CN114265408B

CN114265408B - Unmanned ship remote control system and method

Info

Publication number: CN114265408B
Application number: CN202111596802.XA
Authority: CN
Inventors: 莫敏玲; 王刚; 何志云; 王景朗
Original assignee: Guangdong Lankun Marine Technology Co ltd
Current assignee: Guangdong Lankun Marine Technology Co ltd
Priority date: 2021-12-24
Filing date: 2021-12-24
Publication date: 2022-08-16
Anticipated expiration: 2041-12-24
Also published as: CN114265408A

Abstract

The application relates to a remote control side system of an unmanned ship, which sends a data acquisition determination request; obtaining a plurality of designated manned ships; sending a permission exchange probing request; acquiring a third air route and a control authority release position, and sending the third air route and the control authority release position to a server; calling a current unmanned ship position distribution map to select a plurality of second unmanned ships; a plurality of forecasted time-consuming; if the plurality of estimated time consumptions are less than the time consumption for performing the data acquisition task, generating a position distribution map of the second unmanned ship; obtaining a first uniformity value and a second uniformity value; if the difference value is smaller than the difference value threshold value, sending a controlled allowing instruction, and simultaneously sending a residual data acquisition task execution instruction; receiving collected data and sending the data to a server; and opening the control authority, and disconnecting the communication connection between the plurality of first unmanned ships and the server during the control authority opening period, so that the optimization of global unmanned ship remote control is realized, and the time waste and data waste of the whole unmanned ship are avoided.

Description

Unmanned ship remote control system and method

Technical Field

The application relates to the field of unmanned ships, in particular to a system and a method for remotely controlling an unmanned ship.

Background

The unmanned ship can be used for water area data acquisition, for example, data acquisition along an air route is carried out. However, the existing unmanned ship can only carry out fixed navigation and data acquisition according to a set air route, and the air route cannot be flexibly adjusted so as to adapt to different scenes. For example, when data of a predetermined voyage of an unmanned ship is acquired (for example, acquired by other ships), the unmanned ship continues to perform data acquisition on the original route, which results in time waste, data waste, and failure to achieve global optimization. Thus, the conventional scheme lacks a flexible and efficient remote control scheme.

Disclosure of Invention

The application provides unmanned ship remote control system includes:

the acquisition data determining request sending module 10 is used for instructing a plurality of first unmanned ships to navigate along a plurality of predetermined first air routes respectively, so as to perform a preset air route data acquisition task through a sensor preset on the first unmanned ship, and sending acquisition data determining requests to all the manned ships within a preset communication range respectively in the process of navigating;

the designated manned vessel acquisition module 20 is configured to instruct the plurality of first unmanned vessels to receive return information of the manned vessel, and select one designated manned vessel according to the return information, so as to obtain a plurality of designated manned vessels corresponding to the plurality of first unmanned vessels; wherein, the return information at least comprises a driving route of the manned ship; appointing a second air route which a manned ship drives through to be partially overlapped with the corresponding first air route of the first unmanned ship, and storing acquired data obtained by acquiring and processing real-time data in the navigation process in the appointed manned ship;

an authority exchange probing request sending module 30, configured to instruct the multiple first unmanned ships to send authority exchange probing requests to the corresponding designated manned ships respectively, so as to request the designated manned ships to return a third route to be traveled and control authority release positions, so as to obtain multiple third routes and multiple control authority release positions corresponding to the multiple designated manned ships respectively; wherein the control authority release position is a position on a third air route;

the control authority release position obtaining module 40 is configured to instruct the multiple first unmanned ships to obtain a third airline and a control authority release position, which are sent by the multiple designated manned ships correspondingly, respectively, and send the third airline and the control authority release position to a preset server; wherein, the server is only in signal connection with the unmanned ship;

the unmanned ship position distribution diagram retrieving module 50 is configured to instruct the server to retrieve a current unmanned ship position distribution diagram of the first unmanned ship, and select a plurality of second unmanned ships from the unmanned ship position distribution diagram of the first unmanned ship, so as to temporarily set the plurality of second unmanned ships to respectively execute a plurality of remaining data acquisition tasks; the residual data acquisition task refers to a task for performing data acquisition on a residual air route which is not subjected to data acquisition in the first air route; the number of the plurality of second unmanned ships is the same as that of the plurality of first unmanned ships;

a predicted time-consuming judging module 60, configured to instruct the server to calculate a plurality of predicted time-consuming times for the plurality of second unmanned ships to respectively execute the plurality of remaining data acquisition tasks, and judge whether the plurality of predicted time-consuming times are all smaller than the time-consuming time for the corresponding first unmanned ship to continue sailing along the predetermined first route for performing the data acquisition task;

a position distribution map generating module 70, configured to indicate that, if the plurality of estimated time consumptions are all less than the time consumption for the corresponding first unmanned ship to continue to sail along the predetermined first airline to perform the data acquisition task, the server generates a position distribution map of the second unmanned ship after the predetermined time according to a preset position distribution map generating method;

the uniformity calculation module 80 is configured to instruct the server to perform uniformity calculation processing on the position distribution map of the first unmanned ship and the position distribution map of the second unmanned ship according to a preset uniformity calculation method to obtain a first uniformity value and a second uniformity value, and determine whether a difference value between the first uniformity value and the second uniformity value is smaller than a preset difference threshold value;

the controlled permission instruction sending module 90 is configured to instruct the server to send controlled permission instructions to all the first unmanned ships and send remaining data acquisition task execution instructions to all the second unmanned ships at the same time if the difference between the first uniformity value and the second uniformity value is smaller than a preset difference threshold;

the acquisition data sending module 100 is configured to instruct a plurality of first unmanned ships to receive acquisition data sent by corresponding designated manned ships and send the acquisition data to a server;

a control authority opening module 110, configured to instruct the plurality of first unmanned ships to open control authorities to corresponding designated manned ships, and during the control authority opening period, the plurality of first unmanned ships disconnect communication connections with the server; and the control authority starts from the current time until the first unmanned ship reaches the corresponding control authority release position.

Further, the collected data determination request sending module 10 includes:

the remaining airline length acquisition sub-module is used for indicating a plurality of first unmanned ships to sail along a plurality of preset first airlines respectively, so as to carry out a preset data acquisition task along the airlines through a sensor preset on the first unmanned ship and acquire a plurality of remaining airline lengths which are not finished in the corresponding plurality of first airlines respectively;

the remaining fairway length judging submodule is used for indicating the first unmanned ships to respectively judge whether the remaining fairway lengths are all larger than a preset length threshold value;

the communication radius calculation submodule is used for indicating that if the lengths of the plurality of remaining cables are all larger than a preset length threshold, the plurality of first unmanned ships call preset same proportional parameters, and the proportional parameters are respectively calculated according to a formula: calculating a plurality of communication radii corresponding to a plurality of remaining flight lengths, where the communication radius is min (remaining flight length × proportional parameter, D); wherein D is a preset radius threshold;

the communication range generation submodule is used for indicating the plurality of first unmanned ships to correspondingly generate a plurality of communication ranges according to the plurality of communication radiuses;

and the acquired data determining request sending submodule is used for indicating the plurality of first unmanned ships to respectively send the acquired data determining requests to all the manned ships in the corresponding plurality of communication ranges.

Further, the designated manned ship acquisition module 20 includes:

the driving route extraction submodule is used for indicating the first unmanned ships to respectively receive return information of the manned ships and extracting a plurality of driving routes which the manned ships drive through from the return information so as to respectively obtain a plurality of driving route sets;

the first screening submodule is used for indicating the first unmanned ships to respectively screen the running route sets according to a first screening rule that the running routes are partially overlapped with the corresponding first routes of the first unmanned ships so as to obtain a plurality of running route sets to be selected;

the second screening submodule is used for indicating the plurality of first unmanned ships to respectively screen the plurality of driving route sets to be selected according to a second screening rule with the longest coincident route so as to screen out a plurality of designated routes;

and the appointed manned ship obtaining sub-module is used for indicating the first unmanned ships to mark the manned ships corresponding to the appointed air route as the appointed manned ships, so that a plurality of appointed manned ships corresponding to the first unmanned ships respectively are obtained.

Further, the unmanned ship position distribution map retrieving module 50 includes:

the idle state setting submodule is used for indicating the server to call the current position distribution diagram of the first unmanned ship and temporarily setting the positions corresponding to all the first unmanned ships in the position distribution diagram of the first unmanned ship to be in an idle state;

the terminal acquisition submodules are used for indicating the server to respectively acquire a plurality of terminals of the remaining routes corresponding to the remaining data acquisition tasks;

the plurality of terminal point judging submodules are used for indicating the server to judge whether the unmanned ship in an idle state exists within a preset distance of the plurality of terminal points;

the unmanned ship judging submodule is used for indicating that if the unmanned ships in the idle state exist within the preset distances of the plurality of end points, the server respectively judges whether the unmanned ships in the idle state are the first unmanned ships or not;

the second unmanned ship selection submodule is used for indicating that if the unmanned ships in the idle state are not the first unmanned ship, the server respectively records the unmanned ships in the idle state as a plurality of second unmanned ships, and temporarily determines the plurality of second unmanned ships to respectively execute a plurality of residual data acquisition tasks;

and the busy state setting submodule is used for indicating the server to set the positions corresponding to all the first unmanned ships to be busy states.

the permission exchange prohibition instruction sending submodule is used for indicating that if the first unmanned ship is included in the unmanned ship in the idle state, the server marks the first unmanned ship in the idle state as a third unmanned ship, and sends a permission exchange prohibition instruction, a residual data acquisition task execution instruction and a permission exchange certificate to the third unmanned ship; the unmanned ship can acquire the control authority of other unmanned ships except the third unmanned ship through the authority exchange certificate;

the permission exchange certificate sending submodule is used for indicating the third unmanned ship to send the permission exchange certificate to the corresponding appointed manned ship, receiving the collected data sent by the corresponding appointed manned ship and sending the collected data to the server;

the residual data acquisition task execution submodule is used for indicating the third unmanned ship to execute a residual data acquisition task; wherein a starting point of a remaining data collection task performed by the third unmanned ship is one of the end points.

The application provides a remote control method for an unmanned ship, which comprises the following steps:

s1, the multiple first unmanned ships respectively sail along the preset multiple first air routes, so that preset air route data acquisition tasks are carried out through sensors preset on the first unmanned ships, and in the sailing process, acquisition data determination requests are respectively sent to all the manned ships within a preset communication range;

s2, the first unmanned ships respectively receive the return information of the manned ships, and one appointed manned ship is selected according to the return information respectively, so that a plurality of appointed manned ships corresponding to the first unmanned ships respectively are obtained; wherein, the return information at least comprises a driving route of the manned ship; appointing a second air route which a manned ship drives through to be partially overlapped with the corresponding first air route of the first unmanned ship, and storing acquired data obtained by acquiring and processing real-time data in the navigation process in the appointed manned ship;

s3, the multiple first unmanned ships respectively send permission exchange probing requests to the corresponding appointed manned ships so as to require the appointed manned ships to return to a third air route to be driven and control permission release positions, and therefore the multiple third air routes and the multiple control permission release positions corresponding to the multiple appointed manned ships are respectively obtained; wherein the control authority release position is a position on a third air route;

s4, the multiple first unmanned ships respectively obtain a third air route and a control authority release position which are correspondingly sent by the multiple appointed manned ships, and the third air route and the control authority release position are both sent to a preset server; wherein, the server is only in signal connection with the unmanned ship;

s5, the server calls a current unmanned ship position distribution map, and selects a plurality of second unmanned ships from the unmanned ship position distribution map so as to temporarily set the plurality of second unmanned ships to respectively execute a plurality of residual data acquisition tasks; the residual data acquisition task refers to a task for performing data acquisition on a residual air route which is not subjected to data acquisition in the first air route; the number of the plurality of second unmanned ships is the same as that of the plurality of first unmanned ships;

s6, the server calculates a plurality of estimated time spent by the plurality of second unmanned ships for respectively executing the plurality of residual data acquisition tasks, and judges whether the estimated time spent is less than the time spent by the corresponding first unmanned ship for continuously sailing along the preset first air route to perform the data acquisition tasks;

s7, if the plurality of estimated time consumption is less than the time consumption of the corresponding first unmanned ship for continuing to carry out the data acquisition task along the preset first air route, the server generates a second unmanned ship position distribution map after the preset time according to a preset position distribution map generation method;

s8, the server carries out uniformity calculation processing on the position distribution map of the first unmanned ship and the position distribution map of the second unmanned ship according to a preset uniformity calculation method to obtain a first uniformity value and a second uniformity value, and judges whether the difference value between the first uniformity value and the second uniformity value is smaller than a preset difference threshold value or not;

s9, if the difference value between the first uniformity value and the second uniformity value is smaller than a preset difference value threshold value, the server sends control permission instructions to all the first unmanned ships, and simultaneously sends residual data acquisition task execution instructions to all the second unmanned ships;

s10, the multiple first unmanned ships receive the collected data sent by the corresponding appointed manned ships and send the collected data to the server;

s11, the first unmanned ships open control authority to the corresponding appointed manned ships, and during the control authority opening, the first unmanned ships disconnect the communication connection with the server; and the control authority starts from the current time until the first unmanned ship reaches the corresponding control authority release position.

The present application provides a computer device comprising a memory storing a computer program and a processor implementing the steps of the above method when executing the computer program.

The present application provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the above-mentioned method.

The unmanned ship remote control system, the unmanned ship remote control method, the computer equipment and the storage medium send a data acquisition determination request; obtaining a plurality of appointed manned ships respectively corresponding to the first unmanned ships; sending a permission exchange probing request; respectively acquiring a third air route and a control authority release position, and sending the third air route and the control authority release position to a server; calling a current unmanned ship position distribution map, and selecting a plurality of second unmanned ships; calculating a plurality of estimated time spent by the plurality of second unmanned ships for respectively executing the plurality of residual data acquisition tasks; if the plurality of estimated time consumptions are less than the time consumption for performing the data acquisition task, generating a position distribution map of the second unmanned ship; obtaining a first uniformity value and a second uniformity value; if the difference value between the first uniformity value and the second uniformity value is smaller than the difference threshold value, sending an allowable controlled instruction, and simultaneously sending a residual data acquisition task execution instruction; receiving collected data and sending the collected data to a server; and opening the control authority, and disconnecting the communication connection between the plurality of first unmanned ships and the server during the control authority opening period, so that the optimization of global unmanned ship remote control is realized, and the time waste and data waste of the whole unmanned ship are avoided.

It should be noted that the present application does not use a single unmanned ship as an optimization subject, but uses a plurality of unmanned ships as a whole as the optimization subject. The technical effects of the application include:

1. the remote control burden of the unmanned ship is reduced, and the flexible control of the unmanned ship is realized. After the unmanned ship receives the control permission command, the control permission can be given to the corresponding manned ship, so that the manned ship can be used for short-distance control (or a simple accompanying strategy can be adopted when the manned ship is not accurately controlled).

2. For a manned ship (the manned ship is preferably a passenger ship), the unmanned ship can be added, and the unmanned ship can be operated more widely, for example, the unmanned ship can be used as an operation toy of a guest, or the unmanned ship can be controlled to move forward to be used as an early warning ship, so that the manned ship is also suitable for participating in implementation of the scheme of the application, and the manned ship can also be provided with a corresponding data acquisition tool in advance to perform the same data acquisition work as the unmanned ship, so that the data acquisition burden of the unmanned ship is reduced.

3. Data waste is reduced. As can be seen from the technical effect of point 2, the manned vessel also collects the collected data, and the collected data is close to the data that the unmanned vessel will collect, and therefore can be regarded as the same data. The unmanned ship takes the control authority as a transaction, so that the acquired data are obtained, and repeated data acquisition is avoided.

4. For the unmanned ship overall situation, the overall uniformity of the unmanned ship is kept before and after the implementation of the scheme of the application, and the unmanned ship is favorable for remote control to continuously perform tasks such as overall data acquisition and the like.

The method is suitable for any feasible environment, such as an archipelago environment, a peninsula environment and a strait environment, and is particularly suitable for an environment (such as some archipelago) with a dense part and a sparse part of people.

The method and the device increase the enthusiasm of the manned ship to participate in the method and realize mutual win through the exchange of the control authority and the acquired data.

Drawings

Fig. 1 is a schematic block diagram of a structure of an unmanned ship remote control system according to an embodiment of the present application;

FIG. 2 is a schematic flow chart illustrating a method for remotely controlling an unmanned ship according to an embodiment of the present application;

fig. 3 is a block diagram illustrating a structure of a computer device according to an embodiment of the present application.

The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

Referring to fig. 1, an embodiment of the present application provides an unmanned ship remote control system, including:

the estimated time consumption judging module 60 is configured to instruct the server to calculate a plurality of estimated time consumptions for the plurality of second unmanned ships to respectively execute the plurality of remaining data acquisition tasks, and judge whether the plurality of estimated time consumptions are all smaller than the time consumption for the corresponding first unmanned ship to continue to sail along the predetermined first route for performing the data acquisition task;

The solution of the present application is described in terms of a plurality of first unmanned vessels and servers, but in practice relates to a plurality of first unmanned vessels, servers, a plurality of manned vessels and a plurality of second unmanned vessels. The technical effect of the application is realized based on the basic reality that flexible navigation and flexible data acquisition are difficult to carry out by a single unmanned ship (even if the existing machine vision technology is added, the traditional unmanned ship must insist on a set air route for navigation, and at most, only can carry out operations such as obstacle avoidance, so the flexible navigation and the flexible data acquisition are not called).

The application relates to a communication decision between an unmanned ship and a manned ship as well as a server, and relates to switching between a long-distance communication technology and a short-distance communication technology.

One reason for implementing the present application is that not all manned vessels and unmanned vessels belong to the same system, and therefore it is difficult to issue instructions with granularity up to the granularity of each manned vessel and unmanned vessel. Under such a premise, the present application is implemented.

The present application relies on the common implementation of a plurality of unmanned vessels and a plurality of manned vessels, which is not necessary if only a single unmanned vessel and a single manned vessel.

The unmanned ship remote control system at least comprises modules 10-110 so as to realize macroscopic unmanned ship remote control. The modules 10 to 40 are a collected data determination request sending module, an appointed manned ship obtaining module, an authority exchange heuristic request sending module and a control authority release position obtaining module, and are respectively used for indicating a plurality of first unmanned ships to sail along a plurality of preset first air routes, so that a preset air route data collection task is carried out through a sensor preset on the first unmanned ships, and in the sailing process, collected data determination requests are respectively sent to all manned ships within a preset communication range; the system comprises a plurality of first unmanned ships, a plurality of second unmanned ships and a plurality of communication terminals, wherein the first unmanned ships are used for indicating the plurality of first unmanned ships to respectively receive return information of manned ships and selecting one appointed manned ship according to the return information respectively so as to obtain a plurality of appointed manned ships corresponding to the plurality of first unmanned ships respectively; wherein, the return information at least comprises a driving route of the manned ship; appointing a second air route which a manned ship drives through to be partially overlapped with the corresponding first air route of the first unmanned ship, and storing acquired data obtained by acquiring and processing real-time data in the navigation process in the appointed manned ship; the system comprises a plurality of first unmanned ships, a plurality of control authority releasing positions and a plurality of control authority releasing positions, wherein the first unmanned ships are used for indicating the plurality of first unmanned ships to respectively send authority exchange probing requests to corresponding appointed manned ships so as to require the appointed manned ships to return a third air route to be driven and the control authority releasing positions, and therefore the plurality of third air routes and the plurality of control authority releasing positions corresponding to the plurality of appointed manned ships are respectively obtained; wherein the control authority release position is a position on a third air route; the system comprises a plurality of first unmanned ships, a plurality of second unmanned ships and a server, wherein the first unmanned ships are used for indicating the plurality of first unmanned ships to respectively obtain a third air route and a control authority release position which are correspondingly sent by the plurality of appointed ships, and sending the third air route and the control authority release position to the preset server; wherein the server is only in signal connection with the unmanned ship.

And the acquired data determination request sending module is used for indicating the first unmanned ship to perform basic data acquisition along the air route. Since all unmanned ships cannot find a suitable manned ship for permission and data exchange, it is necessary to determine whether a suitable manned ship exists by acquiring data and determining a request sending module. The data acquisition along the flight line means that the unmanned ship navigates along a predetermined flight line and simultaneously acquires data during the navigation, and the adopted sensor is, for example, a camera (used for acquiring an environmental image, which is particularly suitable for an archipelago environment), and may also include other feasible sensors.

In the present application, the communication between the unmanned ship and the server is different from the communication between the unmanned ship and the manned ship, and it is generally considered that the communication between the unmanned ship and the server is long-distance communication and the communication between the unmanned ship and the manned ship is short-distance communication. In contrast, long-distance communication consumes more resources and has a greater communication burden. In order to ensure the control force for the unmanned ship, the unmanned ship is generally in communication connection with the server during the navigation process, so that the server can at least obtain the position of the unmanned ship to generate the unmanned ship position map. In the application, in order to reduce the communication pressure, part of unmanned ships and servers can be disconnected in communication under certain conditions and converted into near field communication connection controlled by the manned ships, and in the conversion process, data acquisition is partially completed by the manned ships, so that data acquisition tasks are not delayed. For the manned vessel, an additional accompanying vessel is provided, which can be used for early warning or manual control of guests on the vessel (of course, if the manned vessel is a guest vessel, the ship owner can charge part of service fee for the intended guests to manually control the unmanned vessel, so as to improve the willingness of the manned vessel to participate in the application). The preset communication range is actually the range covered by the near field communication technology.

And the appointed manned ship acquisition module is used for determining the appointed manned ship meeting the conditions of the application according to the return information of the manned ship. The designated manned ship can participate in the implementation of the application, and the conditions to be met are as follows: and designating a second air route which the manned ship runs through to be partially overlapped with the corresponding first air route of the first unmanned ship, and storing acquired data obtained by acquiring and processing real-time data in the navigation process in the manned ship. Because of such conditions, it is specified that a manned vessel must acquire the data that the first unmanned vessel will acquire. Although there is a certain difference in time between the data collected by the designated manned vessel and the data collected by the first unmanned vessel, the data is considered to be the same data in the present application because the time difference is small. The second route traveled by the designated manned ship is partially overlapped with the first route of the corresponding first unmanned ship, which actually means that the corresponding first route (i.e. the part not traveled) traveled by the first unmanned ship is overlapped with the second route traveled by the designated manned ship.

The system comprises a permission exchange probe request sending module, a permission exchange probe request sending module and a control authority releasing module, wherein the permission exchange probe request sending module is used for indicating a plurality of first unmanned ships to respectively send permission exchange probe requests to corresponding appointed manned ships so as to require the appointed manned ships to return a third air route to be driven and control authority releasing positions, and therefore a plurality of third air routes and a plurality of control authority releasing positions corresponding to the plurality of appointed manned ships are respectively obtained; and the control authority release position is a position on the third air route. Through the appointed manned ship acquisition module, the appointed manned ship who preliminary suits this application can be determined, but whether the appointed manned ship of this moment is suitable enough still needs further analysis. Therefore, the permission exchange heuristic request sending module obtains the third airline and the control permission release position for analyzing whether the designated manned ship is suitable for the application.

Given the example of a manned vessel suitable for use in the present application, unmanned vessel A will sail along a first course a1-B-c (ignoring the travelled course at this time) toward one another, and manned vessel B will have a travelled course d-B-a2, where a1 is the current position of unmanned vessel A and a2 is the current position of manned vessel B. It should be noted that a1 and a2 are within the preset communication range, but must be different, which is a feature of the present application, because the present application needs multiple unmanned ships, multiple manned ships, and a server to participate together, so the implementation of the present application needs to be completed within a certain time window, and in this time window, the server analyzes the received data (positioning data sent by the unmanned ship, a third route, a control authority release position, etc.) to determine which unmanned ships can exchange control authority with the manned ships and which unmanned ships cannot; the next round of analysis is performed on the data received in the next time window, which is why the present application emphasizes being applicable only to a plurality of unmanned vessels. Wherein the course a1-B of unmanned ship A may be considered the opposite of course B-a2 of manned ship B. Under the premise, the manned ship B also carries out data acquisition on a B-a2 course, so that the manned ship B can be determined to temporarily meet the requirements of the application on the manned ship. However, if the B-a2 route is too short, the unmanned ship A only needs a very short time to finish, and the manned ship B obviously does not meet the requirements of the application; or, the subsequent course of manned vessel B is too far off (e.g., the present application is applied to an archipelago environment, and manned vessel B is about to be far from the archipelago), or manned vessel B requires too long time to control the designated manned vessel, which does not meet the requirements of the present application. Therefore, based on the analysis of the foregoing modules, further analysis of the applicability of the preliminarily selected designated manned ship is required.

Therefore, the third airline and the control authority release position which are correspondingly sent by the plurality of appointed manned ships are respectively obtained through the control authority release position obtaining module, and the third airline and the control authority release position are both sent to the preset server. It should be noted that the server of the present application is only in signal connection with unmanned ships and not in signal connection with manned ships.

The modules 50-90 in the application are implemented by a server, and include an unmanned ship position distribution diagram retrieving module, a predicted time consumption judging module, a position distribution diagram generating module, an evenness degree calculating module, and an allowable controlled instruction sending module, which are respectively used for:

the method comprises the steps that an indication server calls a current unmanned ship position distribution diagram, and selects a plurality of second unmanned ships from the unmanned ship position distribution diagram so as to temporarily set the plurality of second unmanned ships to respectively execute a plurality of residual data acquisition tasks; the residual data acquisition task refers to a task for performing data acquisition on a residual air route which is not subjected to data acquisition in the first air route; the number of the plurality of second unmanned ships is the same as that of the plurality of first unmanned ships;

the indication server calculates a plurality of estimated time spent by the plurality of second unmanned ships for respectively executing the plurality of residual data acquisition tasks, and judges whether the plurality of estimated time spent is less than the time spent by the corresponding first unmanned ship for continuously sailing along the preset first air route to perform the data acquisition tasks;

indicating that if the plurality of estimated time consumptions are all less than the time consumption for the corresponding first unmanned ship to continue to sail along the preset first air route for carrying out the data acquisition task, the server generates a second unmanned ship position distribution map after preset time according to a preset position distribution map generation method;

the indication server carries out uniformity calculation processing on the position distribution diagram of the first unmanned ship and the position distribution diagram of the second unmanned ship according to a preset uniformity calculation method to obtain a first uniformity value and a second uniformity value, and judges whether the difference value of the first uniformity value and the second uniformity value is smaller than a preset difference threshold value or not;

and indicating that if the difference value between the first uniformity value and the second uniformity value is smaller than a preset difference value threshold value, the server sends a control permission instruction to all the first unmanned ships, and simultaneously sends remaining data acquisition task execution instructions to all the second unmanned ships.

The server in this application needs to continue to analyze whether the designated manned ship is suitable, and it needs to guarantee: the data acquisition tasks can be completely finished, the unmanned ship after the air route is changed has higher value compared with the unmanned ship which continuously executes the original data acquisition tasks, and the uniformly distributed state of the changed global unmanned ship is not changed too much. Therefore, the suitability degree of the designated manned ship is further determined through the unmanned ship position distribution map retrieving module, the estimated time consumption judging module, the position distribution map generating module and the uniformity degree calculating module.

The unmanned ship position distribution diagram I refers to the position distribution diagrams of all unmanned ships at the current time, and is the number of the unmanned ship position distribution diagram, not the number of the unmanned ship. Selecting a plurality of second unmanned ships from the unmanned ship position distribution map, and determining whether the second unmanned ships can respectively execute a plurality of residual data acquisition tasks, but whether the second unmanned ships are necessary, namely whether the unmanned ships after changing the air line can be satisfied has higher value relative to the unmanned ships continuously executing the original data acquisition tasks, which requires a subsequent estimated time-consuming judging module for further analysis. Therefore, at this time, only the plurality of second unmanned ships are temporarily set to respectively execute the plurality of remaining data acquisition tasks, and if the determination is finally appropriate, the server sends confirmation instructions to the plurality of second unmanned ships.

The number of the plurality of second unmanned ships is the same as the number of the plurality of first unmanned ships, so that each second unmanned ship performs a remaining data acquisition task, for example, from the end point of the corresponding first route as a starting point, so that the second unmanned ship performs the remaining data acquisition task.

The method for judging whether the task of changing the first unmanned ship has enough value is realized by calculating a plurality of estimated time spent by a plurality of second unmanned ships for respectively executing a plurality of residual data acquisition tasks and judging whether the estimated time spent is less than the time spent by the corresponding first unmanned ship for continuously sailing along the preset first air route to carry out the data acquisition task. That is, when it takes longer for the corresponding first unmanned ship to continue to sail along the predetermined first route to perform the data collection task, it is not necessary to perform repeated data collection, and therefore, the exchange of the control authority and the collected data can be performed.

In addition, the application needs to ensure sustainability, namely, to maintain uniformity of unmanned ship distribution, which is a hidden element of the application and is another characteristic different from the traditional scheme. The reason for ensuring sustainability is that if unmanned ships are distributed and enriched in certain positions, the application cannot be implemented. Therefore, the position distribution map generation module generates the position distribution map of the unmanned ship No. two after the preset time. The position distribution map generation method may adopt any feasible method, for example, the speed and direction of each unmanned ship are marked on the first distribution map, and the updated position after a predetermined time is preset, so as to obtain the second distribution map.

The uniformity calculation method can adopt any feasible method, such as dividing the position distribution map into regions, calculating the number of unmanned ships in different regions, and further calculating the uniformity value. Judging whether the difference value of the first uniformity value and the second uniformity value is smaller than a preset difference threshold value or not; if the difference value between the first uniformity value and the second uniformity value is smaller than the preset difference threshold value, the unmanned ship is indicated to be suitable for exchanging control authority and collected data as a whole, and therefore the server sends the control permission instruction to all the first unmanned ships and sends the remaining data collection task execution instruction to all the second unmanned ships simultaneously.

The module 100 and 110 in the present application are implemented with a plurality of first unmanned ships, and are respectively configured to instruct the plurality of first unmanned ships to receive the acquisition data sent by the corresponding designated manned ship, and send the acquisition data to the server; the system comprises a server, a plurality of first unmanned ships and a plurality of second unmanned ships, wherein the server is used for storing a plurality of control authorities for the first unmanned ships; and the control authority starts from the current time until the first unmanned ship reaches the corresponding control authority release position.

The control authority and the collected data exchange are determined to be possible, and the permission control command is received, so that the plurality of first unmanned ships receive the collected data and send the collected data to the server; and opening the control authority to the corresponding appointed manned ship. It should be noted that, in the prior art, the manned ship only determines that the own party has corresponding acquired data to the first unmanned ship, but does not transmit complete acquired data, so that the exchange of the control authority and the acquired data is formally performed at this time. And, in the process, the plurality of first unmanned ships disconnect the communication connection with the server, and the corresponding designated manned ships receive the control authority.

In the unmanned ship technology, the difficulty of accompanying navigation is the lowest, so after the communication connection between the first unmanned ships and the server is disconnected, the first unmanned ships firstly default to adopt the accompanying navigation to navigate along with the corresponding appointed manned ships, and if the appointed manned ships send corresponding control instructions, the first unmanned ships carry out controlled operation again.

In one embodiment, the collected data determination request sending module 10 includes:

According to the communication method and the communication device, different communication ranges are set for different first unmanned ships, so that the communication distance between the first unmanned ship and the manned ship is related to the first air route, and the communication distance is not too large. If the remaining length of the air line is short, the exchange of the control authority and the collected data is not necessary. Since the remaining lengths of the routes for different first drones are different, the corresponding communication radius should be set so that according to the formula: the communication radius is min (remaining route length × proportional parameter, D), and a plurality of communication radii corresponding to a plurality of remaining route lengths are calculated. With such an arrangement, the server can be provided with sufficient time to process the data and also match the time window within which the server needs to receive the information.

Further, the designated manned ship acquisition module 20 includes:

So that the proper designated manned ship can be selected by means of double screening. The first screening rule selects manned ships with collected data, and the second screening rule selects manned ships with the most collected data.

In one embodiment, the unmanned ship position profile retrieving module 50 includes:

the second unmanned ship selecting submodule is used for indicating that if the unmanned ship in the idle state is not the first unmanned ship, the server respectively records the unmanned ship in the idle state as a plurality of second unmanned ships, and temporarily determines that the plurality of second unmanned ships respectively execute a plurality of residual data acquisition tasks;

The unmanned ship can make a decision more flexible, and can perform another residual data acquisition task on certain unmanned ships meeting conditions. A plurality of unmanned ships are arranged in the water area, some of the unmanned ships are assigned with specific tasks, and some of the unmanned ships are in an idle state, which is reflected in a first unmanned ship position distribution diagram. The first unmanned ship should be in a busy state because the first unmanned ship has a data acquisition task currently, but the method also adopts a mode of temporarily setting corresponding positions of all the first unmanned ships to be in an idle state so as to test whether a better remote control scheme exists. If no more optimal remote control scheme exists, that is, if none of the unmanned ships in the idle state is the first unmanned ship, the server records the unmanned ships in the idle state as a plurality of second unmanned ships respectively, and temporarily determines that the plurality of second unmanned ships respectively execute a plurality of remaining data acquisition tasks, so that it can be determined that no more optimal remote control scheme exists, and thus, the subsequent processes can be continued.

The foregoing more preferred remote control schemes are, for example: the first unmanned ship a generally cannot exchange control authority and collected data except for the first unmanned ship B near the terminal of the remaining route corresponding to the first unmanned ship a, but such decision is not optimal because the first unmanned ship B (i.e., the third unmanned ship) can be controlled to perform the remaining data collection task of the first unmanned ship a, so that the first unmanned ship a can exchange control authority and collected data. However, such a decision may cause a new problem that the designated manned vessel corresponding to the first unmanned vessel B cannot obtain the control authority of the first unmanned vessel B. In order to solve the new problem, the method adopts a mode of sending an authority exchange forbidding instruction, a residual data acquisition task execution instruction and an authority exchange certificate to a third unmanned ship, wherein the authority exchange certificate enables an appointed manned ship to control other unmanned ships, so that the exchange of new control authority and acquired data is realized in a mode of giving control authority slowly. The authority exchange certificate exists in a digital certificate mode, and the validity period or the validity times of the authority exchange certificate can be set to limit the control time of the manned ship to the unmanned ship.

The unmanned ship remote control system sends a data acquisition determination request; obtaining a plurality of appointed manned ships respectively corresponding to the first unmanned ships; sending a permission exchange probing request; respectively acquiring a third air route and a control authority release position, and sending the third air route and the control authority release position to a server; calling a current unmanned ship position distribution map, and selecting a plurality of second unmanned ships; calculating a plurality of estimated time spent by the plurality of second unmanned ships for respectively executing the plurality of residual data acquisition tasks; if the plurality of estimated time consumptions are less than the time consumption for performing the data acquisition task, generating a position distribution map of the second unmanned ship; obtaining a first uniformity value and a second uniformity value; if the difference value between the first uniformity value and the second uniformity value is smaller than the difference threshold value, sending an allowable controlled instruction, and simultaneously sending a residual data acquisition task execution instruction; receiving collected data and sending the collected data to a server; and opening the control authority, and disconnecting the communication connection between the plurality of first unmanned ships and the server during the control authority opening period, so that the optimization of global unmanned ship remote control is realized, and the time waste and data waste of the whole unmanned ship are avoided.

Referring to fig. 2, an embodiment of the present application provides a method for remotely controlling an unmanned ship, including:

s2, the first unmanned ships respectively receive the return information of the manned ships, and one appointed manned ship is selected according to the return information, so that a plurality of appointed manned ships corresponding to the first unmanned ships respectively are obtained; wherein, the return information at least comprises a driving route of the manned ship; appointing a second air route which a manned ship drives through to be partially overlapped with the corresponding first air route of the first unmanned ship, and storing acquired data obtained by acquiring and processing real-time data in the navigation process in the appointed manned ship;

s3, the multiple first unmanned ships respectively send permission exchange probing requests to the corresponding appointed manned ships to request the appointed manned ships to return a third air route to be driven and control permission release positions, and therefore multiple third air routes and multiple control permission release positions corresponding to the multiple appointed manned ships are obtained respectively; wherein the control authority release position is a position on a third air route;

The above steps correspond to the modules of the unmanned ship remote system in the foregoing embodiment one to one, and are not described herein again.

According to the unmanned ship remote control method, a data acquisition determination request is sent; obtaining a plurality of appointed manned ships respectively corresponding to the first unmanned ships; sending a permission exchange probing request; respectively acquiring a third air route and a control authority release position, and sending the third air route and the control authority release position to a server; calling a current unmanned ship position distribution map, and selecting a plurality of second unmanned ships; calculating a plurality of estimated time spent by the plurality of second unmanned ships for respectively executing the plurality of residual data acquisition tasks; if the plurality of estimated time consumptions are less than the time consumption for performing the data acquisition task, generating a position distribution map of the second unmanned ship; obtaining a first uniformity value and a second uniformity value; if the difference value between the first uniformity value and the second uniformity value is smaller than the difference threshold value, sending an allowable controlled instruction, and simultaneously sending a residual data acquisition task execution instruction; receiving collected data and sending the collected data to a server; and opening the control authority, and disconnecting the communication connection between the plurality of first unmanned ships and the server during the control authority opening period, so that the optimization of global unmanned ship remote control is realized, and the time waste and data waste of the whole unmanned ship are avoided.

Referring to fig. 3, an embodiment of the present invention further provides a computer device, where the computer device may be a server, and an internal structure of the computer device may be as shown in the figure. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer designed processor is used to provide computational and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used for storing data used by the unmanned ship remote control method. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of unmanned ship remote control. The computer device further comprises a display screen and an input device for displaying the human interactive interface and for receiving input data, respectively.

The processor executes the unmanned ship remote control method, wherein the steps included in the method correspond to the steps of executing the unmanned ship remote control method of the foregoing embodiment one to one, and are not described herein again.

It will be understood by those skilled in the art that the structures shown in the drawings are only block diagrams of some of the structures associated with the embodiments of the present application and do not constitute a limitation on the computer apparatus to which the embodiments of the present application may be applied.

An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored thereon, and when the computer program is executed by a processor, the method for remotely controlling an unmanned ship is implemented, where steps included in the method are respectively in one-to-one correspondence with steps of the method for remotely controlling an unmanned ship according to the foregoing embodiment, and are not described herein again.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, system, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, system, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, system, article, or method that includes the element.

The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims

1. An unmanned ship remote control system, comprising:

the acquisition data determining request sending module (10) is used for indicating a plurality of first unmanned ships to navigate along a plurality of preset first air routes respectively so as to carry out preset air route data acquisition tasks through sensors preset on the first unmanned ships and sending acquisition data determining requests to all the manned ships within a preset communication range respectively in the process of navigating;

an appointed manned ship obtaining module (20) for indicating the plurality of first unmanned ships to respectively receive the return information of the manned ship, and selecting one appointed manned ship according to the return information respectively, so as to obtain a plurality of appointed manned ships corresponding to the plurality of first unmanned ships respectively; wherein, the return information at least comprises a driving route of the manned ship; appointing a second air route which a manned ship drives through to be partially overlapped with the corresponding first air route of the first unmanned ship, and storing acquired data obtained by acquiring and processing real-time data in the navigation process in the appointed manned ship;

an authority exchange probing request sending module (30) for indicating the plurality of first unmanned ships to respectively send authority exchange probing requests to the corresponding appointed manned ships so as to require the appointed manned ships to return a third route to be driven and control authority release positions, and thus obtaining a plurality of third routes and a plurality of control authority release positions corresponding to the plurality of appointed manned ships respectively; wherein the control authority release position is a position on a third air route;

the control authority release position acquisition module (40) is used for indicating the plurality of first unmanned ships to respectively acquire a third air route and a control authority release position which are correspondingly sent by the plurality of appointed manned ships and sending the third air route and the control authority release position to a preset server; wherein, the server is only in signal connection with the unmanned ship;

the unmanned ship position distribution diagram calling module (50) is used for indicating the server to call the current unmanned ship position distribution diagram, selecting a plurality of second unmanned ships from the unmanned ship position distribution diagram, and temporarily setting the plurality of second unmanned ships to respectively execute a plurality of residual data acquisition tasks; the residual data acquisition task refers to a task for performing data acquisition on a residual air route which is not subjected to data acquisition in the first air route; the number of the plurality of second unmanned ships is the same as that of the plurality of first unmanned ships;

the estimated time-consuming judging module (60) is used for indicating the server to calculate a plurality of estimated time-consuming tasks of the plurality of second unmanned ships for respectively executing the plurality of residual data acquisition tasks, and judging whether the plurality of estimated time-consuming tasks are all smaller than the time-consuming tasks of the corresponding first unmanned ship for continuously sailing along the preset first air route to perform the data acquisition tasks;

the position distribution diagram generating module (70) is used for indicating that if the plurality of estimated time consumptions are all less than the time consumption of the corresponding first unmanned ship for continuing to sail along the preset first air route to carry out the data acquisition task, the server generates a position distribution diagram of the second unmanned ship after the preset time according to a preset position distribution diagram generating method;

the uniformity calculation module (80) is used for indicating the server to perform uniformity calculation processing on the position distribution map of the first unmanned ship and the position distribution map of the second unmanned ship according to a preset uniformity calculation method so as to obtain a first uniformity value and a second uniformity value, and judging whether the difference value between the first uniformity value and the second uniformity value is smaller than a preset difference threshold value or not;

the controlled permission instruction sending module (90) is used for indicating that if the difference value between the first uniformity value and the second uniformity value is smaller than a preset difference value threshold value, the server sends controlled permission instructions to all the first unmanned ships and simultaneously sends residual data acquisition task execution instructions to all the second unmanned ships;

the acquisition data sending module (100) is used for indicating a plurality of first unmanned ships to receive acquisition data sent by corresponding appointed manned ships and sending the acquisition data to the server;

a control authority opening module (110) for instructing the plurality of first unmanned ships to open control authority to the corresponding designated manned ship, and during the control authority opening, the plurality of first unmanned ships disconnect the communication connection with the server; and the control authority starts from the current time until the first unmanned ship reaches the corresponding control authority release position.

2. The unmanned-vessel remote control system according to claim 1, wherein the collected-data determination request transmission module (10) comprises:

3. The unmanned marine vessel remote control system of claim 1, wherein said designated manned vessel acquisition module (20) comprises:

the driving route extraction submodule is used for indicating the first unmanned ships to respectively receive the return information of the manned ships and extracting a plurality of driving routes driven by the manned ships from the return information so as to respectively obtain a plurality of driving route sets;

4. The unmanned marine vessel remote control system of claim 1, wherein the unmanned marine vessel position profile retrieving module (50) comprises:

5. The unmanned marine vessel remote control system of claim 4, wherein the unmanned marine vessel position profile retrieving module (50) comprises:

6. A method for remotely controlling an unmanned ship is characterized by comprising the following steps:

7. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of claim 6 when executing the computer program.

8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method as claimed in claim 6.