sequence passed by the preliminary route from the initial position to the key track points and the initial mission point is recorded.

[0064] Using the A* algorithm, a heuristic function is introduced to calculate the actual cost and estimated cost from the current location to the target location. Based on the path obtained by the Dijkstra algorithm, the path is optimized for each key track point and the initial mission point. A heuristic function is designed to use straight-line distance as the estimated cost, so that the path tends to extend more toward the target point. During optimization, the comprehensive cost of adjacent grids is continuously evaluated, and the grid with the lowest cost is selected to expand the path until the target point is reached.

[0065] According to the task sequence, the optimized path from the initial position to the first key track point or the initial task point, the optimized path from the first point to the second point, etc. are connected in sequence. If the task requires reaching a key track point first and then reaching the initial task point, the corresponding two optimized paths are connected end to end to form a complete initial path.

[0066] The Dijkstra algorithm, proposed by Dutch computer scientist Edsger Wybe Dijkstra in 1956, is a classic algorithm for finding the shortest path from a single source node to all other nodes in a graph. The A* algorithm is an algorithm for finding the lowest-cost path through multiple nodes on a graph plane. This algorithm combines the advantages of best-first search and Dijkstra's algorithm: while using heuristic search to improve algorithm efficiency, it can guarantee the optimal path.

[0067] By dividing the mission area into multiple grids, detecting the location of each grid, and marking inaccessible grids, obstacles and restricted areas within the mission area can be accurately identified. This allows subsequent path planning to be based on accurate map information, avoiding planning invalid paths that pass through obstacles or enter inaccessible areas. For example, in maritime navigation missions, dangerous areas such as reefs and no-fly zones can be accurately marked to ensure that the planned path is safe and feasible. In actual missions, the environment of the mission area may change dynamically, such as the emergence of new obstacles or passable areas. By dividing the grid and marking inaccessible grids, map information can be easily updated, and the path can be replanned and optimized in a timely manner to adapt to environmental changes.

[0068] The Dijkstra algorithm is used to calculate a preliminary shortest path, and then the A* algorithm is used to optimize the path using straight-line distance as a heuristic function for estimating the cost. While the Dijkstra algorithm guarantees the global shortest path, it may traverse a large number of unnecessary nodes during the search. The A* algorithm, on the other hand, uses the heuristic function to guide the search, more specifically expanding the path toward the target point, avoiding unnecessary searches. This ensures that the final path not only meets the shortest requirement but also better meets the actual situation and task requirements.

[0069] Combining the strengths of the Dijkstra and A* algorithms, the Dijkstra algorithm first provides a base path, which is then optimized by the A* algorithm, reducing the computational effort required when using the Dijkstra algorithm alone. The A* algorithm's heuristic search properties enable it to converge to the target point more quickly, significantly reducing path planning time in large mission areas. By connecting the optimized paths in order of tasks, a complete initial path can be quickly formed. This modular path planning and connection approach avoids the need for complex, one-time calculations for the entire mission path, speeding up path generation and enabling the system to respond to mission requirements more promptly.

[0070] Because the paths to each key waypoint and initial mission point are calculated and optimized separately, when the mission sequence changes or mission points are added or deleted, only the corresponding paths need to be adjusted and reconnected, without having to replan the entire path. This enables the path planning system to quickly adapt to mission changes and improves the flexibility of mission execution.

[0071] S402: Obtain an execution path of the first task.

[0072] In the embodiment of the present application, in order to facilitate the user to operate the UI application interface, preset task templates are provided in the interface, including swimming, reconnaissance, search and rescue, detection and floating communication, etc. When the user needs to create a task, he selects the appropriate task template and drags it. During the dragging process, the task area range and the task path summary are displayed, such as Figure 7 As shown in the figure, the third mission task system provided by the embodiment of the present application is shown. Then the user drags the task to the designated position on the figure and releases it. A dialog box will pop up to configure the task in detail, such as Figure 8As shown, the figure is a schematic diagram of the fourth mission task system provided in an embodiment of the present application. The user sets multiple configurations and multiple parameters, where configuration 1 corresponds to parameter 1, configuration 2 corresponds to parameter 2, configuration 3 corresponds to parameter 3, configuration 4 corresponds to parameter 4, etc. After the user completes the settings, he can click confirm to create a new task. After the system receives the user's task construction instruction, the task builder generates the first task according to the task configuration parameters input by the user, and obtains the execution path of the first task, which is displayed on the UI application interface.

[0073] S403 : updating the initial path based on the execution path of the first task to obtain a first path, optimizing the first path, and displaying an action animation of the optimized first path.

[0074] like Figure 9 As shown, this figure is a schematic diagram of the fifth mission task system provided by the embodiment of the present application. After the first task is constructed, the task scope and internal path after the configuration are refreshed to obtain the first task path. The task scheduler automatically inserts the first task into the queue of the task sequence, couples the first task path with the initial path, and then optimizes the path. The path planner is used to plan the global path, and the path previewer is used to update the path preview to obtain the first path, as shown in FIG. Figure 10 As shown, this figure is a schematic diagram of the sixth mission task system provided by an embodiment of the present application. In the embodiment of the present application, the first task is a towing task, which is determined as task 6 in the task sequence. The first task path is the towing task path in the green circle in the figure. The towing task path is coupled with the navigation path preview, and then the path optimization is performed. The path planner is used to plan the global path, and the path preview is updated using the path previewer to obtain the first path. Then the navigation coupler performs local path optimization on the first path, as shown in FIG. Figure 11 As shown, this figure is a schematic diagram of the seventh mission task system provided in an embodiment of the present application. The local path optimization can help reduce the navigation time during the actual navigation process and complete the navigation faster.

[0075] S404: Upon receiving a confirmation operation from the user regarding the optimized first path, the optimized first path is sent to the underwater platform.

[0076] According to the above steps, the construction, path update and preview of the first task are completed. The user can choose whether to keep the first task based on the preview result. If the user confirms to keep the first task, the system can continue to execute the task construction and arrangement instructions after receiving the user's confirmation operation on the optimized first path, save the obtained new path, and send the new path to the underwater platform.

[0077] The system may also reorder the initial task point and the first task upon receiving a user's reordering operation on the initial task point and the first task, update the optimized first path according to the reordering result, obtain the second path, optimize the second path, and display the action animation of the optimized second path.

[0078] In order to make the solution of this application clearer and easier to understand, a schematic diagram of the eighth mission system is provided here, as shown in FIG. Figure 12 As shown in the figure, this is a schematic diagram of the eighth mission task system provided by the embodiment of the present application. In the figure, you can see that the user can use the task builder to add search and rescue tasks according to actual needs, or select existing detection tasks and floating communication tasks to adjust the setting parameters, or use the task scheduler to adjust the task order, delete tasks, and repeatedly adjust the task process. After the adjustment is completed, the interface will refresh the task and path preview in real time. You can see that tasks 1 to 6 are reordered according to the user's instructions.

[0079] The system then uses the task executor to perform a mission preview, providing the user with a complete preview, such as Figure 13 As shown, this figure is a schematic diagram of the ninth mission system provided by an embodiment of the present application. The user can exit the preview and continue to execute the mission construction, editing, and arrangement, or end the process. After saving the mission, that is, the optimized first path, the dispatch operation can be executed and sent to the underwater platform.

[0080] S405: When a denial operation of the optimized first path is received from the user, the first task is deleted.

[0081] The user can choose whether to keep the first task based on the preview result. If the user confirms not to keep the first task, the system will delete the first task upon receiving the user's denial operation for the optimized first path, obtain the execution path of the second task, and repeat the above operation.

[0082] Based on the above content, this application creates an initial path by obtaining the initial position of the mission, the initial task point, and the key track points, generates the first task according to the user's instructions, and obtains its execution path, thereby updating and optimizing the initial path, displaying the action animation for the user to confirm, and sending the optimized path to the underwater platform after confirmation. This process uses a visual interface to allow users to obtain real-time feedback when arranging tasks, and can update the planned path in real time according to needs. In the face of new task points or environmental changes, new plans can be quickly generated, effectively combining the actual task internal and external navigation planning to achieve global optimization, helping users focus on actual tasks, improving task scheduling efficiency, and reducing the risk of errors.

[0083] The embodiment of the present application provides a schematic diagram of a mission and navigation separation model, such as Figure 14As shown, the beneficial effects of this solution can be better reflected. As can be seen in the figure, the navigation path and multiple tasks are processed separately. The navigation path includes navigation path points, path planning and navigation strategy information. Task 1 includes task type, task description, task execution conditions and strategy and task execution coordinates. The other task contents are the same as Task 1. Therefore, the modification of tasks and paths does not affect each other, which can reduce the user's operating costs and flexibly respond to changes in user needs; and the user's modification of mission tasks is finer in granularity, which can be refined to the update of specific tasks. When the platform goes overseas and network communication conditions are limited, data packet transmission can be reduced; the navigation and tasks are completely decoupled, which is suitable for task-oriented development and other aspects, and supports multi-task expression. Users can add one or more tasks as needed, dynamically update the navigation path, help users focus on actual tasks, improve task scheduling efficiency, and reduce the risk of errors.

[0084] The embodiment of the present application also provides a UUV mission and navigation arrangement device, such as Figure 15 As shown, this figure is a schematic diagram of a UUV task and navigation scheduling device provided by an embodiment of the present application, the device includes: an acquisition module 1501, an optimization module 1502 and a sending module 1503;

[0085] The acquisition module 1501 is used to obtain the mission initial position, initial task points and key track points; create an initial path based on the mission initial position, initial task points and key track points; and obtain the execution path of the first task;

[0086] An optimization module 1502 is configured to update the initial path based on the execution path of the first task to obtain a first path, optimize the first path, and display an action animation of the optimized first path;

[0087] The sending module 1503 is configured to send the optimized first path to the underwater platform upon receiving a confirmation operation from the user regarding the optimized first path.

[0088] In some possible implementations, the sending module 1503 is further configured to delete the first task upon receiving a rejection operation from the user regarding the optimized first path.

[0089] In some possible implementations, the optimization module 1502 is further used to reorder the initial task point and the first task upon receiving a user's reordering operation for the initial task point and the first task, update the optimized first path according to the reordering result, obtain the second path, optimize the second path, and display the action animation of the optimized second path.

[0090] In some possible implementations, the acquisition module 1501 is further configured to, after receiving a task construction instruction from a user, generate a first task according to task configuration parameters input by the user, and acquire an execution path of the first task.

[0091] In some possible implementations, the sending module 1503 is further used to divide the mission area into multiple grids, detect the position of each grid, and mark inaccessible grids; from the initial mission position, use the Dijkstra algorithm to calculate the shortest path between the key track points and the initial mission point, and record the sequence of grids passed through; use the A* algorithm and a heuristic function with straight-line distance as the estimated cost to optimize the path based on the Dijkstra algorithm result, and select the grid extension path with the lowest comprehensive cost to the target point; connect the optimized paths in the order of the tasks to form an initial path.

[0092] The present application also provides a computing device. Figure 16 As shown, this figure is a schematic diagram of a computing device provided by an embodiment of the present application, wherein the computing device 600 includes a bus 601, a processor 602, a communication interface 603, and a memory 604. The processor 602, the memory 604, and the communication interface 603 communicate with each other via the bus 601.

[0093] The bus 601 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 16 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0094] The processor 602 may be any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0095] The communication interface 603 is used for external communication. For example, when the computing device is a first switch, the communication interface 603 can be used for communication between the first switch and the first user terminal, or between the first switch and the second switch.

[0096] The memory 604 may include volatile memory, such as random access memory (RAM). The memory 604 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD).

[0097] The memory 604 stores executable codes, and the processor 602 executes the executable codes to perform the aforementioned UUV mission and navigation scheduling method.

[0098] Embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium can be any available medium capable of being stored by a computing device, or a data storage device such as a data center that contains one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, hard disk, or magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive). The computer-readable storage medium includes instructions that instruct the computing device to execute the aforementioned method for choreographing UUV missions and navigation.

[0099] The present application also provides a computer program product comprising one or more computer instructions that, when loaded and executed on a computing device, fully or partially generate the process or function described in the present application.

[0100] The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer or data center to another website, computer or data center via wired (e.g., coaxial cable, optical fiber) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0101] When the computer program product is executed by a computer, the computer performs any of the aforementioned methods for arranging UUV missions and navigation. The computer program product may be a software installation package, which can be downloaded and executed on a computer when any of the aforementioned methods for arranging UUV missions and navigation is required.

[0102] The descriptions of the processes or structures corresponding to the above figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0103] The above description is only a specific implementation method of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A method for arranging UUV missions and navigation, characterized in that: The method comprises: Presenting an application interface to the user, the application interface providing preset mission templates and initial paths, the preset mission templates including towing, reconnaissance, search and rescue, detection, and surface communication; When users need to create a task, they select the appropriate task template and drag and drop it. The task area and path summary within the task are displayed during the dragging process. After the first task is constructed, the initial path is updated using the execution path of the first task, wherein task scheduling and path planning are structurally separated.

2. The method according to claim 1, characterized in that The method further comprises: When the task sequence changes or task points are added or deleted, the corresponding paths are adjusted and reconnected.

3. The method according to claim 1, characterized in that The process of creating a task by a user includes: The user drags the task to the designated location on the diagram and releases it. A dialog box will pop up to configure the task. The user can set multiple configurations and parameters. After setting, click OK to create a new task.

4. The method according to claim 1, wherein The updating of the initial path by using the first task includes: Refresh and display the task scope and internal path of the configured first task to obtain the first task path. The task scheduler automatically inserts the first task into the queue of the task sequence, couples the first task path with the initial path, and then performs path optimization. The path planner plans the global path, and the path previewer is used to update the path preview to obtain the first path.

5. The method according to claim 4, characterized in that The method further comprises: The navigation coupler performs local path optimization on the first path; When a confirmation operation of the user on the optimized first path is received, the optimized first path is sent to the underwater platform.

6. The method according to claim 5, characterized in that The method further comprises: When receiving the user's reordering operation for the initial task point and the first task, the initial task point and the first task are reordered, the optimized first path is updated according to the sorting result, the second path is obtained, and the second path is optimized, and the action animation of the optimized second path is displayed.

7. The method according to claim 5, characterized in that The method further comprises: The user chooses whether to keep the first task based on the preview result. If the user confirms not to keep the first task, the system deletes the first task upon receiving a rejection operation from the user regarding the optimized first path.

8. A UUV mission and navigation arrangement device, characterized in that: include The acquisition module is used to display the application interface to the user. The application interface provides preset task templates and initial paths. The preset task templates include swimming, reconnaissance, search and rescue, detection, and surface communication. When the user needs to create a task, they select the appropriate task template and drag it. The task area and the outline of the path within the task are displayed during the dragging process. The optimization module is used to update the initial path using the execution path of the first task after the first task is constructed, wherein task scheduling and path planning are structurally separated.

9. A computing device, characterized in that including memory and processor; One or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the computing device executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method according to any one of claims 1 to 7.

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