Marine surveying and mapping method and system

Abstract

The invention relates to a marine surveying and mapping method and system, and relates to the technical field of surveying and mapping, and the method comprises the steps: controlling an unmanned ship to sail to a surveying and mapping position, fixing the unmanned ship through an anchor, and collecting a tension detection value; collecting manufacturing specifications and water surface flow velocity; responding to the water surface flow velocity and the mapping position to generate an anchoring position; obtaining a traction angle through the anchoring position and the surveying and mapping position; generating a water flow thrust in response to the manufacturing specification and the water surface flow velocity; responding to the traction angle and the water flow thrust to obtain a reference tension value; when the tension detection value is greater than the reference tension value, updating the tension detection value to obtain an estimated attachment volume, and controlling a preset cleaning device to clean attachments according to the estimated attachment volume; collecting surveying and mapping parameters; responding to the surveying and mapping parameters to generate a surveying and mapping model, and outputting the surveying and mapping model to a preset detection terminal. The method has the effect of improving the accuracy of marine surveying and mapping.

Description

Technical Field

[0001] The present invention relates to the field of surveying and mapping technology, and in particular to a method and system for ocean surveying and mapping. Background Art

[0002] Surveying and mapping is a systematic technical activity that uses scientific means to acquire, process, analyze and express information about the earth's surface and its related geographic space.

[0003] In the process of surveying and mapping the ocean, the unmanned boat is controlled to sail to a pre-set detection point and anchored at the detection point to fix the unmanned boat. Then, the detection device set on the unmanned boat is used to perform surveying and detection, and the surveying and detection data is transmitted to complete the mapping of the ocean.

[0004] In the process of controlling an unmanned vessel to survey the ocean, it is necessary to conduct detection and mapping at a single point on the sea surface for a long time, which causes the towing rope between the unmanned vessel and the anchor to wear out, making the position of the unmanned vessel unstable and reducing the accuracy of ocean mapping. Summary of the Invention

[0005] In order to improve the accuracy of ocean surveying and mapping, the present invention provides an ocean surveying and mapping method and system.

[0006] In a first aspect, the present invention provides a method for ocean surveying and mapping, which adopts the following technical solution:

[0007] A method for ocean surveying and mapping, comprising:

[0008] S1: Control a preset unmanned boat to sail to a preset surveying location, fix the unmanned boat with a preset anchor, and collect a tension detection value of a towing rope preset between the unmanned boat and the anchor;

[0009] S2: collecting the manufacturing specifications and water surface velocity of the unmanned boat;

[0010] S3: generating an anchoring position in response to the water surface velocity and the surveyed position;

[0011] S4: Obtaining a towing angle by using the anchoring position and the surveying position;

[0012] S5: generating water thrust in response to the manufacturing specifications and the water surface flow velocity;

[0013] S6: Responding to the pulling angle and the water flow thrust to obtain a reference tension value;

[0014] S7: when the tension detection value is greater than the reference tension value, updating the tension detection value to obtain an estimated attachment volume, and controlling a preset cleaning device to clean the attachments with the estimated attachment volume;

[0015] S8: Collect surveying and mapping parameters;

[0016] S9: generating a surveying model in response to the surveying parameters, and outputting the surveying model to a preset detection terminal.

[0017] By adopting the above technical solution, the manufacturing specifications, water surface flow rate and surveying position are analyzed to obtain a reference tension value, and the reference tension value is compared with the tension detection value to update the tension detection value. The estimated attachment volume is obtained based on the tension detection values ​​before and after the update, and the cleaning device is controlled to clean the attachments. This can reduce the attachments on the towing rope when the unmanned vessel is surveying, increase the service life of the towing rope, reduce the situation where the towing rope breaks and the position of the unmanned vessel is offset, resulting in deviations in the surveying data, and improve the accuracy of marine surveying.

[0018] Optionally, also include:

[0019] S31: Obtaining a water flow direction in response to the anchoring position and the surveying position;

[0020] S32: Retrieving a collection direction from the manufacturing specification;

[0021] S33: generating a collection deviation coefficient in response to the water flow direction and the collection direction;

[0022] S34: In response to the water surface flow velocity and the collection deviation coefficient matching, a water flow input current is generated, and the water flow input current is input into a preset current storage device.

[0023] By adopting the above technical solution, the anchoring position, the surveying position and the manufacturing specifications are analyzed to obtain the water flow input current, and the water flow input current is input into the current storage device, so that electricity can be generated by the water flow when the unmanned boat is surveying, thereby increasing the endurance of the unmanned boat.

[0024] Optionally, the method for obtaining the estimated attachment volume in S7 includes:

[0025] S70: Controlling the unmanned boat to release the traction rope at a preset detection length, and updating the tension detection value;

[0026] S71: When the updated tension detection value is consistent with the preset marked tension value, continue to update the tension detection value and record the update time;

[0027] S72: obtaining a tension speed change in response to the updated tension detection value and the update time;

[0028] S73: Obtaining an estimated attachment volume and attachment type by varying the tension;

[0029] S74: Obtaining a towing vertical height by using the anchoring position and the surveying position;

[0030] S75: generating detection flow velocities at different heights in response to the traction vertical height and the water surface flow velocity;

[0031] S76: generating adhesion resistance according to the detected flow rate, the attachment type, and the estimated attachment volume;

[0032] S77: changing the speed in response to the adhesion resistance and the tension to obtain an adhesion vertical height;

[0033] S78: Obtain the attachment position through the vertical height of the attachment, and control a preset cleaning device to move to the attachment position for cleaning.

[0034] By adopting the above technical solution, the unmanned boat is controlled to release the traction rope to detect the length and update the tension detection value. When the tension detection value is consistent with the marked tension value, the tension speed change is obtained through the tension detection value and the update time, and then the tension speed change is used to obtain the estimated attachment volume and attachment type. The attachment position is obtained by traction vertical height, water flow thrust, attachment type and estimated attachment volume, and the cleaning device is controlled to move to the attachment position for cleaning, so that the position, type and volume of the attachment can be known to facilitate cleaning by the cleaning device.

[0035] Optionally, the method for controlling the preset cleaning device in S78 to clean the attachments includes:

[0036] S780: When the attachment type is a preset biological type, obtaining an attachment range and an insertion distance in response to the attachment position and the estimated attachment volume;

[0037] S781: When the cleaning device moves to the attachment position, it passes through the attachment range to generate an insertion position;

[0038] S782: Obtaining a penetration force by comparing the penetration distance with a preset penetration specification, and controlling the cleaning device to operate according to the penetration force, the penetration position, and the penetration distance;

[0039] S783: Obtaining a current output and an output frequency in response to the estimated attachment volume and the insertion distance, and controlling a current output device preset on the cleaning device to operate at the current output and the output frequency.

[0040] By adopting the above technical solution, the attachment range and insertion specifications are analyzed to obtain the insertion position, insertion distance and insertion force, and the insertion device is controlled to penetrate the attachment. The estimated attachment volume and insertion distance are analyzed to obtain the current output and output frequency, and the operation of the current output device is controlled, so that the attachment can be removed by electric shock in time.

[0041] Optionally, the method in S781 when the cleaning device moves to the attachment location further includes:

[0042] S7810: When controlling the cleaning device to move, collecting a pressure detection value on the cleaning device;

[0043] S7811: When the pressure detection value is greater than a preset reference pressure value, recording the position of the cleaning device as a mark detection position and collecting scanning information;

[0044] S7812: Obtaining a detection attachment volume through the scanning information;

[0045] S7813: updating the current output and the output frequency in response to the detected attachment volume, and updating the insertion position in response to the detected position of the marker;

[0046] S7814: updating the adhesion resistance in response to the detected adhesion volume;

[0047] S7815: Update the attachment position according to the updated adhesion resistance, and continue to update the pressure detection value and the mark detection position after the cleaning device completes cleaning the mark detection position.

[0048] By adopting the above technical solution, the pressure detection value is compared with the reference pressure value to obtain the detected attachment volume, and the attachment volume is detected to update the current output, output frequency and insertion position. After the attachments at the marked detection position are cleaned, the pressure detection value and the marked detection position are continued to be updated, so that attachments in multiple places can be removed, thereby improving the accuracy of attachment removal.

[0049] Optionally, the method for controlling the insertion device to operate with the insertion force, the insertion position, and the insertion distance in S782 includes:

[0050] S7820: Collecting cleaning specifications of the cleaning device;

[0051] S7821: Retrieving the cleaning friction coefficient from the cleaning specification;

[0052] S7822: Obtaining a normal pressure value in response to the cleaning friction coefficient, the preset traction friction coefficient, and the penetration force;

[0053] S7823: Responding to the normal pressure value and a preset reference pressure value to obtain a compaction power, and controlling a moving device preset on the cleaning device to output the compaction power.

[0054] By adopting the above technical solution, the penetration force and cleaning specifications are analyzed to obtain the normal pressure value, and then the compaction power is obtained by comparing the normal pressure value with the reference pressure value, and the mobile device is controlled to output the compaction power, thereby improving the accuracy of removing attachments.

[0055] Optionally, also include:

[0056] S120: When the unmanned vessel is located at the surveying location, collecting wave parameters;

[0057] S121: generating a wave height in response to the wave parameter;

[0058] S122: When the wave height exceeds a preset reference change height, calculating a difference between the wave height and the reference change height as a height deviation value;

[0059] S123: When the height deviation value exceeds a preset reference offset distance, calculating a difference between the height deviation value and the reference offset distance as a parameter adjustment distance;

[0060] S124: Adjust the distance according to the parameter to update the mapping model.

[0061] By adopting the above technical solution, when the unmanned vessel sails to the surveying location and stays there, the wave parameters are analyzed to obtain the parameter adjustment distance, and the surveying model is updated with the parameter adjustment distance to improve the accuracy of ocean surveying.

[0062] Optionally, also include:

[0063] S1230: When the height deviation value exceeds a preset reference offset distance, updating the wave parameter;

[0064] S1231: generating a wave flow velocity in response to the wave parameters before and after the update;

[0065] S1232: Generate a contact area using the wave parameters and manufacturing specifications;

[0066] S1233: Obtaining wave impact force in response to the contact area, the wave flow velocity, and the wave parameter;

[0067] S1234: Obtaining a water absorption amount according to the wave impact force, the height deviation value, and the reference offset distance, and controlling a water absorption device preset on the unmanned vessel to absorb water according to the water absorption amount.

[0068] By adopting the above technical solution, when the height deviation value does not exceed the reference offset distance, the wave impact force is obtained by adjusting the wave flow velocity, manufacturing specifications and wave parameters, and then the water absorption amount is obtained by the wave impact force, and the water absorption device is controlled to absorb water, thereby increasing the mass of the unmanned boat to reduce the height change deviation caused by the unmanned boat being impacted by waves.

[0069] Optionally, the method after generating the wave flow velocity in S1231 includes:

[0070] S12310: generating a height deviation time in response to the wave flow speed and the manufacturing specification;

[0071] S12311: When the height deviation time exceeds a preset reference rebound time, obtaining an inhaled volume by using the reference offset distance;

[0072] S12312: Generate an inhalation speed by combining the altitude deviation time and the inhalation volume;

[0073] S12313: When the unmanned boat comes into contact with the waves, the preset air suction device is controlled to operate at the air suction speed.

[0074] By adopting the above technical solution, the intake volume is obtained by analyzing the comparison between the height deviation time and the benchmark rebound time, the intake speed is obtained based on the height deviation time and the intake volume, and the operation of the intake device is controlled, so that the height change deviation caused by the unmanned boat being impacted by waves can be continuously reduced within the height deviation time.

[0075] In a second aspect, the present application provides an ocean surveying and mapping system, which adopts the following technical solutions:

[0076] A marine surveying and mapping system, comprising:

[0077] An acquisition module is used to obtain tension detection values, manufacturing specifications, water surface velocity, and surveying parameters;

[0078] A memory for storing an ocean surveying and mapping method;

[0079] The processor is configured to load, execute, and implement the program stored in the memory.

[0080] In summary, this application includes at least one of the following beneficial technical effects:

[0081] 1. By adopting the above technical solution, the cleaning device is controlled to remove debris by analyzing the manufacturing specifications, water surface velocity, and surveying location. This can reduce the amount of debris on the towing rope, increase the service life of the towing rope, and reduce the situation where the towing rope breaks and the position of the unmanned boat shifts, resulting in deviations in the surveying data, thereby improving the accuracy of marine surveying.

[0082] 2. By controlling the unmanned boat to release the towing rope to detect the length, the estimated attachment volume and type of the attachment is obtained. The attachment location is determined by the towing vertical height, water thrust, attachment type, and estimated attachment volume. The cleaning device is then controlled to move to the attachment location for cleaning. This allows the location, type, and volume of the attachment to be known, facilitating cleaning operations.

[0083] 3. The pressure detection value is compared with the reference pressure value to obtain the detected attachment volume, and the current output, output frequency and insertion position are updated by detecting the attachment volume. After the attachments at the marked detection position are cleaned, the pressure detection value and the marked detection position are updated again, thereby being able to remove attachments in multiple locations and improve the accuracy of attachment removal. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] Figure 1 is a method flow chart of an ocean surveying and mapping method according to an embodiment of the present invention;

[0085] Figure 2 is a schematic diagram of a cleaning device according to an embodiment of the present invention on a traction rope;

[0086] Figure 3 is a flow chart of a method for obtaining an estimated attachment volume according to an embodiment of the present invention;

[0087] Figure 4 This is a flow chart of a method for controlling a preset cleaning device to clean attachments according to an embodiment of the present invention;

[0088] Figure 5 is a flow chart of a method when the cleaning device moves to the location of the attachment according to an embodiment of the present invention;

[0089] The parts indicated by the numbers in the above figures are as follows: 1. Unmanned boat; 2. Towing rope; 3. Cleaning device. DETAILED DESCRIPTION

[0090] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0091] Reference Figure 1 and Figure 2 , the embodiment of the present application discloses a method for ocean surveying and mapping, comprising the following steps:

[0092] S1: Control the preset unmanned boat 1 to sail to the preset surveying position, fix the unmanned boat 1 with a preset anchor, and collect the tension detection value of the traction rope 2 preset between the unmanned boat 1 and the anchor.

[0093] The surveying location is the position on the sea surface designated by the technicians for the unmanned vessel 1 to navigate and conduct surveying. An anchor is installed on the unmanned vessel 1 to keep it on the water surface, and a towing rope 2 is installed between the unmanned vessel 1 and the anchor. The tension detection value refers to the tension applied to the towing rope 2 while the unmanned vessel 1 is on the water surface. After the unmanned vessel 1 reaches the surveying location and drops the anchor to the bottom, the tension sensor on the towing rope 2 detects the tension.

[0094] S2: Collect the manufacturing specifications and water surface velocity of the unmanned boat 1.

[0095] The manufacturing specifications refer to the size and shape of the unmanned boat 1, and can be obtained by pre-entering by the operator. The water surface velocity refers to the velocity of the sea surface on which the unmanned boat 1 is sailing. The velocity detected by the velocity sensor when the unmanned boat 1 is stationary is used as the water surface velocity.

[0096] S3: generating an anchor position in response to the water surface velocity and the surveyed position.

[0097] The anchoring position refers to the position of the anchor at the bottom of the water. The anchoring position is obtained by analyzing the water surface velocity and the surveying position. The analysis method of the anchoring position is common knowledge to those skilled in the art and will not be described in detail here.

[0098] S4: Obtain the towing angle by the anchor position and the survey position.

[0099] The traction angle refers to the angle of the traction rope 2. The straight line connecting the anchor position and the surveying position is obtained, and the angle between the straight line and the vertical line is used as the traction angle.

[0100] S5: Generate water thrust in response to manufacturing specifications and water surface velocity.

[0101] The water thrust refers to the thrust generated by the water surface on the unmanned boat 1. The water thrust is obtained by analyzing the manufacturing specifications and the water surface velocity. The analysis method of the water thrust is common knowledge among those skilled in the art and will not be described in detail here.

[0102] S6: Responding to the pulling angle and the water thrust to obtain a reference tension value.

[0103] The baseline tension value refers to the tension applied to the traction rope 2 when no objects are attached. This baseline tension value is determined by querying a preset tension detection table. The tension detection table records the baseline tension values ​​corresponding to different traction angles and water flow thrusts. The parameters in the tension detection table are set by those skilled in the art based on prior experiments and are not detailed here.

[0104] S7: When the tension detection value is greater than the reference tension value, the tension detection value is updated to obtain an estimated attachment volume, and the preset cleaning device 3 is controlled to clean the attachments with the estimated attachment volume.

[0105] The cleaning device 3 refers to a traction ring passed through the traction rope 2, on which an annular sensor is provided, and rollers are evenly provided on the traction ring. The rollers are spaced between the annular sensors so that the rollers and the annular sensors are close to the traction rope 2. The rollers drive the traction ring to move along the traction rope 2 through the friction between the rollers and the traction rope 2. A moving device for controlling the roller to apply normal force to the traction rope 2 is provided between the rollers and the inner side wall of the traction ring, and the moving device is a telescopic rod.

[0106] The traction ring is also equipped with a piercing device for piercing the attached object. The piercing device can be a needle-shaped carbon nanotube wrapped in an insulating layer. The traction ring is also equipped with a current output device, which is connected to the piercing device to output current for removing the attached object. The current output device is a weak current constant current source.

[0107] The estimated attachment volume refers to the total volume of the attachments on the traction rope 2. When the tension detection value is greater than the reference tension value, it indicates that there are attachments on the traction rope 2. The estimated attachment volume is obtained by re-obtaining the tension detection value for analysis, and the cleaning device 3 is controlled to clean the attachments with the estimated attachment volume.

[0108] S8: Collect surveying and mapping parameters.

[0109] The surveying parameters refer to the parameters used by the unmanned vessel 1 for ocean surveying at the surveying location, and are the parameters detected by the device for ocean surveying installed on the unmanned vessel 1. The device for ocean surveying is pre-set by those skilled in the art and will not be described in detail here.

[0110] S9: generating a surveying model in response to the surveying parameters, and outputting the surveying model to a preset detection terminal.

[0111] The detection terminal is a system terminal configured by technicians to receive surveying data detected by the unmanned vessel 1. The surveying model is a data model generated by the unmanned vessel 1 during ocean surveying at the surveying location. This model is generated by analyzing surveying parameters and output to the detection terminal. The method for generating the surveying model is well known to those skilled in the art and will not be elaborated upon here.

[0112] Also includes:

[0113] S31: Obtaining the water flow direction in response to the anchor position and the surveying position.

[0114] The current direction refers to the direction of the water flow on the sea surface at the surveying location. The current direction is obtained by analyzing the anchor position and the surveying location. The method for analyzing the current direction is common knowledge among those skilled in the art and will not be described in detail here.

[0115] S32: Retrieve the collection direction from the manufacturing specification.

[0116] The collection device is a propeller on unmanned vessel 1, designed by technicians to collect water flow to generate mechanical energy. The collection direction is the optimal direction for unmanned vessel 1 to collect water flow and convert it into electrical energy. The specifications of the collection device are retrieved from the manufacturing specifications, and the collection direction is retrieved from the specifications of the collection device.

[0117] S33: generating a collection deviation coefficient in response to the water flow direction and the collection direction.

[0118] The collection deviation coefficient refers to the deviation coefficient of the water flow collected by the collection device. When the collection device deviates from the direction of the sea surface, the force exerted by the water flow on the collection device deviates. Therefore, the collection deviation coefficient is calculated by analyzing the water flow direction and the collection direction. The analysis method of the collection deviation coefficient is common knowledge to those skilled in the art and will not be detailed here.

[0119] S34: In response to the water surface flow velocity and the collection deviation coefficient, a water flow input current is matched and the water flow input current is input into a preset current storage device.

[0120] The current storage device is a device designed by technicians to collect electrical energy converted from mechanical energy. The current storage device is a battery. The water flow input current refers to the current that the unmanned vessel 1 can collect per unit time during surveying. The water flow input current is determined from a preset current comparison table using the water surface velocity and the collection deviation coefficient, and then input into the current storage device.

[0121] The current comparison table stores different water flow input currents and water flow input currents corresponding to the collection deviation coefficients. The parameters in the current comparison table are set by technicians in this field in advance based on actual conditions and will not be described in detail here.

[0122] Reference Figure 3 , the method for obtaining the estimated attachment volume in S7 includes:

[0123] S70: Control the unmanned boat 1 to release the traction rope 2 at a preset detection length and update the tension detection value.

[0124] The detection length is the length of the towing rope 2 required to release it to detect whether there is an object attached to it, as determined by the technician. The unmanned vessel 1 is controlled to release the towing rope 2 at the detection length and recollect tension values. In this embodiment, upon completion of the detection of attachments on the towing rope 2, the towing rope 2 at the detection length is recovered.

[0125] S71: When the updated tension detection value is consistent with the preset marked tension value, continue to update the tension detection value and record the update time.

[0126] The update time refers to the time length required for the tension detection value that has started to rise to return to the same value as the original tension detection value. When the updated tension detection value starts to rise, it means that the unmanned boat 1 continues to exert force on the towing rope 2 after the towing rope 2 is released, and the tension detection value continues to be updated, and the time length for the tension detection value to change to the same value as the original tension detection value is recorded as the update time.

[0127] S72: Responding to the updated tension detection value and the update time to obtain tension speed change.

[0128] Tension speed change refers to the change in tension per unit time. When the tension detection value starts to rise, the tension detection value is updated per unit time within the update time, and the difference between the tension detection values ​​before and after each update is calculated as the tension speed change.

[0129] In this embodiment, when the unmanned boat 1 continues to exert force on the traction rope 2, the traction rope 2 drives the attachment to move in the water. At this time, the tension change speed generated by the change from the updated tension detection value to the original tension detection value is different.

[0130] S73: Estimated attachment volume and attachment type are obtained by changing the tension speed.

[0131] The attachment type refers to the type of attachment, including organism type and plant type. In this embodiment, the organism type is barnacles, and the plant type is seaweed. The estimated attachment volume refers to the estimated volume of the attachment on the towing rope 2. The estimated attachment volume and attachment type are matched by inputting the tension variation into a pre-set attachment database. The attachment database stores the estimated attachment volumes and attachment types corresponding to different tension variations. The parameters in the attachment database are pre-set by those skilled in the art based on actual experimental conditions and are not detailed here.

[0132] S74: Obtain the towing vertical height by comparing the anchor position with the survey position.

[0133] The towing vertical height is the vertical distance between the anchoring location and the surveying location. The vertical distance between the anchoring location and the surveying location is calculated as the towing vertical height. The formula for calculating the distance between points is well known to those skilled in the art and will not be detailed here.

[0134] S75: Responding to the traction vertical height and the water surface flow rate to generate detection flow rates at different heights.

[0135] The measured flow velocity refers to the flow velocity at different water depths. This velocity is matched to a pre-set water flow database by inputting the vertical height of the tow and the water surface velocity. The database stores the measured flow velocities corresponding to different vertical heights of the tow and water surface velocity. The parameters in the database are pre-set by those skilled in the art based on actual experimental conditions and are not detailed here.

[0136] S76: Generate adhesion resistance by detecting flow rate, adhesion type, and estimated adhesion volume.

[0137] Adhesion resistance refers to the resistance created by debris at different water depths. This resistance is determined by inputting the detected flow rate, debris type, and estimated debris volume into the adhesion database. The database also stores the corresponding adhesion resistances for different detected flow rates, debris types, and estimated debris volumes, which will not be detailed here.

[0138] S77: Shifting speed in response to adhesion resistance and tension to obtain adhesion vertical height.

[0139] The vertical height of adhesion is the height at which adhesion resistance and tension change in unison. The height corresponding to the adhesion resistance and tension change in unison is the vertical height of adhesion. This height is the distance vertically extending from the surveying position to the bottom of the water.

[0140] S78: Obtain the attachment position by measuring the vertical height of the attachment, and control the preset cleaning device 3 to move to the attachment position for cleaning.

[0141] The attachment position refers to the position of the attachment on the traction rope 2. The attachment position is matched by inputting the vertical height of the attachment into the attachment database, and the cleaning device 3 is controlled to move to the attachment position for cleaning.

[0142] The attachment database also stores attachment positions corresponding to different attachment vertical heights, which will not be described in detail here.

[0143] Reference Figure 4 The method for controlling the preset cleaning device 3 in S78 to clean the attachments includes:

[0144] S780: When the attachment type is a preset biological type, obtain the attachment range and the insertion distance in response to the attachment position and the estimated attachment volume.

[0145] The attachment range is the estimated area of ​​the attachment on the traction rope 2. If the attachment type is biological, indicating that the attachment is a barnacle, the attachment area is analyzed based on the estimated attachment volume, and the area distributed around the attachment location is used as the attachment range. The insertion distance is the distance the insertion device penetrates into the attachment. The insertion distance is matched by inputting the estimated attachment volume into a preset insertion database.

[0146] The insertion database stores insertion distances corresponding to different estimated attachment volumes. The parameters in the insertion database are set by those skilled in the art in advance based on actual conditions through experiments, and are not described in detail here.

[0147] S781: When the cleaning device 3 moves to the attachment position, it passes through the attachment range to generate an insertion position.

[0148] The insertion position refers to the position where the insertion device inserts into the gap between the attachment and the traction rope 2. When the cleaning device 3 moves toward the attachment position, the highest point in the axial direction of the traction rope 2 toward the unmanned boat 1 is retrieved from the outline of the attachment range as the insertion position.

[0149] S782: Obtain the piercing force by comparing the piercing distance with the preset piercing specification, and control the cleaning device 3 to operate according to the piercing force, piercing position and piercing distance.

[0150] The insertion specifications refer to the shape and size of the insertion device set by the technician. The insertion force refers to the force with which the insertion device inserts. The insertion distance and the insertion specifications are input into the insertion database to match the insertion force, and the cleaning device 3 is controlled to operate according to the insertion force, insertion position, and insertion distance.

[0151] The insertion database also stores the insertion forces corresponding to different insertion distances and insertion specifications, which will not be described in detail here.

[0152] S783: In response to the estimated attachment volume and the insertion distance, a current output and an output frequency are obtained, and a current output device preset on the cleaning device 3 is controlled to operate at the current output and the output frequency.

[0153] The current output refers to the current value required to be output by the current output device, and the output frequency refers to the pulse frequency of the current output by the current output device. The current output and output frequency are matched to a preset current database based on the estimated attachment volume and penetration distance input values, and the current output device is controlled to operate at the current output and output frequency. In this embodiment, the current output of the current output device is used only to cause the barnacle to lose or reduce its adhesion capacity, thereby removing the barnacle.

[0154] The current database stores current outputs and output frequencies corresponding to different estimated attachment volumes and insertion distances. The parameters in the current database are set by those skilled in the art based on actual conditions and will not be described in detail here.

[0155] Reference Figure 5 , when the cleaning device 3 moves to the attachment position in S781, the method further includes:

[0156] S7810: When controlling the movement of the cleaning device 3, the pressure detection value on the cleaning device 3 is collected.

[0157] The pressure detection value is the pressure value detected by the annular pressure sensor on the cleaning device 3.

[0158] S7811: When the pressure detection value is greater than the preset reference pressure value, the position of the cleaning device 3 is recorded as the mark detection position, and the scanning information is collected.

[0159] The reference pressure value is a pressure value set by a technician for the normal movement of the traction ring on the traction rope 2 .

[0160] The mark detection position refers to the position where the traction ring touches the attachment. When the pressure detection value is greater than the reference pressure value, it means that the annular pressure sensor on the traction ring touches the attachment, and the position corresponding to the distance of the displacement sensor on the traction ring is recorded as the mark detection position.

[0161] The scanning range is the range set by the technician to scan the towing rope 2. The scanning information refers to the parameter information of the scanning mark detection position, which is formed by controlling the infrared detection device preset on the unmanned boat 1 to scan the marker detection position within the preset scanning range.

[0162] S7812: Scan the information to obtain the detection attachment volume.

[0163] The detected attachment volume refers to the volume of the attachment that marks the detection position. The volume is calculated by scanning information to form a three-dimensional model and retrieving the size of the attachment from the three-dimensional model as the detected attachment volume.

[0164] S7813: Update the current output and the output frequency in response to the detected attachment volume, and update the insertion position in response to the detected position of the marker.

[0165] Referring to step 783 , the new current output and output frequency are obtained by detecting the attachment volume, and the marked detection position is used as the new insertion position.

[0166] S7814: Update the adhesion resistance in response to detecting the adhesion volume.

[0167] The difference between the estimated adhesion volume and the detected adhesion volume is calculated as a new estimated adhesion volume, and the new adhesion resistance is obtained by using the new estimated adhesion volume with reference to S76.

[0168] S7815: Update the attachment position according to the updated adhesion resistance, and continue to update the pressure detection value and the mark detection position after the cleaning device 3 completes the cleaning of the mark detection position.

[0169] Refer to S77 and S78 to obtain the new attachment position through the new adhesion resistance, and after the cleaning device 3 completes the cleaning of the mark detection position, continue to move along the traction rope 2 and update the pressure detection value and the mark detection position until the cleaning of the attachment on the traction rope 2 is completed.

[0170] The method for controlling the piercing device to operate according to the piercing force, piercing position, and piercing distance in S782 includes:

[0171] S7820: Collect cleaning specifications of cleaning device 3.

[0172] The cleaning specifications refer to the material specifications of the cleaning device 3, which can be obtained through pre-input by the operator.

[0173] S7821: Retrieve the cleaning friction coefficient from the cleaning specifications.

[0174] The cleaning friction coefficient refers to the friction coefficient of the roller on the cleaning device 3, and the cleaning friction coefficient is retrieved from the cleaning specifications.

[0175] S7822: Obtaining a normal pressure value in response to the cleaning friction coefficient, the preset traction friction coefficient, and the penetration force.

[0176] The traction friction coefficient is the friction coefficient of the outer surface of the traction rope 2, as set by the technician. The normal pressure value refers to the pressure value required when the cleaning device 3 is operating at the penetration force. The normal pressure value is matched by inputting the cleaning friction coefficient, traction friction coefficient, and penetration force into a preset friction database.

[0177] The friction database stores different cleaning friction coefficients, traction friction coefficients and normal pressure values ​​corresponding to the penetration force. The parameters in the friction database are set by technicians in this field in advance based on actual conditions and will not be described in detail here.

[0178] S7823: Responding to the normal pressure value and the preset reference pressure value to obtain the compaction power, and controlling the moving device preset on the cleaning device 3 to output the compaction power.

[0179] The baseline pressure value is the pressure exerted by the roller on the traction rope 2 during the initial operation of the cleaning device 3, as set by technicians. The difference between the normal pressure value and the baseline pressure value is calculated as the pressure deviation value. This pressure deviation value is then input into the friction database to match the compression power output of the mobile device. The friction database stores the compression power corresponding to different pressure deviation values, which will not be detailed here.

[0180] Also includes:

[0181] S120: When the unmanned vessel 1 is located at the surveying position, wave parameters are collected.

[0182] Wave parameters refer to the size parameters of waves generated on the water surface where the unmanned boat 1 is located. Ultrasonic waves are output on the water surface by an ultrasonic sensor preset on the unmanned boat 1, and the parameters on the ultrasonic waves are analyzed to obtain the wave parameters.

[0183] S121: Responding to wave parameters to generate wave height.

[0184] Wave height refers to the height of the wave from the water surface, which is obtained by taking the height of the wave from the water surface from the wave parameters.

[0185] S122: When the wave height exceeds the preset reference change height, the difference between the wave height and the reference change height is calculated as a height deviation value.

[0186] The reference change height is the maximum wave height set by technicians that can cause unmanned vessel 1 to experience a height deviation. The height deviation value is the difference between the wave height and the reference change height. When the wave height exceeds the reference change height, it indicates that unmanned vessel 1 has experienced a height deviation. The height deviation value is calculated as the difference between the wave height and the reference change height.

[0187] S123: When the height deviation value exceeds the preset reference offset distance, the difference between the height deviation value and the reference offset distance is calculated as the parameter adjustment distance.

[0188] A height buffer is installed between the unmanned boat 1 and the water surface. Springs are evenly spaced between the height buffer and the unmanned boat 1. A telescopic rod is located in the middle of the spring. The rod is connected to an air pump that draws air to control its length. The height buffer is also equipped with a water suction device, which absorbs water to increase its weight, reducing wave impact and minimizing height deviations of the unmanned boat 1. The water suction device is a water pump.

[0189] The reference offset distance is the height of the spring between the height buffer device and the unmanned boat 1 when there are no waves, which is set by the technician.

[0190] The parameter adjustment distance refers to the height deviation of the unmanned boat 1. When the height deviation value exceeds the preset reference offset distance, it means that the unmanned boat 1 still has a height deviation after the spring is squeezed by the height buffer device. The difference between the height deviation value and the reference offset distance is calculated as the parameter adjustment distance.

[0191] S124: Adjust the distance according to the parameter to update the surveying model.

[0192] The method of updating the surveying and mapping model by adjusting the distance based on the parameters is common knowledge among those skilled in the art and will not be elaborated here.

[0193] Also includes:

[0194] S1230: When the height deviation value exceeds the preset reference offset distance, the wave parameters are updated.

[0195] The unit detection time is the time length set by the technician for re-collecting wave parameters. Wave parameters are re-collected in unit time.

[0196] S1231: Generate wave flow velocity in response to wave parameters before and after the update.

[0197] The wave change distance is obtained by calculating the positions of the wave parameters before and after the update, and the quotient of the change distance and the unit detection time is calculated as the wave flow speed.

[0198] S1232: Generate contact area based on wave parameters and manufacturing specifications.

[0199] The contact area refers to the contact area between the wave and the unmanned boat 1. The contact area is obtained by analyzing the wave parameters and the manufacturing specifications. The analysis method of the contact area is common knowledge to those skilled in the art and will not be described here.

[0200] S1233: Responding to the contact area, wave flow velocity, and wave parameters to obtain the wave impact force.

[0201] The wave impact force refers to the force value of the wave impacting the unmanned boat 1. The wave impact force is obtained by analyzing the contact area, wave flow velocity and wave parameters. The analysis method of the wave impact force is common knowledge among those skilled in the art and will not be described in detail here.

[0202] S1234: Obtain the water absorption amount according to the wave impact strength, the height deviation value, and the reference offset distance, and control the water absorption device preset on the unmanned boat 1 to absorb water according to the water absorption amount.

[0203] The water absorption capacity refers to the amount of water that the water absorption device needs to absorb. The difference between the height deviation value and the reference offset distance is calculated as the distance deviation value, and then the wave impact force and the distance deviation value are input into the preset water absorption database to match the water absorption capacity, and the water absorption device is controlled to absorb water according to the water absorption capacity.

[0204] The water absorption database stores water absorption amounts corresponding to different wave impact intensities and distance deviation values. The parameters in the water absorption database are set by those skilled in the art in advance based on actual conditions and will not be elaborated here.

[0205] The method after generating the wave flow velocity in S1231 includes:

[0206] S12310: Responding to wave flow speed and manufacturing specifications to generate height deviation time.

[0207] The height deviation time refers to the length of time that the wave causes a height deviation to the unmanned boat 1. By taking the size between the unmanned boat 1 and the water surface and the maximum length corresponding to the direction of the wave, the quotient of the maximum length and the wave flow speed is calculated as the height deviation time.

[0208] S12311: When the height deviation time exceeds the preset reference rebound time, the inhalation volume is obtained through the reference offset distance.

[0209] The baseline rebound time is the time it takes for the spring to rebound, as set by the technician. If the altitude deviation exceeds the baseline rebound time, indicating that the unmanned vessel 1 will rebound when affected by waves, and the altitude of the unmanned vessel 1 still deviates, the baseline offset distance is input into the preset intake database to match the intake volume.

[0210] The inhalation database stores inhalation volumes corresponding to different reference offset distances. The parameters in the inhalation database are set by those skilled in the art in advance based on actual conditions through experiments, and are not described in detail here.

[0211] S12312: Generate inspiratory velocity by using altitude deviation time and inspiratory volume.

[0212] The suction speed refers to the volume of air inhaled by the suction device per unit time. The suction speed is calculated as the quotient of the suction volume and the height deviation time.

[0213] S12313: When the unmanned boat 1 comes into contact with the waves, the preset air suction device is controlled to operate at an air suction speed.

[0214] When the unmanned boat 1 contacts the waves, it indicates that the unmanned boat 1 will have a height deviation, and the air suction device is controlled to operate at the air suction speed.

[0215] Based on the same inventive concept, an embodiment of the present invention provides an ocean surveying and mapping system, comprising:

[0216] An acquisition module is used to obtain tension test values, manufacturing specifications, water surface velocity, surveying parameters, pressure test values, scanning information, cleaning specifications, and wave parameters;

[0217] A memory for storing an ocean surveying and mapping method;

[0218] The processor is configured to load, execute, and implement the program stored in the memory.

[0219] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0220] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for ocean surveying and mapping, characterized in that: include: S1: Controlling a preset unmanned boat (1) to sail to a preset surveying position, fixing the unmanned boat (1) with a preset anchor, and collecting a tension detection value of a traction rope (2) preset between the unmanned boat (1) and the anchor; S2: collecting the manufacturing specifications and water surface velocity of the unmanned boat (1); S3: generating an anchor position in response to the water surface velocity and the surveyed position; S4: Obtaining a towing angle by using the anchoring position and the surveying position; S5: generating water thrust in response to the manufacturing specifications and the water surface flow velocity; S6: Responding to the pulling angle and the water flow thrust to obtain a reference tension value; S7: when the tension detection value is greater than the reference tension value, updating the tension detection value to obtain an estimated attachment volume, and controlling a preset cleaning device (3) to clean the attachments with the estimated attachment volume; S8: Collect surveying and mapping parameters; S9: generating a surveying model in response to the surveying parameters, and outputting the surveying model to a preset detection terminal.

2. The method for ocean surveying and mapping according to claim 1, wherein: Also includes: S31: Obtaining a water flow direction in response to the anchoring position and the surveying position; S32: Retrieving a collection direction from the manufacturing specification; S33: generating a collection deviation coefficient in response to the water flow direction and the collection direction; S34: In response to the water surface flow velocity and the collection deviation coefficient matching, a water flow input current is generated, and the water flow input current is input into a preset current storage device.

3. The method for ocean surveying and mapping according to claim 1, wherein: Methods for obtaining the estimated attachment volume in S7 include: S70: Controlling the unmanned boat (1) to release the traction rope (2) at a preset detection length, and updating the tension detection value; S71: When the updated tension detection value is consistent with the preset marked tension value, continue to update the tension detection value and record the update time; S72: obtaining a tension speed change in response to the updated tension detection value and the update time; S73: Obtaining an estimated attachment volume and attachment type by varying the tension; S74: Obtaining a towing vertical height by using the anchoring position and the surveying position; S75: generating detection flow velocities at different heights in response to the traction vertical height and the water surface flow velocity; S76: generating adhesion resistance according to the detected flow rate, the attachment type, and the estimated attachment volume; S77: changing the speed in response to the adhesion resistance and the tension to obtain an adhesion vertical height; S78: The attachment position is obtained by measuring the vertical height of the attachment, and a preset cleaning device (3) is controlled to move to the attachment position for cleaning.

4. A method for ocean surveying and mapping according to claim 3, characterized in that: The method for cleaning the attached objects by the cleaning device (3) preset by the control in S78 includes: S780: When the attachment type is a preset biological type, obtaining an attachment range and an insertion distance in response to the attachment position and the estimated attachment volume; S781: When the cleaning device (3) moves to the attachment position, it passes through the attachment range to generate an insertion position; S782: Obtaining the insertion force by comparing the insertion distance with the preset insertion specification, and controlling the cleaning device (3) to operate according to the insertion force, the insertion position, and the insertion distance; S783: Responding to the estimated attachment volume and the insertion distance to obtain a current output and an output frequency, and controlling the current output device preset on the cleaning device (3) to operate at the current output and the output frequency.

5. The method for ocean surveying and mapping according to claim 4, characterized in that: The method for when the cleaning device (3) moves to the attachment position in S781 further includes: S7810: When controlling the movement of the cleaning device (3), collecting a pressure detection value on the cleaning device (3); S7811: When the pressure detection value is greater than a preset reference pressure value, the position of the cleaning device (3) is recorded as a mark detection position, and scanning information is collected; S7812: Obtaining a detection attachment volume through the scanning information; S7813: updating the current output and the output frequency in response to the detected attachment volume, and updating the insertion position in response to the detected position of the marker; S7814: updating the adhesion resistance in response to the detected adhesion volume; S7815: updating the attachment position according to the updated adhesion resistance, and continuing to update the pressure detection value and the mark detection position after the cleaning device (3) completes the cleaning of the mark detection position.

6. The method for ocean surveying and mapping according to claim 4, characterized in that: The method for controlling the insertion device to operate with the insertion force, the insertion position, and the insertion distance in S782 includes: S7820: collecting the cleaning specifications of the cleaning device (3); S7821: Retrieving the cleaning friction coefficient from the cleaning specification; S7822: Obtaining a normal pressure value in response to the cleaning friction coefficient, the preset traction friction coefficient, and the penetration force; S7823: Responding to the normal pressure value and the preset reference pressure value to obtain a compaction power, and controlling a moving device preset on the cleaning device (3) to output the compaction power.

7. The method for ocean surveying and mapping according to claim 1, wherein: Also includes: S120: When the unmanned vessel (1) is located at the surveying location, collecting wave parameters; S121: generating a wave height in response to the wave parameter; S122: When the wave height exceeds a preset reference change height, calculating a difference between the wave height and the reference change height as a height deviation value; S123: When the height deviation value exceeds a preset reference offset distance, calculating a difference between the height deviation value and the reference offset distance as a parameter adjustment distance; S124: Adjust the distance according to the parameter to update the mapping model.

8. The method for ocean surveying and mapping according to claim 7, characterized in that: Also includes: S1230: When the height deviation value exceeds a preset reference offset distance, updating the wave parameter; S1231: generating a wave flow velocity in response to the wave parameters before and after the update; S1232: Generate a contact area using the wave parameters and manufacturing specifications; S1233: Obtaining wave impact force in response to the contact area, the wave flow velocity, and the wave parameter; S1234: Obtaining a water absorption amount based on the wave impact force, the height deviation value, and the reference offset distance, and controlling a water absorption device preset on the unmanned boat (1) to absorb water according to the water absorption amount.

9. The method for ocean surveying and mapping according to claim 8, characterized in that: The method after generating the wave flow velocity in S1231 includes: S12310: generating a height deviation time in response to the wave flow speed and the manufacturing specification; S12311: When the height deviation time exceeds a preset reference rebound time, obtaining an inhaled volume by using the reference offset distance; S12312: Generate an inhalation speed by combining the altitude deviation time and the inhalation volume; S12313: When the unmanned boat (1) comes into contact with waves, the preset air suction device is controlled to operate at the air suction speed.

10. A marine surveying and mapping system, characterized in that: include: An acquisition module is used to obtain tension detection values, manufacturing specifications, water surface velocity, and surveying parameters; A memory for storing an ocean surveying and mapping method according to any one of claims 1 to 9; The processor is configured to load, execute, and implement the program stored in the memory.

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