CN109696203A - Marine environment measurement method, device and electronic equipment - Google Patents
Marine environment measurement method, device and electronic equipment Download PDFInfo
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- CN109696203A CN109696203A CN201910096107.3A CN201910096107A CN109696203A CN 109696203 A CN109696203 A CN 109696203A CN 201910096107 A CN201910096107 A CN 201910096107A CN 109696203 A CN109696203 A CN 109696203A
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- 230000007613 environmental effect Effects 0.000 claims abstract description 60
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- 238000012544 monitoring process Methods 0.000 claims abstract description 10
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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Abstract
The embodiment of the present application provides a kind of marine environment measurement method, device and electronic equipment, is related to ocean monitoring technologytechnologies field.In this method, by the way that region to be measured is split, obtain after multiple cut zone is that each cut zone distributes a corresponding at least unmanned boat, then the measuring route of unmanned boat in each cut zone is generated, so that unmanned boat is completed to measure the environmental data of each cut zone according to measuring route, by this method, it can be the cut zone compared with small area by region segmentation to be measured, then the unmanned boat of corresponding quantity can be distributed for each cut zone, unmanned boat in multiple cut zone can individually measure task parallel, improve measurement efficiency, and since the area of each cut zone is smaller relative to region to be measured, it is measured so that unmanned boat carries out more comprehensively environmental data to each cut zone.
Description
Technical field
This application involves ocean monitoring technologytechnologies fields, in particular to a kind of marine environment measurement method, device
And electronic equipment.
Background technique
While modern marine exploitation brings great economic benefit, a series of resources and ecological environment problem are also brought,
The disasters such as a wide range of red tide, Coastal erosion, marine oil overflow pollution occur again and again in recent years, therefore grinding for marine environmental monitoring
Studying carefully is particularly important with exploitation.
Currently, unmanned boat, which is usually used, carries out marine environment data acquisition, it is for entire measured zone using one
The unmanned boat of fixed number amount is lined up linear type and is measured, but the driving path of these unmanned boats is identical, needs to seek unity of action
Measurement task, if but when having barrier in measured zone, causing unmanned boat that may need avoiding obstacles and make its traveling
Path changes, then when need to plan the driving path of the unmanned boat again, then continue being switched to new driving path
It measures, this mode not only wastes time, and measurement efficiency is low, and since the measuring route of unmanned boat changes, can
It can cause to measure incomplete problem.
Summary of the invention
In view of this, the be designed to provide a kind of marine environment measurement method, device and electronics of the embodiment of the present application are set
Standby, with improvement, measurement efficiency is low in the prior art and measures incomplete problem.
In a first aspect, the embodiment of the present application provides a kind of marine environment measurement method, which comprises obtain to be measured
Region is measured, the region to be measured is split, multiple cut zone are obtained；It is corresponding at least for the distribution of each cut zone
One unmanned boat；Generate the measuring route of corresponding at least one unmanned boat of each cut zone；Each cut zone is corresponding
Measuring route be issued at least unmanned boat in each cut zone so that an at least unmanned boat is according to
Measuring route carries out environmental data measurement to each cut zone.
During above-mentioned realization, by the way that region to be measured to be split, multiple cut zone is obtained, are then each
Cut zone distributes a corresponding at least unmanned boat, regenerates the measuring route of the unmanned boat in each cut zone, so that
It obtains unmanned boat and completes to measure the environmental data of each cut zone according to measuring route, it by this method, can be by region to be measured
It is divided into the cut zone compared with small area, the unmanned boat of corresponding quantity, Duo Gefen then can be distributed for each cut zone
Task can individually be measured parallel by cutting the unmanned boat in region, improve measurement efficiency, and due to the face of each cut zone
Product is smaller relative to region to be measured, it is possible to so that unmanned boat carries out more comprehensively environmental data to each cut zone
Measurement.
Optionally, the region to be measured is split, obtains multiple cut zone, comprising: identification is described to be measured
Barrier zone in region；Obtain the remaining area in the region to be measured in addition to the barrier zone；To the remaining area
Domain is split, and obtains multiple cut zone.By identifying the barrier zone in region to be measured, then in addition to barrier zone
Remaining area be split so that for each cut zone distribute unmanned boat when, it may be considered that the area of cut zone
Flexible allocation is carried out to unmanned boat.
Optionally, the remaining area is split, obtains multiple cut zone, comprising: according to the remaining area
Area the remaining area is divided into area difference multiple cut zone within a preset range；For each cut zone point
With a corresponding at least unmanned boat, comprising: be the identical at least unmanned boat of each cut zone quantity allotted.By right
Remaining area is divided into multiple cut zone that area is not much different, then for each cut zone quantity allotted it is identical nobody
Ship can make the measurement task of multiple cut zone while carry out improving measurement efficiency with the progress of comparable time.
Optionally, the remaining area is split, obtains multiple cut zone, comprising: according to the remaining area
Shape the remaining area is divided into multiple cut zone；For each cut zone distribution it is corresponding at least one nobody
Ship, comprising: for an at least unmanned boat for each cut zone distribution and the area matched corresponding number of each cut zone.
By distributing the unmanned boat of different number according to the area of different cut zone, so that the distribution of unmanned boat is more flexible,
And the cut zone of different area is measured using the unmanned boat of different quantity, can make the measurement of each cut zone
Time may differ by less, improve measurement efficiency.
Optionally, by the corresponding measuring route of each cut zone be issued at least one in each cut zone nobody
After ship, further includes: monitor the operating status of every unmanned boat of each cut zone；If monitoring the mesh in Target Segmentation region
When marking unmanned boat failure, then unmanned boat to the target for deploying the cut zone that environmental data measurement is completed in other is divided
Cut region.By when unmanned boat breaks down, deploying other unmanned boats to Target Segmentation region, to continue to complete to target point
The measurement task in region is cut, so as to avoid not continuing Target Segmentation region after target unmanned boat breaks down
Measurement leads to not the problem of obtaining the environmental data in Target Segmentation region.
Optionally, the unmanned boat for the cut zone that environmental data measurement is completed in other is deployed to the Target Segmentation area
Domain, comprising: judge whether the failure of the target unmanned boat can remote repairing；If it is not, judging whether to complete to the target point
Cut the environmental data measurement in region；The environmental data in the Target Segmentation region is measured if not completing, it is complete to deploy other
At environment DATA REASONING cut zone unmanned boat to the Target Segmentation region.The failure of target unmanned boat cannot be remote
When Cheng Xiufu and Target Segmentation region do not complete environmental data measurement, then the allotment of unmanned boat is carried out, if so as to avoid
Target unmanned boat can also deploy the problem of increase of time of measuring brought by unmanned boat with remote repairing, and which can be further
Improve measurement efficiency.
Optionally, the unmanned boat for the cut zone that environmental data measurement is completed in other is deployed to the Target Segmentation area
Domain, comprising: obtain other be completed environmental data measurement cut zone at a distance from the Target Segmentation region；Will with it is described
The unmanned boat of the nearest cut zone of the distance in Target Segmentation region is deployed to the Target Segmentation region.Which can save
The time of unmanned boat allotment surveys so that the unmanned boat of allotment can continue environmental data to Target Segmentation region in time
Amount.
Optionally, after obtaining multiple cut zone, further includes: establish grating map, the grid for each cut zone
Lattice map is used to record the measurement record of at least one unmanned boat in each cut zone.It can be real by establishing grating map
When monitor measurement task performance in each cut zone.
Second aspect, the embodiment of the present application provide a kind of marine environment measuring device, and described device includes: region segmentation
Module is split the region to be measured, obtains multiple cut zone for obtaining region to be measured；Distribution module is used
In distributing a corresponding at least unmanned boat for each cut zone；Path-generating module, for generating each cut zone pair
The measuring route at least one unmanned boat answered；Path issues module, and being used for will be under the corresponding measuring route of each cut zone
At least unmanned boat being sent in each cut zone, so that an at least unmanned boat is according to the measuring route to every
A cut zone carries out environmental data measurement.
Optionally, the region segmentation module, specifically for identifying the barrier zone in the region to be measured；Obtain institute
State the remaining area in region to be measured in addition to the barrier zone；The remaining area is split, multiple segmentations are obtained
Region.
Optionally, the region segmentation module is also used to be divided the remaining area according to the area of the remaining area
It is segmented into the multiple cut zone of area difference within a preset range；The distribution module, for distributing number for each cut zone
Measure an identical at least unmanned boat.
Optionally, the region segmentation module is also used to be drawn the remaining area according to the shape of the remaining area
It is divided into multiple cut zone；The distribution module, it is area matched with each cut zone for being distributed for each cut zone
Corresponding number an at least unmanned boat.
Optionally, described device further include: scheduling module, the operation of every unmanned boat for monitoring each cut zone
State；If the target unmanned boat for monitoring Target Segmentation region breaks down, deploys other and environmental data measurement is completed
Cut zone unmanned boat to the Target Segmentation region.
Optionally, the scheduling module is also used to judge whether the failure of the target unmanned boat can remote repairing；If
It is no, judge whether to complete the environmental data measurement to the Target Segmentation region；If not completing to the Target Segmentation region
Environmental data measurement then deploys the unmanned boat for the cut zone that environmental data measurement is completed in other to the Target Segmentation area
Domain.
Optionally, the scheduling module, be also used to obtain other be completed environmental data measurement cut zone with it is described
The distance in Target Segmentation region；The unmanned boat of nearest cut zone at a distance from the Target Segmentation region is deployed to described
Target Segmentation region.
Optionally, described device further include: grating map establishes module, for for each cut zone with establishing grid
Figure, the grating map are used to record the measurement record of at least one unmanned boat in each cut zone.
The third aspect, the embodiment of the present application provide a kind of electronic equipment, including processor and memory, the memory
It is stored with computer-readable instruction fetch, when the computer-readable instruction fetch is executed by the processor, operation such as above-mentioned the
On the one hand the step in the method provided.
Fourth aspect, the embodiment of the present application provide a kind of readable storage medium storing program for executing, are stored thereon with computer program, the meter
The step in the method that first aspect offer is as above provided is run when calculation machine program is executed by processor.
Other feature and advantage of the application will be illustrated in subsequent specification, also, partly be become from specification
It is clear that by implementing the embodiment of the present application understanding.The purpose of the application and other advantages can be by written theorys
Specifically noted structure is achieved and obtained in bright book, claims and attached drawing.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram of a kind of electronic equipment provided by the embodiments of the present application；
Fig. 2 is a kind of flow chart of marine environment measurement method provided by the embodiments of the present application；
Fig. 3 is a kind of segmentation schematic diagram treating measured zone and being split provided by the embodiments of the present application；
Fig. 4 is a kind of segmentation schematic diagram for treating the barrier zone in measured zone provided by the embodiments of the present application；
Fig. 5 is that another kind provided by the embodiments of the present application treats the segmentation schematic diagram that measured zone is split；
Fig. 6 is a kind of segmentation schematic diagram of each cut zone provided by the embodiments of the present application；
Fig. 7 is a kind of schematic diagram of the measuring route of unmanned boat provided by the embodiments of the present application；
Fig. 8 is the schematic diagram of the measuring route of another unmanned boat provided by the embodiments of the present application；
Fig. 9 is the schematic diagram in the Global motion planning path in a kind of cut zone provided by the embodiments of the present application；
Figure 10 is the schematic diagram in the sector planning path in a kind of cut zone provided by the embodiments of the present application；
Figure 11 is a kind of structural block diagram of marine environment measuring device provided by the embodiments of the present application.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Ground description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Usually exist
The component of the embodiment of the present application described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed the application's to the detailed description of the embodiments herein provided in the accompanying drawings below
Range, but it is merely representative of the selected embodiment of the application.Based on embodiments herein, those skilled in the art are not being done
Every other embodiment obtained under the premise of creative work out, shall fall in the protection scope of this application.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile the application's
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Fig. 1 is please referred to, Fig. 1 is the structural schematic diagram of a kind of electronic equipment provided by the embodiments of the present application, and the electronics is set
Standby may include: at least one processor 110, such as CPU, at least one communication interface 120,130 He of at least one processor
At least one communication bus 140.Wherein, communication bus 140 is for realizing the direct connection communication of these components.Wherein, this Shen
The communication interface 120 of equipment it please be used to carry out the communication of signaling or data with other node devices in embodiment.Memory 130 can
To be high speed RAM memory, it is also possible to non-labile memory (non-volatile memory), for example, at least one
Magnetic disk storage.Memory 130 optionally can also be that at least one is located remotely from the storage device of aforementioned processor.Memory
Computer-readable instruction fetch is stored in 130, when the computer-readable instruction fetch is executed by the processor 110, electronics
Equipment executes method process shown in above-mentioned Fig. 1.
Referring to figure 2., Fig. 2 is a kind of flow chart of marine environment measurement method provided by the embodiments of the present application, this method
It can be applied to remote control terminal, described method includes following steps:
Step S110: obtaining region to be measured, is split to the region to be measured, obtains multiple cut zone.
In practical applications, region to be measured refers to the sea area for currently needing to measure, can be to be measured by obtaining
The latitude and longitude information in region obtains region to be measured, due to that may include some island in sea area or other are irremovable
Barrier, so, all areas for the ease for the treatment of in measured zone measure, to obtain more comprehensive measurement
Data can treat measured zone and be split, obtain multiple cut zone.
Wherein, region to be measured can by as shown in figure 3, treat may is that in a manner of measured zone is split in Fig. 3 to
Measured zone is rectangle, if but there is also the barriers for having island etc in region to be measured, so, can first be included
Need the image of the sea area of measured zone, (shadow region in figure is the barrier for then identifying in region to be measured
Barrier zone), then remaining region is split, can be split according to the area in region to be measured, it such as will be to
Measured zone is divided into much the same four cut zone of size.
It is split it is, of course, also possible to directly treat measured zone, such as directly by region segmentation to be measured at size
Then much the same four cut zone identify the barrier in four cut zone, will remove other remaining regions of barrier
The region measured as unmanned boat.It should be noted that its mode for obtaining multiple cut zone can also have others
Mode does not do excessive introduction first herein.
In practical application, can by as shown in figure 4, can by image procossing in a manner of identify barrier in image,
Specific identification method is referred to image partition method in the prior art, does not do excessive introduction herein.
Step S120: a corresponding at least unmanned boat is distributed for each cut zone.
In order to each cut zone carry out environmental data measurement, need for each cut zone distribute it is corresponding nobody
Ship, for example, the unmanned boat of corresponding number, such as four unmanned boats, Mei Gefen can be distributed for each cut zone shown in Fig. 3
Four unmanned boats in region are cut to be used to carry out environmental data measurement to the cut zone.
Wherein, environmental data can refer to marine hydrometeorology information, water quality biological status information, marine physicochemistry ginseng
Other marine environment datas such as number.
Step S130: the measuring route of corresponding at least one unmanned boat of each cut zone is generated.
When measuring, unmanned boat needs measure unmanned boat according to measuring route pre-planned, practical feelings
In condition, the measuring route of the unmanned boat in each cut zone can be configured according to parameter, such as configure the length of measuring route
The path shape of width and measuring route, such as " comb " font, produce corresponding measuring route as a result,.
Step S140: at least nothing corresponding measuring route of each cut zone being issued in each cut zone
People's ship, so that an at least unmanned boat carries out environmental data measurement to each cut zone according to the measuring route.
After generating the corresponding measuring route of each cut zone, measuring route can be issued in each cut zone
In unmanned boat, unmanned boat is travelled according to measuring route after obtaining measuring route, carries out environmental data in the process of moving
Acquisition.
Barrier zone is identified due to above-mentioned, it is possible to obtain the latitude and longitude information and obstacle in region to be measured
The latitude and longitude information of object area, and then can obtain the latitude and longitude information of each cut zone can be at sending measuring path
The latitude and longitude information of the latitude and longitude information of cut zone and barrier is issued in unmanned boat, so that subsequent unmanned boat can be with
Environmental data measurement is carried out according to these information automatic runnings to corresponding cut zone.
So, by the way that region to be measured to be split, obtaining multiple cut zone in the present embodiment, being then each
Cut zone distributes a corresponding at least unmanned boat, regenerates the measuring route of the unmanned boat in each cut zone, so that
It obtains unmanned boat and completes to measure the environmental data of each cut zone according to measuring route, it by this method, can be by region to be measured
It is divided into the cut zone compared with small area, the unmanned boat of corresponding quantity, Duo Gefen then can be distributed for each cut zone
Task can individually be measured parallel by cutting the unmanned boat in region, improve measurement efficiency, and due to the face of each cut zone
Product is smaller relative to region to be measured, it is possible to so that unmanned boat carries out more comprehensively environmental data to each cut zone
Measurement.
In addition, be split in above-mentioned measured zone for the treatment of, the mode for obtaining multiple cut zone can be with are as follows: identification to
Barrier zone in measured zone obtains the remaining area in region to be measured in addition to barrier zone, divides remaining area
It cuts, obtains multiple cut zone.
Wherein, multiple cut zone combine to form region to be measured with barrier zone, certainly in other embodiments, to
Measured zone can also individually refer to remaining area.
Illustratively, as shown in figure 5, can first obtain include region to be measured sea area image, then know
Not Chu barrier zone in image, then be partitioned into region to be measured in sea area, be then partitioned into from region to be measured
Barrier zone, for the region in addition to barrier zone as remaining area, remaining area is environmental data measured zone, then right again
Remaining area is split, and obtains multiple cut zone.By identifying the barrier zone in region to be measured, then to except obstacle
Remaining area outside region is split, so that when distributing unmanned boat for each cut zone, it may be considered that arrive cut zone
Area to unmanned boat carry out flexible allocation.
For example, remaining area can be divided into area according to the area of remaining area when being split to remaining area
Difference multiple cut zone within a preset range, then for each cut zone quantity allotted it is identical at least one nobody
Ship can make the measurement task of multiple cut zone while carry out improving measurement efficiency with the progress of comparable time.
For example, by taking Fig. 5 as an example, four cut zone that remaining area can be divided into Fig. 5, each cut zone
Area is not much different, and preset range can be set according to actual needs, so that the area of each cut zone is similar,
It in this way can be the identical unmanned boat of each cut zone quantity allotted, of course, it is possible to according to the actual situation, according to the big of area
It can be each cut zone point when the unmanned boat of small distribution corresponding number such as the area of cut zone is 1,000,000 square metres or so
With 5 unmanned boats, 5 unmanned boats in each cut zone can carry out environmental data measurement according to the measuring route of acquisition.When
So, the measuring route of the unmanned boat in each cut zone can be identical, be also possible to it is different, can be according to each
The region complexion of cut zone carries out flexible setting.
In addition, remaining area can also be divided into according to the shape of remaining area more when being split to remaining area
Then a cut zone is the distribution of each cut zone and at least one of the area matched corresponding number of each cut zone
Unmanned boat.
By distributing the unmanned boat of different number according to the area of different cut zone, so that the distribution of unmanned boat is more
Add flexibly, and the cut zone of different area is measured using the unmanned boat of different quantity, can make each cut section
The time of measuring in domain may differ by less, improve measurement efficiency.
For example, as shown in fig. 6, Fig. 6 is the substantially segmentation schematic diagram of each cut zone, due to the centre in region to be measured
Region is barrier zone, and the region of surrounding is remaining area, so, it can be according to the shape of remaining area, by remaining area point
5 cut zone that number is 1,2,3,4,5 are segmented into, the area of each cut zone can differ larger, as numbered point for being 5
The area for cutting region is smaller, then can be the less unmanned boat of its quantity allotted, such as a unmanned boat, the cut zone that number is 3
Area it is larger, can be the more unmanned boat of its quantity allotted, such as 3 unmanned boats.
After obtaining multiple cut zone, in order to realize comprehensive measurement to each cut zone, the measurement road of unmanned boat
Diameter can be as shown in Figure 7 and Figure 8, and in figures 7 and 8, expression is that the measuring route of unmanned boat in three cut zone is shown
It is intended to, is the survey of two unmanned boats the upper surface of in Fig. 7 and Fig. 8 if the unmanned boat in each cut zone is a measurement unit
Path signal is measured, the unmanned boat on the right is the measuring route signal an of unmanned boat, the intermediate measurement road for seven unmanned boats
Diameter signal.The measuring route of unmanned boat in each cut zone is " comb " font.Wherein it is possible to be every unmanned boat unit
Virtual pilotage people is set, and unmanned boat can be with Mr. when generating the measuring route of unmanned boat of each cut zone as real ship
At global planning path, sector planning path is regenerated, Global motion planning path is the measuring route of virtual pilotage people, sector planning
Path is the measuring route of real ship in unmanned boat unit, maintained a certain distance between each real ship in every unmanned boat unit into
Every trade is sailed, and keeps identical speed to travel between each real ship, so as to generate the corresponding measuring route of each real ship, such as
For there is the unmanned boat unit of seven unmanned boats, these unmanned boats line up linear type traveling as far as possible in the process of moving, with complete
Face covers cut zone, realizes comprehensive measurement to cut zone.
When generating measuring route, can remote control terminal be arranged the traveling width of unmanned boat in the cut zone with
And length, if width is 200 meters, length is 400 meters, is then arranged with " comb " font traveling, then produces as shown in Figure 8
Measuring route adds virtual pilotage people, and as real ship the relative distance between each real ship is arranged, then in seven unmanned boats
Measuring route, is then issued in every unmanned boat, every unmanned boat is being got by the measuring route for producing each real ship
It after measuring route, is travelled according to measuring route, in the process of moving, every unmanned boat can obtain in real time with other nobody
The distance between ship, if its actual range at a distance from setting when difference, unmanned boat can with itself adjustment and other unmanned boats it
Between distance, to guarantee to be travelled between its multiple unmanned boat according to the measuring route of setting.
The specific measuring route of unmanned boat can be as shown in Figure 9 and Figure 10, and Fig. 9 is the overall situation of unmanned boat in No. 2 cut zone
Planning path, Figure 10 are the sector planning path of unmanned boat, and sector planning path is practical row of the unmanned boat in measurement process
Sail path, i.e. measuring route.
Unmanned boat passes through the posture information that sensor acquires environmental data and itself in real time in the process of moving, and by environment
Data and posture information are sent to remote control terminal, in order to avoid the communication between unmanned boat and remote control terminal disconnects,
Loss of data is avoided, the environmental data of acquisition and the posture information of itself can be saved in local data base by unmanned boat, extensive
After the multiple and communication of remote control terminal, then send data to remote control terminal.
It should be noted that since each cut zone may not be the region of regular shape, so, unmanned boat traveling
Area and not equal to the traveling area of setting, can be with avoidance when encountering obstacle, then adjust automatically measuring route so that
The measuring route of its actual travel can be substantially consistent with the measuring route of setting.
It is carried out in environmental data measurement process in unmanned boat, remote control terminal can also monitor each cut zone in real time
In every unmanned boat operating status, if monitor some cut zone unmanned boat break down, it is complete to deploy other
At environment DATA REASONING cut zone unmanned boat to the cut zone, appointed with continuing to complete the measurement to Target Segmentation region
Business, so as to avoid not continuing to measure to Target Segmentation region after target unmanned boat breaks down leading to not obtain
The problem of obtaining the environmental data in Target Segmentation region.
It is to be appreciated that area of the unmanned boat to break down as above-mentioned target unmanned boat, where the target unmanned boat
The operating status of itself can be sent to remote control terminal in real time as above-mentioned Target Segmentation region, unmanned boat by domain, fortune
Row state can refer to the operating state data of unmanned boat, such as travel speed, engine speed data.Remote control terminal can
Judge whether unmanned boat breaks down with the operating status according to unmanned boat, if these data of the operating status of characterization unmanned boat
When inconsistent with preset operating state data, it can be determined that the unmanned boat breaks down, so the unmanned boat possibly can not continue
Work is measured, then can complete to deploy unmanned boat from other in the cut zone of environmental data measurement to the Target Segmentation
Measurement task is continued to complete in region.For example, remote control terminal can be sent to target unmanned boat stops measurement task instruction, so
After can control other unmanned boats and drag target unmanned boat to docks, if the target unmanned boat can also continue to travel, also
The target unmanned boat can control to travel to docks.If the unmanned boat of other cut zone for having completed environmental data measurement
Measurement task has been completed at this time, and the unmanned boat there are not other measurement tasks currently, then the unmanned boat can have been deployed to mesh
Cut zone is marked, target unmanned boat is replaced, continues to complete the measurement task to Target Segmentation region.
But the time that if desired may be needed from other cut zone allotment unmanned boat to Target Segmentation region is longer,
Can also first judge break down target unmanned boat failure whether can remote repairing, if being unable to remote repairing, then judge
The environmental data measurement to Target Segmentation region whether is completed, the environmental data in Target Segmentation region is measured if not completing,
The unmanned boat for the cut zone that environmental data measurement is completed in other is deployed again to Target Segmentation region.
For example, remote controlled restarting target unmanned boat then may be used if the failure of target unmanned boat is software fault
It when repairing failure, then can be deployed without unmanned boat, target unmanned boat fault restoration be waited, if the failure of target unmanned boat
It is not software fault, or is other hardware faults, is judging whether Target Segmentation region has completed environmental data measurement, if
It has been completed that, then without unmanned boat allotment is carried out, if not completing, then deployed.So in the failure of target unmanned boat
Cannot remote repairing and Target Segmentation region when not completing environmental data measurement, then carry out the allotment of unmanned boat, so as to
If the problem of can also deploying the increase of time of measuring brought by unmanned boat with remote repairing to avoid target unmanned boat, which can
To further increase measurement efficiency.
In order to fast deployment other cut zone unmanned boat to Target Segmentation region, save the time of allotment, can
With first obtain other be completed environmental data measurement cut zone at a distance from Target Segmentation region, then will be with Target Segmentation
The unmanned boat of the nearest cut zone of the distance in region is deployed to Target Segmentation region.
For example, if the target unmanned boat in No. 5 cut zone in Fig. 6 breaks down, other No. 1 cut zone and 2
Number cut zone has completed environmental data measurement, then obtains No. 1 cut zone respectively at a distance from Target Segmentation region, with
And No. 2 cut zone are at a distance from Target Segmentation region, distance is with practical unmanned boat from No. 1 cut zone or No. 2 cut sections
Domain drives to subject to the distance in Target Segmentation region, thus the available and nearest cut zone in Target Segmentation region, if No. 1 point
It is nearest at a distance from Target Segmentation region to cut region, then deploys any one unmanned boat in No. 1 cut zone to Target Segmentation
Region.
In addition, in order to which monitor each cut zone is measured situation grid can also be established for each cut zone
Map, the grating map are used to record the measurement record of at least one unmanned boat of each cut zone, such as each cut zone
Unmanned boat in the process of moving, the location information of oneself can be sent to remote control terminal in real time, remote control terminal receives
After the location information sent to unmanned boat, in grating map, the position that unmanned boat is run over is labeled, and expression has been somebody's turn to do
Position has completed to measure, so, situation is measured by the knowable each cut zone of grating map, such as which region
Completed to measure, there are also which regions not to complete measurement, with facilitate remote control terminal to the measurement task of cut zone into
Row monitoring.
In addition, barrier can be encountered since unmanned boat is during measurement task, in order to realize unmanned boat automatically to obstacle
Object is avoided, and to guarantee that unmanned boat continues to execute measurement task, is treated that can also obtain the radar being mounted on unmanned boat
The dynamic environment information that measured zone is detected, then the status information of unmanned boat is obtained, according to dynamic environment information and shape
State information judges whether the unmanned boat needs avoidance, if desired, then avoidance instruction is sent to the unmanned boat, so that the unmanned boat root
It is instructed according to avoidance and carries out avoidance operation.
Wherein, dynamic environment information includes the status information of the barrier in region to be measured, and barrier can be movement
, it is also possible to fixation, so, dynamic environment information may include the location information, angular velocity of satellite motion, movement speed of barrier
The information such as degree, mobile barrier can be the ship etc. of dealing, and fixed barrier can be island etc..
The status information of unmanned boat may include the information such as current driving speed and the course of unmanned boat, and long-range control is eventually
End can be judged according to the location information and motion information of barrier and the status information of unmanned boat unmanned boat whether with obstacle
Object bumps against, for example, remote control terminal can judge whether unmanned boat can be with barrier within following a period of time based on above- mentioned information
Hinder object to bump against, if unmanned boat will bump against with barrier, avoidance instruction is sent to unmanned boat, so that unmanned boat is avoided
Barrier guarantees the safety of unmanned boat, so that unmanned boat continues to complete the measurement task for treating measured zone.
Figure 11 is please referred to, Figure 11 is a kind of structural block diagram of marine environment measuring device 200 provided by the embodiments of the present application,
Described device includes:
Region segmentation module 210 is split the region to be measured for obtaining region to be measured, obtains multiple
Cut zone；
Distribution module 220, for distributing a corresponding at least unmanned boat for each cut zone；
Path-generating module 230, for generating the measuring route of corresponding at least one unmanned boat of each cut zone；
Path issues module 240, for the corresponding measuring route of each cut zone to be issued in each cut zone
An at least unmanned boat so that an at least unmanned boat according to the measuring route to each cut zone carry out environment
DATA REASONING.
Optionally, the region segmentation module 210, specifically for identifying the barrier zone in the region to be measured；It obtains
Take the remaining area in the region to be measured in addition to the barrier zone；The remaining area is split, is obtained multiple
Cut zone.
Optionally, the region segmentation module 210 is also used to the remaining area according to the area of the remaining area
It is divided into the multiple cut zone of area difference within a preset range；The distribution module 220, for dividing for each cut zone
With the identical at least unmanned boat of quantity.
Optionally, the region segmentation module 210 is also used to the remaining area according to the shape of the remaining area
It is divided into multiple cut zone；The distribution module 220, for the area for each cut zone distribution and each cut zone
An at least unmanned boat for matched corresponding number.
Optionally, described device further include: scheduling module, the operation of every unmanned boat for monitoring each cut zone
State；If the target unmanned boat for monitoring Target Segmentation region breaks down, deploys other and environmental data measurement is completed
Cut zone unmanned boat to the Target Segmentation region.
Optionally, the scheduling module is also used to judge whether the failure of the target unmanned boat can remote repairing；If
It is no, judge whether to complete the environmental data measurement to the Target Segmentation region；If not completing to the Target Segmentation region
Environmental data measurement then deploys the unmanned boat for the cut zone that environmental data measurement is completed in other to the Target Segmentation area
Domain.
Optionally, the scheduling module, be also used to obtain other be completed environmental data measurement cut zone with it is described
The distance in Target Segmentation region；The unmanned boat of nearest cut zone at a distance from the Target Segmentation region is deployed to described
Target Segmentation region.
Optionally, described device further include: grating map establishes module, for for each cut zone with establishing grid
Figure, the grating map are used to record the measurement record of at least one unmanned boat in each cut zone.
The embodiment of the present application provides a kind of readable storage medium storing program for executing, when the computer program is executed by processor, executes such as
Method process performed by electronic equipment in embodiment of the method shown in Fig. 2.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
Specific work process, no longer can excessively be repeated herein with reference to the corresponding process in preceding method.
In conclusion the embodiment of the present application provides a kind of marine environment measurement method, device and electronic equipment, this method
In, by the way that region to be measured to be split, obtaining after multiple cut zone is each cut zone distribution corresponding at least one
Unmanned boat, then generates the measuring route of the unmanned boat in each cut zone, so that unmanned boat is complete according to measuring route
Region segmentation to be measured can be by this method the cut section compared with small area by the environmental data measurement of pairs of each cut zone
Then domain can distribute the unmanned boat of corresponding quantity for each cut zone, the unmanned boat in multiple cut zone can be independent
Task is measured parallel, improves measurement efficiency, and since the area of each cut zone is smaller relative to region to be measured,
It is measured so that unmanned boat carries out more comprehensively environmental data to each cut zone.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the application, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the application can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) execute each embodiment the method for the application all or part of the steps.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, it is any
Those familiar with the art within the technical scope of the present application, can easily think of the change or the replacement, and should all contain
Lid is within the scope of protection of this application.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Claims (10)
1. a kind of marine environment measurement method, which is characterized in that the described method includes:
Region to be measured is obtained, the region to be measured is split, multiple cut zone are obtained；
A corresponding at least unmanned boat is distributed for each cut zone；
Generate the measuring route of corresponding at least one unmanned boat of each cut zone；
The corresponding measuring route of each cut zone is issued at least unmanned boat in each cut zone, so that described
An at least unmanned boat carries out environmental data measurement to each cut zone according to the measuring route.
2. obtaining multiple points the method according to claim 1, wherein being split to the region to be measured
Cut region, comprising:
Identify the barrier zone in the region to be measured；
Obtain the remaining area in the region to be measured in addition to the barrier zone；
The remaining area is split, multiple cut zone are obtained.
3. according to the method described in claim 2, obtaining multiple segmentations it is characterized in that, be split to the remaining area
Region, comprising:
The remaining area is divided into the multiple segmentations of area difference within a preset range according to the area of the remaining area
Region；
A corresponding at least unmanned boat is distributed for each cut zone, comprising:
For the identical at least unmanned boat of each cut zone quantity allotted.
4. according to the method described in claim 2, obtaining multiple segmentations it is characterized in that, be split to the remaining area
Region, comprising:
The remaining area is divided into multiple cut zone according to the shape of the remaining area；
A corresponding at least unmanned boat is distributed for each cut zone, comprising:
For an at least unmanned boat for each cut zone distribution and the area matched corresponding number of each cut zone.
5. the method according to claim 1, wherein the corresponding measuring route of each cut zone is issued to often
After an at least unmanned boat in a cut zone, further includes:
Monitor the operating status of every unmanned boat of each cut zone；
If the target unmanned boat for monitoring Target Segmentation region breaks down, deploys other and environmental data measurement is completed
The unmanned boat of cut zone is to the Target Segmentation region.
6. according to the method described in claim 5, it is characterized in that, deploying other cut zone that environmental data measurement is completed
Unmanned boat to the Target Segmentation region, comprising:
Judge whether the failure of the target unmanned boat can remote repairing；
If it is not, judging whether to complete the environmental data measurement to the Target Segmentation region；
The environmental data in the Target Segmentation region is measured if not completing, deploys other points that environmental data measurement is completed
The unmanned boat in region is cut to the Target Segmentation region.
7. according to the method described in claim 6, it is characterized in that, deploying other cut zone that environmental data measurement is completed
Unmanned boat to the Target Segmentation region, comprising:
Obtain other be completed environmental data measurement cut zone at a distance from the Target Segmentation region；
The unmanned boat of nearest cut zone at a distance from the Target Segmentation region is deployed to the Target Segmentation region.
8. the method according to claim 1, wherein after obtaining multiple cut zone, further includes:
Grating map is established for each cut zone, the grating map is used to record at least nothing in each cut zone
The measurement of people's ship records.
9. a kind of marine environment measuring device, which is characterized in that described device includes:
Region segmentation module is split the region to be measured, obtains multiple cut sections for obtaining region to be measured
Domain；
Distribution module, for distributing a corresponding at least unmanned boat for each cut zone；
Path-generating module, for generating the measuring route of corresponding at least one unmanned boat of each cut zone；
Path issues module, at least one for being issued to the corresponding measuring route of each cut zone in each cut zone
Unmanned boat, so that an at least unmanned boat carries out environmental data survey to each cut zone according to the measuring route
Amount.
10. a kind of electronic equipment, which is characterized in that including processor and memory, the memory is stored with computer can
Instruction is read, when the computer-readable instruction fetch is executed by the processor, operation side as described in claim 1-8 is any
Step in method.
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