Method, system, equipment, product and medium for smoothing three-dimensional routes in restricted waters

Abstract

The present invention relates to the field of underwater route planning and provides a method, system, device, product, and medium for smoothing a three-dimensional route in confined waters, including: obtaining an underwater topographic map of a target water area and determining path endpoints in the target water area; calculating a growth coefficient, using a path generation algorithm to generate an original path based on the path endpoints, and modifying the original path to obtain a first navigation path; determining an optimization starting point and selecting a path to be optimized from the first navigation path; selecting a path segment starting point and a path segment end point from the path to be optimized, performing a farthest obstacle-free point search to obtain an optimized sub-route, and using the farthest obstacle-free point as the new path segment end point to perform a farthest obstacle-free point search until the farthest obstacle-free point is the path segment starting point to obtain a second navigation path; smoothing the second navigation path and performing a safety check to obtain a target path, and the underwater vehicle navigates according to the target path. The present invention can provide a more reasonable target path.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater route planning, and in particular to a method, system, equipment, product and medium for smoothing a three-dimensional route in confined waters. Background Art

[0002] In recent years, underwater vehicles (UVs) have played an increasingly important role in scenarios such as polar expeditions, underwater cave exploration, and relic exploration. In these scenarios, incidents such as UV loss, entrapment, and collisions are common, resulting in significant losses. Consequently, path planning in overhead-constrained underwater environments has attracted increasing research attention. These overhead-constrained navigation areas are characterized by uneven spatial distribution and a flattened shape, with a severely insufficient depth-dimensional distribution. Depth significantly impacts the safety of UV navigation in overhead-constrained waters. For example, a path with significant depth fluctuations can exceed the UV's control capabilities, potentially leading to collisions with overhead obstacles. This also presents new technical challenges for UV path planning algorithms, such as the need to overcome significant depth-dimensional fluctuations in planned paths. Currently available research on UV path planning generally assumes an infinitely deep and expansive navigation environment, characterized by a uniform three-dimensional distribution. However, there is relatively little research on three-dimensional path planning methods for underwater vehicles in top restricted waters, and there is a lack of three-dimensional path smoothing methods specifically for top restricted waters. Therefore, there is an urgent need to carry out research on three-dimensional path smoothing methods for underwater vehicles in top restricted waters. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a method, system, device, product and medium for smoothing a three-dimensional route in confined waters to achieve underwater route planning in top confined waters.

[0004] The present invention provides a method for smoothing a three-dimensional route in restricted waters, comprising:

[0005] S1: Determine the target water area, obtain the underwater topographic map of the target water area, and determine the path endpoint in the target water area;

[0006] S2: Determine the maximum restricted distance in the underwater topographic map, select a path generation algorithm, calculate a growth coefficient based on the maximum restricted distance, generate an original path based on the path endpoints, and modify the original path using the growth coefficient to obtain a first navigation path;

[0007] S3: determining an optimization starting point according to the maximum restricted distance, and selecting a path to be optimized from the first navigation path through the optimization starting point;

[0008] S4: selecting a path segment start point and a path segment end point in the path to be optimized, searching for the farthest obstacle-free point starting from the path segment end point, taking the line between the path segment end point and the farthest obstacle-free point as the optimized sub-route, and searching for the farthest obstacle-free point using the farthest obstacle-free point as the new path segment end point, until the farthest obstacle-free point becomes the path segment start point, and the optimized sub-routes form a second navigation path;

[0009] S5: Smoothing the second navigation path, and performing safety verification on the smoothed second navigation path and the first navigation path to obtain a target path, and the underwater vehicle navigates according to the target path.

[0010] According to the method for smoothing a three-dimensional route in restricted waters provided by the present invention, step S1 specifically includes:

[0011] S11: Determine a target water area, perform a topographic survey on the target water area, and obtain an underwater topographic map of the target water area;

[0012] S12: Determine the end point and the starting point of the path of the underwater vehicle in the underwater topographic map, and use the end point and the starting point of the path as the path endpoints.

[0013] According to the method for smoothing a three-dimensional route in restricted waters provided by the present invention, step S2 specifically includes:

[0014] S21: determining a maximum restricted distance including a maximum horizontal distance and a maximum vertical distance in the underwater topographic map, and using a rapid expansion random tree algorithm as the path generation algorithm;

[0015] S22: calculating a growth coefficient based on the maximum horizontal distance and the maximum vertical distance, and using the fast expanding random tree algorithm to generate original path points between the path endpoints that avoid obstacles in the underwater terrain map;

[0016] S23: Select the node to be updated and the adjacent node from the original path point to calculate the node distance, update the node to be updated according to the node distance and the growth coefficient to obtain a first path point, and obtain a first navigation path according to the first path point.

[0017] According to the three-dimensional route smoothing method for restricted waters provided by the present invention, in step S3, the method for calculating the optimization starting point is: calculating the nth first path point in the first navigation path as the optimization starting point:

[0018]

[0019] Where N is the total number of the first path points, ceil() is the upward rounding function, is the maximum horizontal distance, The maximum longitudinal distance is the first navigation path from the optimization starting point to the path end point as the path to be optimized.

[0020] According to the method for smoothing a three-dimensional route in restricted waters provided by the present invention, step S4 specifically includes:

[0021] S41: In the path to be optimized, the end point of the path is used as the end point of the path segment, and the optimization starting point is used as the starting point of the path segment;

[0022] S42: Starting from the end point of the path segment, sequentially connect the path points before the end point of the path segment, and determine whether there is an obstacle on the connection line. If there is an obstacle on the connection line, the path point after the path point corresponding to the connection line is used as the farthest obstacle-free point, thereby completing an obstacle-free point search;

[0023] S43: The line connecting the end point of the path segment and the farthest obstacle-free point is used as the optimized sub-route, and the farthest obstacle-free point is used as the new end point of the path segment. The obstacle-free point search is performed forward until the path point of the line is the starting point of the path segment. The farthest obstacle-free point is determined to be the starting point of the path segment, and the obstacle-free point search is terminated. The optimized sub-route forms the second navigation path.

[0024] According to the three-dimensional route smoothing method for restricted waters provided by the present invention, in step S5, safety constraints are determined based on the performance of the underwater vehicle, and the safety of the first navigation path and the smoothed second navigation path are checked based on the safety constraints to obtain the target path.

[0025] The present invention also provides a three-dimensional route smoothing system for restricted waters, comprising:

[0026] Underwater topographic map module: used to determine the target water area, obtain the underwater topographic map of the target water area, and determine the path endpoint in the target water area;

[0027] First navigation path module: Determine the maximum restricted distance in the underwater topographic map, select a path generation algorithm, calculate the growth coefficient based on the maximum restricted distance, generate an original path based on the path endpoints, and use the growth coefficient to modify the original path to obtain the first navigation path;

[0028] Path to be optimized module: used to determine the optimization starting point according to the maximum restricted distance, and select the path to be optimized from the first navigation path through the optimization starting point;

[0029] The second navigation path module is used to select a path segment starting point and a path segment end point in the path to be optimized, search for the farthest obstacle-free point starting from the path segment end point, use the line between the path segment end point and the farthest obstacle-free point as the optimized sub-route, and use the farthest obstacle-free point as the new path segment end point to search for the farthest obstacle-free point until the farthest obstacle-free point becomes the path segment starting point, and the optimized sub-routes form the second navigation path;

[0030] Target path module: used to smooth the second navigation path, and perform safety verification on the smoothed second navigation path and the first navigation path to obtain the target path. The underwater vehicle navigates according to the target path.

[0031] The present invention also provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of any of the above-described methods for smoothing a three-dimensional route in restricted waters are implemented.

[0032] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of any of the above-mentioned methods for smoothing a three-dimensional route in restricted waters are implemented.

[0033] The present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can perform the steps of any of the above-mentioned methods for smoothing a three-dimensional route in restricted waters.

[0034] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0035] The method, system, device, product, and medium for smoothing a three-dimensional route in confined waters, provided by this invention, utilize a growth coefficient to modify the path generated by conventional path generation algorithms. This addresses the problem of significant depth jitter in existing path generation algorithms when used in depth-constrained scenarios. By optimizing the end of the generated path, significant depth variations at the end of the path, which could easily cause collisions between the underwater vehicle and overhead obstacles, are avoided. A smooth target route that meets safety constraints is achieved, ensuring the safe operation of the underwater vehicle.

[0036] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 It is a flow chart of the method for smoothing a three-dimensional route in restricted waters provided by the present invention.

[0039] Figure 2 It is a schematic diagram of the process of obtaining the smoothed second navigation path of the three-dimensional route smoothing method in restricted waters provided by the present invention.

[0040] Figure 3 It is a schematic diagram of the target path of the three-dimensional route smoothing method for restricted waters provided by the present invention.

[0041] Figure 4 It is a structural schematic diagram of the three-dimensional route smoothing system for restricted waters provided by the present invention.

[0042] Figure 5 It is a structural schematic diagram of the three-dimensional route smoothing device for restricted water areas provided by the present invention.

[0043] Reference numerals:

[0044] 100, underwater topographic map module; 200, first navigation path module; 300, path module to be optimized; 400, second navigation path module; 500, target path module; 810, processor; 820, communication interface; 830, memory; 840, communication bus. DETAILED DESCRIPTION

[0045] To make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below. Obviously, the embodiments described are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0046] In the description of the embodiments of the present invention, it should be noted that the terms “first”, “second” and “third” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0047] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0048] The following combination Figures 1 to 5 Describe the specific embodiments of the present invention:

[0049] Figure 1 It is a flow chart of the method for smoothing a three-dimensional route in restricted waters provided by the present invention.

[0050] First, the target water area is determined, the underwater topographic map of the target water area is obtained, and the path endpoints are determined in the target water area. Then, the growth coefficient is calculated to generate the original path, and the original path is corrected using the growth coefficient to obtain the first navigation path; then, the optimization starting point is determined according to the maximum restricted distance, and the path to be optimized is selected from the first navigation path through the optimized starting point; then, the farthest obstacle-free point search is performed to obtain the optimized sub-route, and the farthest obstacle-free point search is iteratively performed to obtain the second navigation path; finally, the safety of the smoothed second navigation path and the first navigation path is checked to obtain the target path and navigate according to the target path.

[0051] The present invention provides a method for smoothing a three-dimensional route in restricted waters, comprising:

[0052] S1: Determine the target water area, obtain the underwater topographic map of the target water area, and determine the path endpoint in the target water area;

[0053] Furthermore, the purpose of this stage is to obtain an underwater topographic map of the target water area, thereby determining the path endpoints therein. Specifically, step S1 includes:

[0054] S11: Determine a target water area, perform a topographic survey on the target water area, and obtain an underwater topographic map of the target water area;

[0055] S12: Determine the end point and the starting point of the path of the underwater vehicle in the underwater topographic map, and use the end point and the starting point of the path as the path endpoints.

[0056] With respect to the above steps, the specific implementation plan in this embodiment is as follows:

[0057] First, the target waters—the areas where the underwater vehicle will operate—are identified. Sonar is then used to survey the ocean topography of the target waters, generating an underwater topographic map that reflects the distribution of the underwater topography and landforms. Here, the target waters are areas with limited overhead space, such as beneath polar ice caps, underwater caves, and within seafloor shipwrecks. The vehicle's path endpoints and starting points are then determined within the underwater topographic map based on the vehicle's location and the purpose of the survey. These endpoints and starting points serve as the path endpoints.

[0058] S2: Determine the maximum restricted distance in the underwater topographic map, select a path generation algorithm, calculate a growth coefficient based on the maximum restricted distance, generate an original path based on the path endpoints, and modify the original path using the growth coefficient to obtain a first navigation path;

[0059] Furthermore, the purpose of this stage is to determine the maximum restricted distance and select a path generation algorithm, thereby calculating a growth coefficient and using the growth coefficient to modify the original path generated by the path generation algorithm to obtain a first navigation path. Specifically, step S2 includes:

[0060] S21: determining a maximum restricted distance including a maximum horizontal distance and a maximum vertical distance in the underwater topographic map, and using a rapid expansion random tree algorithm as the path generation algorithm;

[0061] S22: calculating a growth coefficient based on the maximum horizontal distance and the maximum vertical distance, and using the fast expanding random tree algorithm to generate original path points between the path endpoints that avoid obstacles in the underwater terrain map;

[0062] S23: Select the node to be updated and the adjacent node from the original path point to calculate the node distance, update the node to be updated according to the node distance and the growth coefficient to obtain a first path point, and obtain a first navigation path according to the first path point.

[0063] Regarding the above steps, the specific implementation methods in this embodiment are as follows:

[0064] First, the maximum horizontal and vertical distances are determined from the underwater topographic map. The maximum vertical distance is the maximum depth of the water area between the path's endpoint and starting point, or the maximum distance from the top to the bottom of the water area. The maximum horizontal distance is the maximum horizontal distance between obstacles on the left and right sides of the water area between the path's endpoint and starting point. When there are no obstacles on either side of the water area between the path's endpoint and starting point, the maximum horizontal distance is taken as the maximum empirical value. The path generation algorithm uses the Rapidly Expanding Random Tree algorithm.

[0065] Then pass the maximum horizontal distance and maximum longitudinal distance Calculate the growth coefficient :

[0066]

[0067] Then, a rapid expansion random tree algorithm is used to generate original path points between the path endpoints that can avoid obstacles in the underwater terrain map. These original path points can be used to generate paths using the rapid expansion random tree algorithm.

[0068] The path generated based on the original path point will cause the path generated under the condition of limited top space to fluctuate violently in the z-axis direction, that is, in the height direction. For this reason, the node to be updated is selected from the original path point. and the neighboring node closest to the node to be updated , and thus calculate the node distance L:

[0069]

[0070] Then the node to be updated is updated by the node distance and growth coefficient to obtain the first path point :

[0071]

[0072] in, Using an empirically selected maximum growth step size, each pathpoint in the original pathpoints is updated as a node to be updated. This updates each pathpoint to the first pathpoint, and the Rapid Expansion Random Tree algorithm connects the first pathpoints to generate a first navigation path. This first navigation path can overcome altitude fluctuations in the navigation path, except for the navigation path near the end point.

[0073] S3: determining an optimization starting point according to the maximum restricted distance, and selecting a path to be optimized from the first navigation path through the optimization starting point;

[0074] Furthermore, the purpose of this stage is to determine the optimization starting point, so as to select the path to be optimized from the first navigation path. Specifically, in step S3, the optimization starting point is calculated by calculating the nth first path point in the first navigation path as the optimization starting point:

[0075]

[0076] Where N is the total number of the first path points, ceil() is the upward rounding function, is the maximum horizontal distance, The maximum longitudinal distance is the first navigation path from the optimization starting point to the path end point as the path to be optimized.

[0077] Regarding the above steps, the specific implementation methods in this embodiment are as follows:

[0078] Although most of the altitude jitter has been eliminated in the first flight path, there is still a large range of jitter at the end of the first flight path, so it needs to be optimized separately. To do this, we first need to determine the starting point of the optimization. Here, we calculate the nth first path point in the first flight path as the optimization starting point, and the calculation method is as follows:

[0079]

[0080] Where N is the total number of the first path points, ceil() is the upward rounding function, is the maximum horizontal distance, The maximum longitudinal distance is the first navigation path from the optimization starting point to the path end point as the path to be optimized.

[0081] S4: selecting a path segment start point and a path segment end point in the path to be optimized, searching for the farthest obstacle-free point starting from the path segment end point, taking the line between the path segment end point and the farthest obstacle-free point as the optimized sub-route, and searching for the farthest obstacle-free point using the farthest obstacle-free point as the new path segment end point, until the farthest obstacle-free point becomes the path segment start point, and the optimized sub-routes form a second navigation path;

[0082] Furthermore, the purpose of this stage is to search for the farthest obstacle-free point and connect it to obtain the optimized sub-route. This process is repeated until the farthest obstacle-free point is the starting point of the path segment, thereby obtaining the second navigation path. Specifically, step S4 includes:

[0083] S41: In the path to be optimized, the end point of the path is used as the end point of the path segment, and the optimization starting point is used as the starting point of the path segment;

[0084] S42: Starting from the end point of the path segment, sequentially connect the path points before the end point of the path segment, and determine whether there is an obstacle on the connection line. If there is an obstacle on the connection line, the path point after the path point corresponding to the connection line is used as the farthest obstacle-free point, thereby completing an obstacle-free point search;

[0085] S43: The line connecting the end point of the path segment and the farthest obstacle-free point is used as the optimized sub-route, and the farthest obstacle-free point is used as the new end point of the path segment. The obstacle-free point search is performed forward until the path point of the line is the starting point of the path segment. The farthest obstacle-free point is determined to be the starting point of the path segment, and the obstacle-free point search is terminated. The optimized sub-route forms the second navigation path.

[0086] Regarding the above steps, the specific implementation methods in this embodiment are as follows:

[0087] The path to be optimized is optimized from back to front, focusing on the area between the optimization start point and the path endpoint. Therefore, the path endpoint is first used as the segment endpoint, and the optimization start point is used as the segment starting point. Then, starting from the segment endpoint, a line is connected to each path point before the segment endpoint. Whether there is an obstacle on the line is determined to search for an obstacle-free point. If there is no obstacle, the line is connected to the next path point until an obstacle is found. At this point, the path point after the path point corresponding to the line, that is, the path point located behind the path point corresponding to the line and closer to the path endpoint, is used as the farthest obstacle-free point, completing the obstacle-free point search.

[0088] At this point, it can be considered that for the farthest obstacle-free point and the end point of the path segment, the line between the two is the shortest distance and will not encounter obstacles, so the line between the end point of the path segment and the farthest obstacle-free point is used as the optimized sub-route. Then the farthest obstacle-free point is used as the new end point of the path segment and the obstacle-free point search is performed forward, that is, the farthest obstacle-free point is searched forward according to this method and the process is repeated to continuously obtain optimized sub-paths until, during the search for the farthest obstacle-free point, the path point for the connection is the starting point of the path segment, then the farthest obstacle-free point at this time is directly determined to be the starting point of the path segment, and the obstacle-free point search is directly ended. Finally, the optimized sub-routes that are interconnected and can go from the starting point of the path segment to the end point of the path obtained during the obstacle-free point search are combined into a second navigation path. The method for obtaining the second navigation path is as follows. Figure 2 As shown, where T1 to T 13 For each path point, it can be seen that the second navigation path is straighter and has less fluctuation than the path to be optimized.

[0089] S5: Smoothing the second navigation path, and performing safety verification on the smoothed second navigation path and the first navigation path to obtain a target path, and the underwater vehicle navigates according to the target path.

[0090] Furthermore, the purpose of this stage is to smooth the second navigation path and perform a safety check to obtain a target path, and to enable the underwater vehicle to navigate according to the target path. Specifically, in step S5, safety constraints are determined based on the performance of the underwater vehicle. The first navigation path and the smoothed second navigation path are safety-checked based on the safety constraints to obtain the target path.

[0091] Regarding the above steps, the specific implementation methods in this embodiment are as follows:

[0092] Since the second navigation path is composed of multiple optimized sub-routes, there will be some unevenness at the connection of the optimized sub-routes. In order to make the second navigation path smoother, the B-spline interpolation algorithm is used to smooth the second navigation path to obtain the smoothed second navigation path, as shown in the figure. Figure 2 As shown. The smoothed second navigation path obtained at this time may not be perfectly executed by the underwater vehicle due to the performance limitations of the underwater vehicle. Therefore, it is necessary to obtain the performance parameters of the underwater vehicle, such as the maximum turning angle and maximum pitch limit of the underwater vehicle. Thereby, safety constraints are formulated, and the safety of the first navigation path and the smoothed second navigation path are checked according to the safety constraints. Only when the underwater vehicle can meet the safety constraints by navigating along the first navigation path and the smoothed second navigation path connected to the first navigation path, can the first navigation path and the smoothed second navigation path connected to the first navigation path be used as the target path. The target path is as follows Figure 3 shown.

[0093] The present invention can effectively solve the problem of large jitter in the depth direction of the path generation algorithm when facing a depth-limited scene, and obtain a smooth target route that meets safety constraints, ensuring the safe operation of the underwater vehicle.

[0094] The following describes a three-dimensional route smoothing device for confined waters provided by the present invention. The three-dimensional route smoothing device for confined waters described below and the three-dimensional route smoothing method for confined waters described above can be referred to each other.

[0095] Figure 4 The structural diagram of the three-dimensional route smoothing system in restricted waters is shown as an example. Figure 4 As shown, the method for executing the above-mentioned three-dimensional route smoothing method in restricted waters includes:

[0096] Underwater topographic map module 100: used to determine the target water area, obtain the underwater topographic map of the target water area, and determine the path endpoint in the target water area;

[0097] First navigation path module 200: determines a maximum restricted distance in the underwater topographic map, selects a path generation algorithm, calculates a growth coefficient based on the maximum restricted distance, generates an original path based on the path endpoints, and modifies the original path using the growth coefficient to obtain a first navigation path;

[0098] The path to be optimized module 300 is used to determine the optimization starting point according to the maximum restricted distance, and select the path to be optimized from the first navigation path through the optimization starting point;

[0099] The second navigation path module 400 is configured to select a path segment start point and a path segment end point in the path to be optimized, search for the farthest obstacle-free point starting from the path segment end point, use the line between the path segment end point and the farthest obstacle-free point as the optimized sub-route, and use the farthest obstacle-free point as the new path segment end point to search for the farthest obstacle-free point until the farthest obstacle-free point becomes the path segment start point, and the optimized sub-routes form a second navigation path;

[0100] The target path module 500 is used to smooth the second navigation path and perform safety verification on the smoothed second navigation path and the first navigation path to obtain a target path. The underwater vehicle navigates according to the target path.

[0101] on the other hand, Figure 5 An example of a physical structure diagram of an electronic device is shown below. Figure 5 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the method for smoothing a three-dimensional route in restricted waters, which includes:

[0102] S1: Determine the target water area, obtain the underwater topographic map of the target water area, and determine the path endpoint in the target water area;

[0103] S2: Determine the maximum restricted distance in the underwater topographic map, select a path generation algorithm, calculate a growth coefficient based on the maximum restricted distance, generate an original path based on the path endpoints, and modify the original path using the growth coefficient to obtain a first navigation path;

[0104] S3: determining an optimization starting point according to the maximum restricted distance, and selecting a path to be optimized from the first navigation path through the optimization starting point;

[0105] S4: selecting a path segment start point and a path segment end point in the path to be optimized, searching for the farthest obstacle-free point starting from the path segment end point, taking the line between the path segment end point and the farthest obstacle-free point as the optimized sub-route, and searching for the farthest obstacle-free point using the farthest obstacle-free point as the new path segment end point, until the farthest obstacle-free point becomes the path segment start point, and the optimized sub-routes form a second navigation path;

[0106] S5: Smoothing the second navigation path, and performing safety verification on the smoothed second navigation path and the first navigation path to obtain a target path, and the underwater vehicle navigates according to the target path.

[0107] Furthermore, the logic instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0108] On the other hand, the present invention further provides a computer program product, comprising a computer program stored on a non-transitory computer-readable storage medium, wherein the computer program comprises program instructions. When the program instructions are executed by a computer, the computer is capable of performing the method for smoothing a three-dimensional route in restricted waters provided by the above methods, the method comprising:

[0109] S1: Determine the target water area, obtain the underwater topographic map of the target water area, and determine the path endpoint in the target water area;

[0110] S2: Determine the maximum restricted distance in the underwater topographic map, select a path generation algorithm, calculate a growth coefficient based on the maximum restricted distance, generate an original path based on the path endpoints, and modify the original path using the growth coefficient to obtain a first navigation path;

[0111] S3: determining an optimization starting point according to the maximum restricted distance, and selecting a path to be optimized from the first navigation path through the optimization starting point;

[0112] S4: selecting a path segment start point and a path segment end point in the path to be optimized, searching for the farthest obstacle-free point starting from the path segment end point, taking the line between the path segment end point and the farthest obstacle-free point as the optimized sub-route, and searching for the farthest obstacle-free point using the farthest obstacle-free point as the new path segment end point, until the farthest obstacle-free point becomes the path segment start point, and the optimized sub-routes form a second navigation path;

[0113] S5: Smoothing the second navigation path, and performing safety verification on the smoothed second navigation path and the first navigation path to obtain a target path, and the underwater vehicle navigates according to the target path.

[0114] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for smoothing a three-dimensional route in restricted waters provided by the above methods, the method comprising:

[0115] S1: Determine the target water area, obtain the underwater topographic map of the target water area, and determine the path endpoint in the target water area;

[0116] S2: Determine the maximum restricted distance in the underwater topographic map, select a path generation algorithm, calculate a growth coefficient based on the maximum restricted distance, generate an original path based on the path endpoints, and modify the original path using the growth coefficient to obtain a first navigation path;

[0117] S3: determining an optimization starting point according to the maximum restricted distance, and selecting a path to be optimized from the first navigation path through the optimization starting point;

[0118] S4: selecting a path segment start point and a path segment end point in the path to be optimized, searching for the farthest obstacle-free point starting from the path segment end point, taking the line between the path segment end point and the farthest obstacle-free point as the optimized sub-route, and searching for the farthest obstacle-free point using the farthest obstacle-free point as the new path segment end point, until the farthest obstacle-free point becomes the path segment start point, and the optimized sub-routes form a second navigation path;

[0119] S5: Smoothing the second navigation path, and performing safety verification on the smoothed second navigation path and the first navigation path to obtain a target path, and the underwater vehicle navigates according to the target path.

[0120] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0121] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A three-dimensional route smoothing method for restricted waters, characterized in that: include: S1: Determine the target water area, obtain the underwater topographic map of the target water area, and determine the path endpoint in the target water area; S2: Determine a maximum restricted distance including a maximum lateral distance and a maximum longitudinal distance in the underwater topographic map, select a path generation algorithm, calculate a growth coefficient based on the maximum restricted distance, generate an original path based on the path endpoints, and modify the original path using the growth coefficient to obtain a first navigation path; S3: determining an optimization starting point according to the maximum restricted distance, and selecting a path to be optimized from the first navigation path through the optimization starting point; S4: selecting a path segment start point and a path segment end point in the path to be optimized, searching for the farthest obstacle-free point starting from the path segment end point, taking the line between the path segment end point and the farthest obstacle-free point as the optimized sub-route, and searching for the farthest obstacle-free point using the farthest obstacle-free point as the new path segment end point, until the farthest obstacle-free point becomes the path segment start point, and the optimized sub-routes form a second navigation path; S5: Smoothing the second navigation path, and performing safety verification on the smoothed second navigation path and the first navigation path to obtain a target path, and the underwater vehicle navigates according to the target path.

2. The method for smoothing a three-dimensional route in restricted waters according to claim 1, characterized in that: Step S1 specifically includes: S11: Determine a target water area, perform a topographic survey on the target water area, and obtain an underwater topographic map of the target water area; S12: Determine the end point and the starting point of the path of the underwater vehicle in the underwater topographic map, and use the end point and the starting point of the path as the path endpoints.

3. The method for smoothing a three-dimensional route in restricted waters according to claim 1, characterized in that: Step S2 specifically includes: S21: determining a maximum restricted distance in the underwater topographic map, and using a rapid expansion random tree algorithm as the path generation algorithm; S22: calculating a growth coefficient based on the maximum horizontal distance and the maximum vertical distance, and using the fast expanding random tree algorithm to generate original path points between the path endpoints that avoid obstacles in the underwater terrain map; S23: Select the node to be updated and the adjacent node from the original path point to calculate the node distance, update the node to be updated according to the node distance and the growth coefficient to obtain a first path point, and obtain the first navigation path through the first path point.

4. The method for smoothing a three-dimensional route in restricted waters according to claim 1, characterized in that: In step S3, the method for calculating the optimization starting point is: calculating the nth first path point in the first navigation path as the optimization starting point: Where N is the total number of the first path points, ceil() is the upward rounding function, is the maximum horizontal distance, The maximum longitudinal distance is the first navigation path from the optimization starting point to the path end point as the path to be optimized.

5. The method for smoothing a three-dimensional route in restricted waters according to claim 1, characterized in that: Step S4 specifically includes: S41: In the path to be optimized, the end point of the path is used as the end point of the path segment, and the optimization starting point is used as the starting point of the path segment; S42: Starting from the end point of the path segment, sequentially connect the path points before the end point of the path segment, and determine whether there is an obstacle on the connection line. If there is an obstacle on the connection line, the path point after the path point corresponding to the connection line is used as the farthest obstacle-free point, thereby completing an obstacle-free point search; S43: The line connecting the end point of the path segment and the farthest obstacle-free point is used as the optimized sub-route, and the farthest obstacle-free point is used as the new end point of the path segment. The obstacle-free point search is performed forward until the path point of the line is the starting point of the path segment. The farthest obstacle-free point is determined to be the starting point of the path segment, and the obstacle-free point search is terminated. The optimized sub-route forms the second navigation path.

6. The method for smoothing a three-dimensional route in restricted waters according to claim 1, characterized in that: In step S5, safety constraints are determined according to the performance of the underwater vehicle, and safety checks are performed on the first navigation path and the smoothed second navigation path according to the safety constraints to obtain the target path.

7. A system for smoothing a three-dimensional route in restricted waters, configured to execute the method for smoothing a three-dimensional route in restricted waters according to any one of claims 1 to 6, characterized in that: include: Underwater topographic map module: used to determine the target water area, obtain the underwater topographic map of the target water area, and determine the path endpoint in the target water area; First navigation path module: Determine the maximum restricted distance in the underwater topographic map, select a path generation algorithm, calculate the growth coefficient based on the maximum restricted distance, generate an original path based on the path endpoints, and use the growth coefficient to modify the original path to obtain the first navigation path; Path to be optimized module: used to determine the optimization starting point according to the maximum restricted distance, and select the path to be optimized from the first navigation path through the optimization starting point; The second navigation path module is used to select a path segment starting point and a path segment end point in the path to be optimized, search for the farthest obstacle-free point starting from the path segment end point, use the line between the path segment end point and the farthest obstacle-free point as the optimized sub-route, and use the farthest obstacle-free point as the new path segment end point to search for the farthest obstacle-free point until the farthest obstacle-free point becomes the path segment starting point, and the optimized sub-routes form the second navigation path; Target path module: used to smooth the second navigation path, and perform safety verification on the smoothed second navigation path and the first navigation path to obtain the target path. The underwater vehicle navigates according to the target path.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method for smoothing a three-dimensional route in restricted waters according to any one of claims 1 to 6 are implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for smoothing a three-dimensional route in restricted waters according to any one of claims 1 to 6 are implemented.

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

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