Multi-mode adaptive control method and system for underwater vehicle

Abstract

The invention relates to the technical field of underwater vehicles, in particular to a multi-mode adaptive control method and system for an underwater vehicle, and the system comprises a monitoring module which is used for monitoring the real-time navigation path of the underwater vehicle; the drawing module is used for receiving the real-time navigation path of the underwater vehicle monitored by the monitoring module, and drawing a navigation path model of the underwater vehicle by using the real-time navigation path of the underwater vehicle; and the control module is used for sensing whether the underwater vehicle arrives at the boundary of the activity area or not and generating turn-back parameters when the underwater vehicle arrives at the boundary of the activity area. Full-intelligent navigation path planning is provided for the underwater vehicle through construction of the navigation path model of the underwater vehicle; the marine environment parameter acquisition logic of the underwater vehicle in the navigation process is synchronously designed, so that the underwater vehicle can run in a self-adaptive multi-mode navigation and acquisition logic manner, the intelligent degree of the underwater vehicle is effectively improved, and the labor cost of underwater vehicle management is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicles, and particularly relates to a multi-modal adaptive control method and system for an underwater vehicle. Background Art

[0002] An underwater vehicle is a device that can navigate autonomously or remotely underwater. It is equipped with a variety of sensors and can detect many ocean information such as ocean currents, water temperature, and seabed topography. With good maneuverability, it can operate at different depths and sea areas, playing a key role in many fields such as ocean scientific research, resource exploration, and military reconnaissance, and helping people better understand and utilize the ocean.

[0003] The invention patent with the application number 202410597146.2 discloses an adaptive disturbance prediction method for an underwater vehicle, including the following steps: S1, constructing a world coordinate system and an underwater vehicle body coordinate system; S2, establishing a system kinematic model by using the Euler angle method or the quaternion method to obtain the conversion relationship of system motion parameters between the world coordinate system and the underwater vehicle body coordinate system; S3, constructing a system dynamic model according to the resultant external force / moment received by the system; S4, constructing an adaptive disturbance observer according to the system kinematic and dynamic models, discretizing the adaptive disturbance observer to obtain the time recurrence formula of the disturbance observer, and further obtaining the disturbance estimation value at the next moment.

[0004] This application aims to solve the problems that: "The control task of an underwater vehicle faces many difficulties. On the one hand, it will be affected by environmental disturbance factors during underwater operation, such as water flow, collision with underwater debris, etc.; on the other hand, many underwater vehicles will carry operating means such as manipulators to form a UVMS system. Due to the complexity of the UVMS itself structure, the change of hydrodynamic parameters and the center of gravity and buoyancy center during manipulator operation will lead to the change of model parameters, and there is also the interaction between the manipulator and the platform, making it difficult for the platform itself to maintain stability; these uncertain factors make it difficult for the robustness of traditional controllers to meet the application requirements, and currently, it is impossible to effectively monitor the adaptive disturbance of the underwater vehicle."

[0005] However, during the process of an underwater vehicle navigating in the ocean to collect ocean environmental parameters, most of the existing technologies focus on the navigation stability of the underwater vehicle, and there is no intelligent planning for the route and collection frequency when the underwater vehicle collects ocean environmental parameters.

[0006] Therefore, a multi-modal adaptive control method and system for an underwater vehicle are proposed. Summary of the Invention

[0007] In view of the above-mentioned disadvantages of the prior art, the present invention provides a multi-modal adaptive control method and system for an underwater vehicle, which solves the technical problems raised in the above-mentioned background art.

[0008] To achieve the above objectives, the present invention is realized through the following technical solutions:

[0009] In the first aspect, a multi-modal adaptive control system for an underwater vehicle includes: The application scenario of the underwater vehicle is the ocean, and the underwater vehicle is used to collect ocean environmental parameters;

[0010] A monitoring module for monitoring the real-time navigation path of the underwater vehicle; A drawing module for receiving the real-time navigation path of the underwater vehicle monitored by the operation of the monitoring module and drawing a navigation path model of the underwater vehicle using the real-time navigation path of the underwater vehicle; A control module for perceiving whether the underwater vehicle reaches the boundary of the activity area, generating a return parameter when the underwater vehicle reaches the boundary of the activity area, and controlling the underwater vehicle to return and navigate using the return parameter; A logic module for setting the operation logic of the underwater vehicle and controlling the underwater vehicle to collect ocean environmental parameters during navigation based on the operation logic; An evaluation module for obtaining the navigation path model of the underwater vehicle and evaluating the effectiveness of ocean environmental parameter collection by combining the operation logic set in the logic module with the navigation path model of the underwater vehicle; A decision module for receiving the evaluation result of the effectiveness of ocean environmental parameter collection in the evaluation module and making a decision based on the evaluation result whether to perform the re-collection of ocean environmental parameters in the activity area of the underwater vehicle again.

[0011] Furthermore, sub-modules are provided at the lower level and inside the monitoring module, including:

[0012] A configuration unit for setting the activity area of the underwater vehicle;

[0013] A storage unit for receiving the real-time navigation path of the underwater vehicle and storing the real-time navigation path of the underwater vehicle;

[0014] Among them, when the configuration unit operates to set the activity area of the underwater vehicle, the system-end user manually inputs no less than four groups of position coordinates, and based on the adjacent connection of the input position coordinates, a closed three-dimensional area model is constructed, and the three-dimensional area model is used as the activity area of the underwater vehicle. When the underwater vehicle enters the water, the water entry position coordinates of the underwater vehicle are synchronously uploaded to the configuration unit. When the underwater vehicle navigates within the activity area and has not reached the boundary of the activity area, it always sails in a straight line. The real-time navigation path of the underwater vehicle received by the storage unit is received and stored in the form of data packets. Each data packet contains two position coordinates, and the shortest connection line between the two position coordinates is the navigation path. Each data packet is numbered based on its generation time sequence.

[0015] Further, during the operation stage of the drawing module, obtain the three-dimensional area model corresponding to the activity area of the underwater vehicle from the configuration module, obtain the latest data packet from the storage module, draw a line segment based on two position coordinates in the data packet, and place it in the three-dimensional area model. The three-dimensional area model with the drawn line segment placed is denoted as the navigation path model of the underwater vehicle;

[0016] Among them, each data packet in the storage module participates in the drawing of the navigation path model of the underwater vehicle. The earliest data packet stored in the storage module contains the entry position coordinates of the underwater vehicle. When the drawn line segment is placed for the first and last times in the three-dimensional area model, at least one endpoint of the drawn line segment falls on the boundary surface of the three-dimensional area model. Except for the first and last times of placing the drawn line segment in the three-dimensional area model, the endpoints of the drawn line segment fall on the boundary surface of the three-dimensional area model.

[0017] Further, the determination of whether the control module senses that the underwater vehicle reaches the boundary of the activity area is: whether the drawing module has completed the drawing of the navigation path model of the underwater vehicle;

[0018] The generation logic of the turning-back parameter in the control module is expressed as:

[0019] Obtain the current position coordinates of the underwater vehicle, and identify the shortest distances from the current position coordinates to the boundary surfaces of the underwater vehicle's activity area except for the boundary surface where the current position coordinates are located;

[0020] Select the boundary surface corresponding to the longest shortest distance among the shortest distances as the turning-back target surface;

[0021] Pick up the position coordinates of the farthest position on the turning-back target surface from the current position information of the underwater vehicle as the turning-back position coordinates, and control the underwater vehicle to navigate towards the turning-back position coordinates;

[0022] Among them, each time the control module runs, a data packet, that is, the turning-back parameter, is obtained by combining the current position coordinates and the turning-back position coordinates, and is transmitted to the drawing module in real time for the drawing module to update the navigation path model of the underwater vehicle. The same position coordinates on each boundary surface of the underwater vehicle's activity area are not reached by the underwater vehicle more than twice.

[0023] Further, the operation logic of the underwater vehicle, that is, the frequency at which the underwater vehicle operates to collect ocean environment parameters, is set by the following logical formula. The formula is:

[0024]

[0025] In the formula: P 1 is the frequency at which the underwater vehicle collects ocean environment parameters during its first navigation; P0 is the acquisition frequency of the initial ocean environment parameters customized by the system-side user; P next is the frequency of collecting ocean environment parameters for the next voyage of the underwater vehicle; v is the average flow velocity of the ocean current during the previous voyage of the underwater vehicle; h AUV is the depth of the underwater vehicle; h OC is the average depth of the ocean current in the activity area of the underwater vehicle; n is the number of ocean current strands in the activity area of the underwater vehicle; F i is the azimuth angle of the i-th ocean current; F 0 is the azimuth angle when the underwater vehicle makes a return voyage;

[0026] Among them, P is applied for the first voyage of the underwater vehicle 1 as the acquisition frequency of ocean environment parameters, and P is applied for the next voyage of the underwater vehicle next as the acquisition frequency of ocean environment parameters, and each time P next is obtained, the acquisition frequency of the previous ocean environment parameters is always used to replace P in the formula 1 , and v and h applied in formula (2) OC , n, F i are all ocean environment parameters.

[0027] Furthermore, during the operation stage of the evaluation module, after obtaining the underwater vehicle navigation path model, the navigation path in the underwater vehicle navigation path model is obtained, and each navigation path is used as the processing target to obtain the operating frequency of the underwater vehicle corresponding to the navigation path. Combining the navigation path, the operating frequency of the underwater vehicle, and the navigation speed of the underwater vehicle, the position coordinates of the ocean environment parameters collected by the vehicle on the navigation path are determined, and marking points are drawn at each determined position coordinate. After all the marking points are drawn, the navigation path in the underwater vehicle navigation path model is deleted;

[0028] Among them, the underwater vehicle navigation path model after the above operations is recorded as the underwater vehicle acquisition position point model.

[0029] Furthermore, the evaluation logic for the effectiveness of ocean environment parameter acquisition in the evaluation module is expressed as:

[0030]

[0031] In the formula: Q is the density of the acquisition position points in the underwater vehicle acquisition position point model; m is the total number of sub-regions in the underwater vehicle acquisition position point model; g j is the density of the acquisition position points in the j-th region; V j is the spatial volume of the j-th sub-region; ω j is the configuration weight of the j-th sub-region; g allis the total number of acquisition position points in the acquisition position point model of the underwater vehicle; V all is the spatial volume of the activity area of the underwater vehicle; θ is the performance value of the acquisition effectiveness of the marine environment parameters; Q norr is the standard density of the acquisition position points in the acquisition position point model of the underwater vehicle;

[0032] Among them, the sub-regions in the acquisition position point model of the underwater vehicle are obtained by dividing the acquisition position point model of the underwater vehicle, and the volumes of the sub-regions are equal. The configuration weights of the sub-regions obey: the larger the product object, the smaller its own value, and vice versa, the larger its own value; all are greater than zero;

[0033] The standard density of the acquisition position points in the acquisition position point model of the underwater vehicle is user-defined by the system end user.

[0034] Furthermore, an effectiveness comparison interval is set in the decision module. The decision module compares θ with the effectiveness comparison interval. When θ meets the effectiveness comparison interval, it ends. When θ does not meet the effectiveness comparison interval, the control system runs again.

[0035] Furthermore, a storage unit is interconnected through wireless network inside the monitoring module, a configuration unit is interconnected through wireless network at the lower level of the monitoring module, a drawing module and a control module are interconnected through wireless network by the monitoring module, the drawing module is interconnected with the storage unit and the configuration unit through wireless network, and the control module is interconnected with a logic module, an evaluation module and a decision module through wireless network.

[0036] In a second aspect, a multi-modal adaptive control method for an underwater vehicle includes:

[0037] Monitoring the real-time navigation path of the underwater vehicle, determining the activity area of the underwater vehicle, and drawing an underwater vehicle navigation path model based on the activity area and navigation path of the underwater vehicle;

[0038] Generating a return parameter according to the current position of the underwater vehicle in the underwater vehicle navigation path model, and applying the return parameter to control the underwater vehicle to return;

[0039] During the navigation of the underwater vehicle, configuring a navigation logic for the underwater vehicle, enabling the underwater vehicle to run based on the navigation logic, and collecting the marine environment parameters in the activity area in real time;

[0040] Converting the underwater vehicle navigation path model into an underwater vehicle acquisition position point model, and evaluating the acquisition effectiveness of the marine environment parameters based on the underwater vehicle acquisition position point model;

[0041] Set a validity comparison range, obtain the validity evaluation result and compare it with the set validity comparison range. Based on the comparison result, decide whether to collect ocean environment parameters in the activity area again.

[0042] Adopting the technical solution provided by the present invention, compared with the known public technology, it has the following beneficial effects:

[0043] The present invention provides a multi-modal adaptive control method and system for an underwater vehicle. During the operation of the system, through the construction of the underwater vehicle navigation path model, it provides a fully intelligent navigation path planning for the underwater vehicle, and synchronously designs the ocean environment parameter acquisition logic during the navigation of the underwater vehicle, enabling the underwater vehicle to operate with an adaptive multi-modal navigation and acquisition logic, effectively improving the intelligence level of the underwater vehicle, reducing the labor cost during the application of the underwater vehicle, and when collecting ocean environment parameters with this system, the acquisition effect coverage rate is more comprehensive, thus making the effect of applying the underwater vehicle for ocean environment ecological management better. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings according to these drawings without creative efforts.

[0045] Figure 1 FIG. is a schematic structural diagram of a multi-modal adaptive control system for an underwater vehicle;

[0046] Figure 2 FIG. is a schematic flow diagram of a multi-modal adaptive control method for an underwater vehicle. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

[0048] The following further describes the present invention with reference to the embodiments.

[0049] Embodiment 1:

[0050] A multi-modal adaptive control system for an underwater vehicle in this embodiment, such asFigure 1 As shown, it includes: The application scenario of the underwater vehicle is the ocean, and the underwater vehicle is used to collect ocean environmental parameters;

[0051] A monitoring module, which is used to monitor the real-time navigation path of the underwater vehicle;

[0052] Sub-modules are set both at the lower level and inside the monitoring module, including:

[0053] A configuration unit, which is used to set the activity area of the underwater vehicle;

[0054] A storage unit, which is used to receive the real-time navigation path of the underwater vehicle and store the real-time navigation path of the underwater vehicle;

[0055] Among them, when the configuration unit runs to set the activity area of the underwater vehicle, the system-end user manually inputs no less than four groups of position coordinates. Based on the adjacent input position coordinates, they are connected to each other to construct a closed three-dimensional area model. The three-dimensional area model is used as the activity area of the underwater vehicle. When the underwater vehicle enters the water, the entry position coordinates of the underwater vehicle are uploaded synchronously in the configuration unit. When the underwater vehicle sails within the activity area and before reaching the boundary of the activity area, it always sails in a straight line. The real-time navigation path of the underwater vehicle received by the storage unit is received and stored in the form of data packets. Each data packet contains two position coordinates, and the shortest connection line between the two position coordinates is the navigation path. Each data packet is marked with a serial number based on its generation time sequence;

[0056] A drawing module, which is used to receive the real-time navigation path of the underwater vehicle monitored by the monitoring module running and draw a navigation path model of the underwater vehicle by applying the real-time navigation path of the underwater vehicle;

[0057] A control module, which is used to sense whether the underwater vehicle reaches the boundary of the activity area. When the underwater vehicle reaches the boundary of the activity area, it generates a return parameter and controls the underwater vehicle to return and sail by applying the return parameter;

[0058] The determination of whether the control module senses that the underwater vehicle reaches the boundary of the activity area is: whether the drawing module has completed the drawing of the navigation path model of the underwater vehicle;

[0059] The generation logic of the return parameter in the control module is expressed as:

[0060] Obtain the current position coordinates of the underwater vehicle, and identify the shortest distance from the current position coordinates to each boundary surface other than the boundary surface where the current position coordinates are located in the activity area of the underwater vehicle;

[0061] Select the boundary surface corresponding to the longest shortest distance among the shortest distances as the return target surface;

[0062] Pick up the current position information of the underwater vehicle to the position coordinates farthest from the return target surface as the return position coordinates, and control the underwater vehicle to navigate to the return position coordinates;

[0063] Among them, each time the control module runs, the combination of the current position coordinates and the return position coordinates is used to obtain a data packet, that is, the return parameter, and it is transmitted to the drawing module in real time for the drawing module to update the navigation path model of the underwater vehicle. The number of times the same position coordinates on each side surface of the underwater vehicle activity area are reached by the underwater vehicle does not exceed two;

[0064] The logic module is used to set the operation logic of the underwater vehicle and control the underwater vehicle to collect ocean environment parameters during navigation based on the operation logic;

[0065] The operation logic of the underwater vehicle is the frequency at which the underwater vehicle operates to collect ocean environment parameters. The operation logic of the underwater vehicle is set through the following logical formula, and the formula is:

[0066]

[0067] In the formula: P 1 is the frequency of the underwater vehicle collecting ocean environment parameters during the first navigation; P 0 is the initial ocean environment parameter collection frequency defined by the system-end user; P next is the frequency of the underwater vehicle collecting ocean environment parameters during the next navigation; v is the average flow velocity of the ocean current during the previous navigation of the underwater vehicle; h AUV is the depth of the underwater vehicle; h OC is the average depth of the ocean current in the underwater vehicle activity area; n is the number of ocean current strands in the underwater vehicle activity area; F i is the azimuth angle of the i-th ocean current; F 0 is the azimuth angle when the underwater vehicle makes a return voyage;

[0068] Among them, the underwater vehicle uses P 1 as the ocean environment parameter collection frequency during the first navigation, and the underwater vehicle uses P next as the ocean environment parameter collection frequency during the next navigation, and each time P next is obtained, the previous ocean environment parameter collection frequency is always used to replace P in the formula 1 , and v, h OC , n, F i used in formula (2) are all ocean environment parameters;

[0069] Through the above logical formula, the frequency of the underwater vehicle collecting ocean environment parameters during the first navigation is calculated to ensure that the underwater vehicle can carry out the collection work at a specific and adaptable collection frequency during the process of collecting ocean environment parameters.

[0070] An evaluation module, configured to obtain the navigation path model of the underwater vehicle, and evaluate the effectiveness of marine environmental parameter collection based on the operation logic of the underwater vehicle set in the logic module in combination with the navigation path model of the underwater vehicle;

[0071] The evaluation logic for the effectiveness of marine environmental parameter collection in the evaluation module is expressed as:

[0072]

[0073] In the formula: Q is the density of the collection position points in the collection position point model of the underwater vehicle; m is the total number of sub-regions in the collection position point model of the underwater vehicle; g j is the density of the collection position points in the jth region; V j is the spatial volume of the jth sub-region; ω j is the configuration weight of the jth sub-region; g all is the total number of collection position points in the collection position point model of the underwater vehicle; V all is the spatial volume of the activity area of the underwater vehicle; θ is the performance value of the effectiveness of marine environmental parameter collection; Q norr is the standard density of the collection position points in the collection position point model of the underwater vehicle;

[0074] Among them, the sub-regions in the collection position point model of the underwater vehicle are obtained by dividing the collection position point model of the underwater vehicle, and the volumes of each sub-region are equal. The configuration weights of the sub-regions obey: the larger the product object, the smaller its own value, and vice versa, the larger its own value; all are greater than zero;

[0075] By calculating the performance value of the effectiveness of marine environmental parameter collection through the above logical formula, necessary operation logic support is provided for the decision-making module of the system in this embodiment, ensuring that the decision-making module makes an adaptive decision during operation, thereby performing further intelligent control on the system.

[0076] The standard density of the collection position points in the collection position point model of the underwater vehicle is user-defined by the system terminal user;

[0077] A decision-making module, configured to receive the evaluation result of the effectiveness of marine environmental parameter collection in the evaluation module, and decide whether to collect the marine environmental parameters in the activity area of the underwater vehicle again based on the evaluation result;

[0078] An effectiveness comparison interval is set in the decision-making module. The decision-making module compares θ with the effectiveness comparison interval. When θ meets the effectiveness comparison interval, it ends. When θ does not meet the effectiveness comparison interval, the control system runs again;

[0079] The monitoring module is interactively connected to a storage unit via a wireless network, the monitoring module is interactively connected to a configuration unit at a lower level via a wireless network, the monitoring module is interactively connected to a drawing module and a control module via a wireless network, the drawing module is interactively connected to the storage unit and the configuration unit via a wireless network, and the control module is interactively connected to a logic module, an evaluation module and a decision module via a wireless network.

[0080] In this embodiment, the monitoring module operates to monitor the real-time navigation path of the underwater vehicle, the configuration unit synchronously sets the underwater vehicle activity area, the storage unit receives the real-time navigation path of the underwater vehicle in real time, and stores the real-time navigation path of the underwater vehicle, the drawing module further receives the real-time navigation path of the underwater vehicle monitored by the monitoring module, and uses the real-time navigation path of the underwater vehicle to draw the navigation path model of the underwater vehicle, the control module post-operates to sense whether the underwater vehicle has reached the boundary of the activity area, and when the underwater vehicle reaches the boundary of the activity area, generates a return parameter, and uses the return parameter to control the underwater vehicle to return navigation, and then the logic module sets the underwater vehicle operation logic, controls the underwater vehicle to collect ocean environment parameters during navigation based on the operation logic, and the evaluation module obtains the underwater vehicle navigation path model, evaluates the effectiveness of the collection of ocean environment parameters based on the underwater vehicle operation logic set in the logic module and the underwater vehicle navigation path model, and finally receives the evaluation result of the effectiveness of the collection of ocean environment parameters in the evaluation module through the decision module, and decides whether to execute the collection of ocean environment parameters in the underwater vehicle activity area again based on the evaluation result.

[0081] Through the operation of the system in the above embodiment, a more intelligent control effect is brought to the underwater vehicle, so that the underwater vehicle can navigate according to a specific navigation logic during the navigation process, and collect ocean environment parameters with an adaptive ocean environment parameter collection logic, so as to realize comprehensive intelligent control of the underwater vehicle, collect ocean environment parameters, and further serve the marine environment management work.

[0082] like Figure 1 As shown, in the running stage of the drawing module, a three-dimensional regional model corresponding to the underwater vehicle activity area is obtained in the configuration module, and the latest data packet is obtained in the storage module. Line segments are drawn based on two position coordinates in the data packet and placed in the three-dimensional regional model. The three-dimensional regional model with the drawn line segments is recorded as the underwater vehicle navigation path model;

[0083] Among them, each data packet in the storage module participates in the drawing of the underwater vehicle navigation path model. The earliest data packet stored in the storage module contains the water entry position coordinates of the underwater vehicle. When the drawing line segments are placed for the first and last times in the three-dimensional area model, at least one endpoint of the drawing line segment falls on the boundary surface of the three-dimensional area model. Except for the first and last times of placing the drawing line segments in the three-dimensional area model, the endpoints of the drawing line segments all fall on the boundary surface of the three-dimensional area model.

[0084] Through the above settings, further operational logic support is provided for the operational logic of the drawing module in the above embodiments, ensuring the stable operation of the drawing module.

[0085] As Figure 1 shown, during the operation stage of the evaluation module, after obtaining the underwater vehicle navigation path model, the navigation paths in the underwater vehicle navigation path model are obtained. Taking each navigation path as the processing target, the operating frequency of the underwater vehicle corresponding to the navigation path is obtained. Combining the navigation path, the operating frequency of the underwater vehicle, and the navigation speed of the underwater vehicle, the position coordinates of the underwater vehicle collecting ocean environment parameters on the navigation path are determined. Marking points are drawn at each determined position coordinate, and after all the marking points are drawn, the navigation paths in the underwater vehicle navigation path model are deleted;

[0086] Among them, the underwater vehicle navigation path model after the above operations is denoted as the underwater vehicle collection position point model.

[0087] Through the above settings, the specified logic is provided for the construction of the underwater vehicle collection position point model, and the necessary operation data support is provided for the further operation of the system in the above embodiments.

[0088] Embodiment 2:

[0089] At the specific implementation level, on the basis of Embodiment 1, this embodiment further specifically describes a multi-modal adaptive control system for an underwater vehicle in Embodiment 1 with reference to Figure 2 shown as follows:

[0090] A multi-modal adaptive control method for an underwater vehicle includes:

[0091] Monitoring the real-time navigation path of the underwater vehicle, determining the activity area of the underwater vehicle, and drawing the underwater vehicle navigation path model based on the activity area and navigation path of the underwater vehicle;

[0092] Generating a turning-back parameter according to the current position of the underwater vehicle in the underwater vehicle navigation path model, and applying the turning-back parameter to control the turning-back navigation of the underwater vehicle;

[0093] During the navigation of an underwater vehicle, a navigation logic is configured for the underwater vehicle so that the underwater vehicle operates based on the navigation logic and collects marine environmental parameters in the active area in real time;

[0094] Convert the underwater vehicle navigation path model into an underwater vehicle acquisition position point model, and evaluate the effectiveness of marine environmental parameter acquisition based on the underwater vehicle acquisition position point model;

[0095] Set an effectiveness comparison interval, obtain the effectiveness evaluation result and compare it with the set effectiveness comparison interval. Based on the comparison result, decide whether to collect marine environmental parameters in the active area again.

[0096] In summary, during the operation of the system in the above embodiments, through the construction of the underwater vehicle navigation path model, a fully intelligent navigation path planning is provided for the underwater vehicle, and at the same time, the marine environmental parameter acquisition logic during the navigation of the underwater vehicle is designed, so that the underwater vehicle can operate with an adaptive multi-modal navigation and acquisition logic, effectively improving the intelligence level of the underwater vehicle, reducing the labor cost during the application of the underwater vehicle, and when collecting marine environmental parameters with this system, the acquisition effect coverage is more comprehensive, thus making the effect of applying the underwater vehicle to marine environmental ecological management better.

[0097] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-modal adaptive control system for an underwater vehicle, characterized in that: include: The application scenario of the underwater vehicle is the ocean, and the underwater vehicle is used to collect ocean environment parameters; A monitoring module, used to monitor the real-time navigation path of the underwater vehicle; A drawing module is used to receive the real-time navigation path of the underwater vehicle monitored by the monitoring module, and draw a navigation path model of the underwater vehicle using the real-time navigation path of the underwater vehicle; A control module is used to sense whether the underwater vehicle has reached the boundary of the activity area, generate a return parameter when the underwater vehicle reaches the boundary of the activity area, and use the return parameter to control the return navigation of the underwater vehicle; A logic module, used to set the operation logic of the underwater vehicle and control the underwater vehicle to collect ocean environment parameters during navigation based on the operation logic; An evaluation module is used to obtain an underwater vehicle navigation path model, and evaluate the effectiveness of ocean environment parameter collection based on the underwater vehicle operation logic set in the logic module and the underwater vehicle navigation path model; The decision-making module is used to receive the evaluation results of the effectiveness of the collection of marine environmental parameters in the evaluation module, and decide whether to re-collect the marine environmental parameters in the underwater vehicle activity area based on the evaluation results.

2. The multi-modal adaptive control system for underwater vehicles according to claim 1, characterized in that: The monitoring module is provided with submodules below and inside, including: A configuration unit, used for setting an underwater vehicle activity area; A storage unit, used for receiving the real-time navigation path of the underwater vehicle and storing the real-time navigation path of the underwater vehicle; Among them, when the configuration unit is running to set the underwater vehicle activity area, the system end user manually inputs no less than four groups of position coordinates, which are adjacently connected to each other based on the input position coordinates to construct a closed three-dimensional area model, and the three-dimensional area model is used as the activity area of ​​the underwater vehicle. When the underwater vehicle enters the water, the entry position coordinates of the underwater vehicle are uploaded synchronously in the configuration unit. When the underwater vehicle navigates in the activity area, it always navigates in a straight line before reaching the boundary of the activity area. The real-time navigation path of the underwater vehicle received by the storage unit is received and stored in the form of data packets. Each group of data packets contains two position coordinates. The shortest connection between the two position coordinates is the navigation path. Each group of data packets is marked with a serial number based on the timing of their generation.

3. The multi-modal adaptive control system for underwater vehicles according to claim 1, characterized in that: During the operation phase of the drawing module, a 3D area model corresponding to the underwater vehicle activity area is obtained in the configuration module, a latest data packet is obtained in the storage module, a line segment is drawn based on two position coordinates in the data packet, and the line segment is placed in the 3D area model. The 3D area model with the drawn line segment is recorded as the underwater vehicle navigation path model. Among them, each data packet in the storage module participates in the drawing of the underwater vehicle navigation path model. The earliest data packet stored in the storage module contains the entry position coordinates of the underwater vehicle. When the drawing line segment is placed for the first time and the last time in the three-dimensional area model, at least one endpoint of the drawing line segment falls on the boundary surface of the three-dimensional area model. Except for the first and the last time the drawing line segment is placed in the three-dimensional area model, the endpoints of the drawing line segment all fall on the boundary surface of the three-dimensional area model.

4. The multi-modal adaptive control system for underwater vehicles according to claim 1, characterized in that: The control module senses whether the underwater vehicle has reached the boundary of the activity area, that is, whether the drawing module has completed the drawing of the underwater vehicle's navigation path model; The generation logic of the return parameter in the control module is expressed as: Obtaining the current position coordinates of the underwater vehicle, and identifying the shortest distance between the current position coordinates and each boundary surface other than the boundary surface where the current position coordinates are located in the underwater vehicle activity area; Select the boundary surface corresponding to the longest shortest distance among all the shortest distances as the return target surface; Pick up the position coordinates farthest from the current position information of the underwater vehicle to the return target surface as the return position coordinates, and control the underwater vehicle to navigate to the return position coordinates; Among them, the control module obtains a data packet, i.e., the return parameters, by combining the current position coordinates and the return position coordinates of the application each time it runs, and transmits it to the drawing module in real time so that the drawing module can use it to update the navigation path model of the underwater vehicle. The same position coordinate on each boundary surface of the underwater vehicle's activity area is reached by the underwater vehicle no more than twice.

5. The multi-modal adaptive control system for underwater vehicles according to claim 1, characterized in that: The underwater vehicle operation logic is the frequency at which the underwater vehicle operates to collect ocean environment parameters. The underwater vehicle operation logic is set by the following logic formula: Where: P1 is the frequency of collecting ocean environment parameters during the first voyage of the underwater vehicle; P0 is the initial ocean environment parameter collection frequency defined by the system end user; P next is the frequency of collecting ocean environment parameters for the next voyage of the underwater vehicle; v is the average velocity of the ocean current during the last voyage of the underwater vehicle; h AUV is the depth of underwater vehicle; h OC is the average depth of the ocean current in the underwater vehicle activity area; n is the number of ocean currents in the underwater vehicle activity area; F i is the azimuth of the i-th ocean current; F0 is the azimuth of the underwater vehicle during its return voyage; Among them, the underwater vehicle's first voyage uses P1 as the frequency for collecting ocean environmental parameters, and the underwater vehicle's next voyage uses P next As the frequency of collecting marine environmental parameters, each time P next When calculating, always use the frequency of the last ocean environment parameter acquisition to replace P1 in the formula, and v and h used in formula (2) OC 、n、F i All are marine environmental parameters.

6. The multi-modal adaptive control system for underwater vehicles according to claim 1, characterized in that: During the operation phase of the evaluation module, after obtaining the underwater vehicle navigation path model, the navigation path in the underwater vehicle navigation path model is obtained, each navigation path is used as a processing target, the operating frequency of the underwater vehicle corresponding to the navigation path is obtained, and the position coordinates of the vehicle collecting ocean environment parameters on the navigation path are determined by combining the navigation path, the operating frequency of the underwater vehicle and the navigation speed of the underwater vehicle, and an identification point is drawn at each determined position coordinate. After all identification points are drawn, the navigation path in the underwater vehicle navigation path model is deleted; Among them, the underwater vehicle navigation path model after the above operations is recorded as the underwater vehicle collection position point model.

7. The multi-modal adaptive control system for underwater vehicles according to claim 6, characterized in that: The evaluation logic of the effectiveness of collecting marine environmental parameters in the evaluation module is expressed as follows: Where: Q is the density of the collection position points in the underwater vehicle collection position point model; m is the total amount of the sub-area in the underwater vehicle acquisition location point model; g j is the density of the collected location points in the jth region; V j is the spatial volume of the jth sub-region; ω j is the configuration weight of the j-th sub-region; g all V is the total number of collected position points in the underwater vehicle collection position point model; all is the spatial volume of the underwater vehicle activity area; θ is the effectiveness performance value of the ocean environment parameter collection; Q norr The standard density of the collected position points in the underwater vehicle collected position point model; Among them, the sub-regions in the underwater vehicle collection position point model are obtained by segmenting the underwater vehicle collection position point model, and the volume of each sub-region is equal. The configuration weights of the sub-regions obey: the larger the product object, the smaller its own value, and vice versa, the larger its own value; all are greater than zero; The standard density of the collection position points in the underwater vehicle collection position point model is customized by the system end user.

8. The multi-modal adaptive control system for underwater vehicles according to claim 1, characterized in that: The decision module is provided with a validity comparison interval, and the decision module compares the validity comparison interval with θ. When θ meets the validity comparison interval, the process ends. When θ does not meet the validity comparison interval, the control system runs again.

9. The multi-modal adaptive control system for underwater vehicles according to claim 1, characterized in that: The monitoring module is interactively connected to a storage unit via a wireless network, the monitoring module is interactively connected to a configuration unit at a lower level via a wireless network, the monitoring module is interactively connected to a drawing module and a control module via a wireless network, the drawing module is interactively connected to the storage unit and the configuration unit via a wireless network, and the control module is interactively connected to a logic module, an evaluation module and a decision module via a wireless network.

10. A multi-modal adaptive control method for an underwater vehicle, the method being an implementation method of a multi-modal adaptive control system for an underwater vehicle as claimed in any one of claims 1 to 9, characterized in that: include: Monitor the real-time navigation path of underwater vehicles, determine the activity area of ​​underwater vehicles, and draw the navigation path model of underwater vehicles based on the activity area and navigation path of underwater vehicles; Generate a return parameter according to the current position of the underwater vehicle in the underwater vehicle navigation path model, and use the return parameter to control the return navigation of the underwater vehicle; During the navigation process of the underwater vehicle, a navigation logic is configured for the underwater vehicle so that the underwater vehicle operates based on the navigation logic and collects ocean environment parameters in the activity area in real time; The underwater vehicle navigation path model is converted into an underwater vehicle collection position point model, and the effectiveness of ocean environment parameter collection is evaluated based on the underwater vehicle collection position point model; Set the validity comparison interval, obtain the validity assessment results and compare them with the set validity comparison interval, and based on the comparison results, decide whether to collect marine environmental parameters in the activity area again.

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