CN109696203B - Marine environment measuring method and device and electronic equipment - Google Patents
Marine environment measuring method and device and electronic equipment Download PDFInfo
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- CN109696203B CN109696203B CN201910096107.3A CN201910096107A CN109696203B CN 109696203 B CN109696203 B CN 109696203B CN 201910096107 A CN201910096107 A CN 201910096107A CN 109696203 B CN109696203 B CN 109696203B
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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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The embodiment of the application provides a marine environment measuring method and device and electronic equipment, and relates to the technical field of marine environment monitoring. In the method, the area to be measured is divided to obtain a plurality of divided areas, then at least one unmanned ship is distributed to each divided area, then the measuring path of the unmanned ship in each divided area is generated, so that the unmanned ship can complete the measurement of the environmental data of each divided area according to the measuring path.
Description
Technical Field
The application relates to the technical field of marine environment monitoring, in particular to a marine environment measuring method and device and electronic equipment.
Background
Modern ocean development brings huge economic benefits and a series of resource and ecological environment problems, and in recent years, disasters such as large-scale red tide, coastal erosion, offshore oil spill pollution and the like frequently occur, so that the method is particularly important for research and development of ocean environment monitoring.
At present, unmanned boats are generally adopted to acquire marine environment data, a certain number of unmanned boats are arranged in a straight line shape for the whole measurement area to perform measurement, but the driving paths of the unmanned boats are the same and measurement tasks need to be performed uniformly, but if an obstacle exists in the measurement area, the unmanned boats possibly need to avoid the obstacle to change the driving paths, the driving paths of the unmanned boats need to be re-planned in the case of changing, and then the unmanned boats are switched to new driving paths to continue to perform measurement, so that the method is time-consuming and low in measurement efficiency, and the problem of incomplete measurement possibly exists due to the fact that the measurement paths of the unmanned boats change.
Disclosure of Invention
In view of the above, an object of the embodiments of the present application is to provide a method and an apparatus for measuring marine environment, and an electronic device, so as to solve the problems of low measurement efficiency and incomplete measurement in the prior art.
In a first aspect, an embodiment of the present application provides a marine environment measurement method, where the method includes: acquiring a region to be measured, and segmenting the region to be measured to acquire a plurality of segmented regions; distributing at least one unmanned ship for each partition area; generating a measurement path of at least one unmanned ship corresponding to each segmentation area; and issuing the measurement path corresponding to each partition area to at least one unmanned ship in each partition area, so that the at least one unmanned ship performs environmental data measurement on each partition area according to the measurement path.
In the implementation process, the area to be measured is divided to obtain a plurality of divided areas, then at least one corresponding unmanned boat is distributed to each divided area, and then the measurement path of the unmanned boat in each divided area is generated, so that the unmanned boat can complete the measurement of the environmental data of each divided area according to the measurement path.
Optionally, the dividing the region to be measured to obtain a plurality of divided regions includes: identifying an obstacle area in the area to be measured; acquiring a remaining area except the obstacle area in the area to be measured; and dividing the residual region to obtain a plurality of divided regions. By identifying the obstacle area in the area to be measured and then dividing the remaining area except the obstacle area, the unmanned ship can be flexibly allocated in consideration of the area of the divided area when the unmanned ship is allocated to each divided area.
Optionally, segmenting the remaining region to obtain a plurality of segmented regions, including: dividing the residual region into a plurality of divided regions with area difference within a preset range according to the area of the residual region; assigning to each partitioned area a corresponding at least one unmanned boat, comprising: each partition area is allocated with the same number of at least one unmanned boat. By dividing the residual region into a plurality of segmentation regions with small area difference and then distributing the unmanned boats with the same number to each segmentation region, the measurement tasks of the segmentation regions can be simultaneously carried out in a considerable time, and the measurement efficiency is improved.
Optionally, segmenting the remaining region to obtain a plurality of segmented regions, including: dividing the residual region into a plurality of divided regions according to the shape of the residual region; assigning to each partitioned area a corresponding at least one unmanned boat, comprising: each of the partitioned regions is assigned a corresponding number of at least one unmanned boat that matches the area of each of the partitioned regions. The unmanned boats with different numbers are distributed according to the areas of the different partition areas, so that the distribution of the unmanned boats is more flexible, the partition areas with different areas adopt different numbers of unmanned boats for measurement, the difference between the measurement time of each partition area is small, and the measurement efficiency is improved.
Optionally, after the sending the measurement path corresponding to each partition area to at least one unmanned ship in each partition area, the method further includes: monitoring the running state of each unmanned ship of each partition area; and if the target unmanned ship of the target segmentation area is monitored to have a fault, allocating other unmanned ships of the segmentation area which have finished the environmental data measurement to the target segmentation area. When the unmanned ship breaks down, other unmanned ships are allocated to the target segmentation area to continuously complete the measurement task of the target segmentation area, so that the problem that the environmental data of the target segmentation area cannot be obtained due to the fact that the target segmentation area cannot be continuously measured after the target unmanned ship breaks down can be solved.
Optionally, deploying an unmanned ship of other segmented regions for which environmental data measurement is completed to the target segmented region, including: judging whether the fault of the target unmanned ship can be remotely repaired or not; if not, judging whether the environmental data measurement of the target segmentation area is finished or not; if the environmental data measurement of the target segmentation area is not finished, allocating unmanned boats of other segmentation areas which have finished the environmental data measurement to the target segmentation area. When the fault of the target unmanned ship cannot be remotely repaired and the target division area does not complete the measurement of the environmental data, the unmanned ship is allocated, so that the problem of increased measurement time caused by the fact that the target unmanned ship can be remotely repaired and the unmanned ship is allocated can be solved, and the measurement efficiency can be further improved by the method.
Optionally, deploying an unmanned ship of other segmented regions for which environmental data measurement is completed to the target segmented region, including: acquiring the distance between other segmented areas which have finished the environmental data measurement and the target segmented area; and allocating the unmanned ship of the partition area with the closest distance to the target partition area. The method can save the time for deploying the unmanned ship, so that the deployed unmanned ship can continue to measure the environmental data of the target segmentation area in time.
Optionally, after obtaining the plurality of segmented regions, the method further includes: and establishing a grid map for each partitioned area, wherein the grid map is used for recording the measurement records of at least one unmanned ship in each partitioned area. The completion of the measurement task in each partitioned area can be monitored in real time by establishing a grid map.
In a second aspect, an embodiment of the present application provides a marine environment measurement apparatus, including: the area dividing module is used for acquiring an area to be measured, dividing the area to be measured and acquiring a plurality of divided areas; the distribution module is used for distributing at least one corresponding unmanned ship for each partition area; the path generation module is used for generating a measurement path of at least one unmanned ship corresponding to each segmentation area; and the path issuing module is used for issuing the measurement path corresponding to each partition area to at least one unmanned ship in each partition area so that the at least one unmanned ship can measure the environmental data of each partition area according to the measurement path.
Optionally, the region segmentation module is specifically configured to identify an obstacle region in the region to be measured; acquiring a remaining area except the obstacle area in the area to be measured; and dividing the residual region to obtain a plurality of divided regions.
Optionally, the region segmentation module is further configured to segment the remaining region into a plurality of segmented regions with area differences within a preset range according to the area of the remaining region; the distribution module is used for distributing at least one unmanned ship with the same quantity for each partition area.
Optionally, the region dividing module is further configured to divide the remaining region into a plurality of divided regions according to a shape of the remaining region; the distribution module is used for distributing at least one unmanned ship with the corresponding number matched with the area of each partition region for each partition region.
Optionally, the apparatus further comprises: the deployment module is used for monitoring the running state of each unmanned ship in each partition area; and if the target unmanned ship of the target segmentation area is monitored to have a fault, allocating other unmanned ships of the segmentation area which have finished the environmental data measurement to the target segmentation area.
Optionally, the deployment module is further configured to determine whether the fault of the target unmanned ship can be repaired remotely; if not, judging whether the environmental data measurement of the target segmentation area is finished or not; if the environmental data measurement of the target segmentation area is not finished, allocating unmanned boats of other segmentation areas which have finished the environmental data measurement to the target segmentation area.
Optionally, the allocating module is further configured to obtain distances between other partitioned areas where the environmental data measurement is completed and the target partitioned area; and allocating the unmanned ship of the partition area with the closest distance to the target partition area.
Optionally, the apparatus further comprises: the grid map building module is used for building a grid map for each divided area, and the grid map is used for recording the measurement records of at least one unmanned ship in each divided area.
In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the method as provided in the first aspect are executed.
In a fourth aspect, embodiments of the present application provide a readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the steps in the method as provided in the first aspect.
Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;
FIG. 2 is a flowchart of a marine environment measurement method according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram illustrating a segmentation of a region to be measured according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram illustrating segmentation of an obstacle region in a region to be measured according to an embodiment of the present disclosure;
fig. 5 is another schematic segmentation diagram for segmenting a region to be measured according to an embodiment of the present application;
fig. 6 is a schematic segmentation diagram of each segmented area according to an embodiment of the present application;
fig. 7 is a schematic view of a measurement path of an unmanned surface vehicle according to an embodiment of the present disclosure;
fig. 8 is a schematic view of a measurement path of another unmanned surface vehicle according to an embodiment of the present disclosure;
fig. 9 is a schematic diagram of a global planned path in a partition area according to an embodiment of the present disclosure;
fig. 10 is a schematic diagram of a locally planned path in a partitioned area according to an embodiment of the present disclosure;
fig. 11 is a block diagram of a marine environment measurement apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure, where the electronic device may include: at least one processor 110, such as a CPU, at least one communication interface 120, at least one memory 130, and at least one communication bus 140. Wherein the communication bus 140 is used for realizing direct connection communication of these components. The communication interface 120 of the device in the embodiment of the present application is used for performing signaling or data communication with other node devices. The memory 130 may be a high-speed RAM memory or a non-volatile memory (e.g., at least one disk memory). Memory 130 may optionally be at least one memory device located remotely from the aforementioned processor. The memory 130 stores computer readable instructions, which when executed by the processor 110, cause the electronic device to perform the method processes described above with reference to fig. 1.
Referring to fig. 2, fig. 2 is a flowchart of a marine environment measurement method according to an embodiment of the present application, where the method is applicable to a remote control terminal, and the method includes the following steps:
step S110: and acquiring a region to be measured, and segmenting the region to be measured to acquire a plurality of segmented regions.
In practical application, the area to be measured is a current sea area which needs to be measured, the area to be measured can be obtained by obtaining longitude and latitude information of the area to be measured, and as the sea area may include islands or other immovable obstacles, all areas in the area to be measured are conveniently measured, so that more comprehensive measurement data can be obtained, and the area to be measured can be divided to obtain a plurality of divided areas.
The region to be measured may be as shown in fig. 3, and the manner of dividing the region to be measured may be: although the region to be measured is rectangular in fig. 3, if there is an obstacle such as an island in the region to be measured, an image of a sea region including the region to be measured can be obtained, then the obstacle in the region to be measured is identified (the shaded region in the figure is an obstacle region), and then the remaining region is divided, which can be divided according to the area of the region to be measured, for example, the region to be measured is divided into four divided regions having similar areas.
Of course, the region to be measured may also be directly divided, for example, the region to be measured is directly divided into four divided regions with similar area sizes, then obstacles in the four divided regions are identified, and the other regions except the obstacles are used as the regions where the unmanned surface vehicle performs measurement. It should be noted that there may be other ways to acquire the plurality of divided regions, and not described herein too much.
In practical applications, as shown in fig. 4, the obstacle in the image can be identified through an image processing method, and a specific identification method thereof may refer to an image segmentation method in the prior art, which is not described herein too much.
Step S120: and allocating at least one unmanned ship to each divided area.
In order to perform the environmental data measurement on each divided region, a corresponding unmanned ship needs to be allocated to each divided region, for example, a corresponding number of unmanned ships, such as four unmanned ships, may be allocated to each divided region shown in fig. 3, and the four unmanned ships in each divided region are used for performing the environmental data measurement on the divided region.
The environmental data may be marine environmental data such as marine hydrometeorology information, water quality biological state information, marine physicochemical parameters, and the like.
Step S130: and generating a measurement path of at least one unmanned ship corresponding to each segmentation area.
When the unmanned surface vehicle is used for measurement, the unmanned surface vehicle needs to perform measurement according to a pre-planned measurement path, and in an actual situation, the measurement path of the unmanned surface vehicle in each partition area may be configured according to parameters, such as the length and width of the measurement path, and the path shape of the measurement path, such as a comb shape, so that a corresponding measurement path may be generated.
Step S140: and issuing the measurement path corresponding to each partition area to at least one unmanned ship in each partition area, so that the at least one unmanned ship performs environmental data measurement on each partition area according to the measurement path.
After the measurement path corresponding to each partition area is generated, the measurement path can be issued to the unmanned ship in each partition area, the unmanned ship runs according to the measurement path after obtaining the measurement path, and environmental data is acquired in the running process.
The obstacle area is identified, so that the longitude and latitude information of the area to be measured and the longitude and latitude information of the obstacle area can be acquired, the longitude and latitude information of each partition area can be further acquired, and the longitude and latitude information of the partition areas and the longitude and latitude information of the obstacles can be issued to the unmanned ship when a measurement path is issued, so that the unmanned ship can automatically drive to the corresponding partition areas according to the information to measure the environmental data.
Therefore, in this embodiment, the region to be measured is divided to obtain a plurality of divided regions, then at least one corresponding unmanned boat is allocated to each divided region, and then the measurement path of the unmanned boat in each divided region is generated, so that the unmanned boat can complete the measurement of the environmental data of each divided region according to the measurement path.
In addition, in the above-described method of dividing the region to be measured to obtain a plurality of divided regions, the method may further include: and identifying an obstacle area in the area to be measured, acquiring a residual area except the obstacle area in the area to be measured, and dividing the residual area to obtain a plurality of divided areas.
The plurality of divided areas and the obstacle area are combined to form an area to be measured, but in other embodiments, the area to be measured may also be referred to as a remaining area alone.
For example, as shown in fig. 5, an image of a sea area including an area to be measured may be acquired, an obstacle area in the image may be identified, the area to be measured may be divided into areas to be measured in the sea area, the obstacle area may be divided into areas to be measured, the areas except the obstacle area may be used as remaining areas, the remaining areas are environment data measurement areas, and the remaining areas may be divided to obtain a plurality of divided areas. By identifying the obstacle area in the area to be measured and then dividing the remaining area except the obstacle area, the unmanned ship can be flexibly allocated in consideration of the area of the divided area when the unmanned ship is allocated to each divided area.
For example, when the remaining region is divided, the remaining region may be divided into a plurality of divided regions having area differences within a preset range according to the area of the remaining region, and then at least one unmanned boat having the same number is allocated to each divided region, so that measurement tasks of the plurality of divided regions may be performed at the same time in a considerable time, thereby improving measurement efficiency.
For example, taking fig. 5 as an example, the remaining region may be divided into four divided regions in fig. 5, the areas of each divided region are not different, and the preset range may be set according to actual needs, so that the areas of each divided region are not as large, so that the same number of unmanned boats may be allocated to each divided region, of course, according to actual situations, a corresponding number of unmanned boats may be allocated according to the size of the area, for example, when the area of a divided region is about 100 ten thousand square meters, 5 unmanned boats may be allocated to each divided region, and the 5 unmanned boats in each divided region may perform environment data measurement according to the obtained measurement path. Of course, the measurement paths of the unmanned boats in each partition area may be the same or different, and may be flexibly set according to the geographical features of the respective partition areas.
In addition, when the remaining region is divided, the remaining region may be divided into a plurality of divided regions according to the shape of the remaining region, and then a corresponding number of at least one unmanned boat that matches the area of each divided region may be allocated to each divided region.
The unmanned boats with different numbers are distributed according to the areas of the different partition areas, so that the distribution of the unmanned boats is more flexible, the partition areas with different areas adopt different numbers of unmanned boats for measurement, the difference between the measurement time of each partition area is small, and the measurement efficiency is improved.
For example, as shown in fig. 6, fig. 6 is a schematic diagram of rough division of each divided region, since the middle region of the region to be measured is an obstacle region, and the surrounding regions are remaining regions, the remaining regions may be divided into 5 divided regions numbered 1,2,3,4,5 according to the shape of the remaining regions, the area of each divided region may be relatively different, and if the area of the divided region numbered 5 is relatively small, a smaller number of unmanned boats, such as one unmanned boat, may be allocated thereto, and if the area of the divided region numbered 3 is relatively large, a larger number of unmanned boats, such as 3 unmanned boats, may be allocated thereto.
After obtaining a plurality of divided areas, in order to realize comprehensive measurement of each divided area, the measurement path of the unmanned ship may be as shown in fig. 7 and 8, a schematic view of the measurement path of the unmanned ships in three divided areas is shown, if the unmanned ship in each divided area is one measurement squad, in fig. 7 and 8, the measurement path of the two unmanned ships is shown on the upper side, the measurement path of the unmanned ship on the right side is shown on the one unmanned ship, and the measurement path of the seven unmanned ships is shown in the middle. The measurement path of the unmanned boat in each partition area is in a comb shape. The unmanned ship sub-fleet is characterized in that a virtual pilot can be set for each unmanned ship sub-fleet, the unmanned ships serve as real ships, when measuring paths of the unmanned ships in each partition area are generated, a full-area planned path can be generated firstly, a local planned path is generated, the global planned path is the measuring path of the virtual pilot, the local planned path is the measuring path of the real ships in the unmanned ship sub-fleet, the real ships in each unmanned ship sub-fleet keep a certain distance to run, the real ships keep the same speed to run, and therefore measuring paths corresponding to the real ships can be generated.
In generating the measurement path, the driving width and the length of the unmanned ship in the partitioned area, such as 200 m in width, 400 m in length, then, the measurement path shown in fig. 8 can be generated by setting to travel in a comb shape, a virtual pilot is added, seven unmanned boats are used as real boats, the relative distance between the real boats is set, the measurement path of each real boat can be generated, then the measurement path is issued to each unmanned ship, each unmanned ship runs according to the measurement path after acquiring the measurement path, during the driving process, each unmanned boat can obtain the distance between the unmanned boat and other unmanned boats in real time, if the actual distance is different from the set distance, the unmanned ship can adjust the distance between the unmanned ship and other unmanned ships so as to ensure that a plurality of unmanned ships travel according to a set measuring path.
The specific measurement path of the unmanned ship can be as shown in fig. 9 and 10, where fig. 9 is a global planned path of the unmanned ship in No. 2 division area, fig. 10 is a local planned path of the unmanned ship, and the local planned path is an actual driving path of the unmanned ship in the measurement process, that is, a measurement path.
The unmanned ship collects environment data and self pose information in real time through the sensor in the running process, and sends the environment data and the pose information to the remote control terminal, so that the unmanned ship can avoid disconnection of communication between the unmanned ship and the remote control terminal and data loss, the unmanned ship can store the collected environment data and the self pose information into a local database, and after communication with the remote control terminal is recovered, the data are transmitted to the remote control terminal.
It should be noted that, since each of the divided regions may not be a region of a regular shape, the driving area of the unmanned surface vehicle is not equal to the set driving area, and the unmanned surface vehicle can avoid an obstacle when encountering an obstacle, and then automatically adjust the measurement path so that the measurement path actually driven by the unmanned surface vehicle can approximately coincide with the set measurement path.
In the process of measuring the environmental data of the unmanned ship, the remote control terminal can also monitor the running state of each unmanned ship in each partition area in real time, and if the unmanned ship monitoring a certain partition area fails, other unmanned ships of the partition area which have completed the environmental data measurement are allocated to the partition area so as to continue to complete the measurement task of the target partition area, so that the problem that the environmental data of the target partition area cannot be obtained due to the fact that the target partition area cannot be measured continuously after the target unmanned ship fails can be solved.
It can be understood that the unmanned vehicle with the fault serves as the target unmanned vehicle, the area where the target unmanned vehicle is located serves as the target division area, the unmanned vehicle can send the running state of the unmanned vehicle to the remote control terminal in real time, and the running state of the unmanned vehicle can refer to the working state data of the unmanned vehicle, such as the running speed, the engine rotating speed and the like. The remote control terminal can judge whether the unmanned ship breaks down or not according to the running state of the unmanned ship, and can judge that the unmanned ship breaks down if the data representing the running state of the unmanned ship are inconsistent with the preset running state data, so that the unmanned ship can not continue to carry out measurement, and the unmanned ship can be allocated to the target division area from other division areas which have finished the measurement of the environmental data to continue to finish the measurement task. For example, the remote control terminal may send a measurement task stopping instruction to the target unmanned ship, and then may control other unmanned ships to tow the target unmanned ship to the parking area, and if the target unmanned ship is still able to continue to run, may also control the target unmanned ship to run to the parking area. If the measurement tasks of other unmanned boats in the segmented area which have already finished the environmental data measurement are finished at the moment, and the unmanned boat does not have other measurement tasks currently, the unmanned boat can be allocated to the target segmented area to replace the target unmanned boat, and the measurement tasks of the target segmented area are continuously finished.
However, if it may take a long time to deploy unmanned ships from other partitioned areas to the target partitioned area, it may be determined whether the failure of the target unmanned ship having the failure can be remotely repaired, and if the failure cannot be remotely repaired, it may be determined whether the environmental data measurement of the target partitioned area is completed, and if the environmental data measurement of the target partitioned area is not completed, the unmanned ships of other partitioned areas where the environmental data measurement has been completed may be deployed to the target partitioned area.
For example, if the fault of the target unmanned ship is a software fault, the target unmanned ship can be remotely controlled to restart, and the fault can be repaired, the unmanned ship deployment is not required, and the target unmanned ship can wait for the fault repair of the target unmanned ship. Therefore, when the fault of the target unmanned ship cannot be remotely repaired and the target division area does not complete the measurement of the environmental data, the unmanned ship is deployed, so that the problem of increased measurement time caused by the fact that the target unmanned ship can be remotely repaired and deployed can be solved, and the measurement efficiency can be further improved by the method.
In order to quickly allocate the unmanned surface vehicle of other divided areas to the target divided area and save the allocation time, the distances between the other divided areas which have been measured by the environmental data and the target divided area can be obtained first, and then the unmanned surface vehicle of the divided area which is closest to the target divided area can be allocated to the target divided area.
For example, if the target unmanned ship in the division area No. 5 in fig. 6 is in failure and the other division areas No. 1 and No. 2 have completed the environmental data measurement, the distance between the division area No. 1 and the target division area and the distance between the division area No. 2 and the target division area are obtained, respectively, based on the distance that the actual unmanned ship travels from the division area No. 1 or the division area No. 2 to the target division area, so that the division area closest to the target division area can be obtained, and if the distance between the division area No. 1 and the target division area is closest, any unmanned ship in the division area No. 1 is allocated to the target division area.
In addition, in order to monitor the measurement completion condition of each divided area, a grid map can be established for each divided area, the grid map is used for recording the measurement records of at least one unmanned ship of each divided area, for example, the unmanned ship of each divided area can send own position information to the remote control terminal in real time during the driving process, after the remote control terminal receives the position information sent by the unmanned ship, the position where the unmanned ship drives is marked in the grid map to indicate that the position has completed the measurement, so that the measurement completion condition of each divided area can be known through the grid map, for example, which areas have completed the measurement and which areas have not completed the measurement, so that the remote control terminal can conveniently monitor the measurement task of the divided areas.
In addition, because unmanned ship meets the barrier in the process of measuring task, in order to realize that unmanned ship automatically avoids the barrier, in order to guarantee that unmanned ship continuously executes measuring task, dynamic environment information of radar installed on unmanned ship for detecting the area to be measured can be obtained, state information of unmanned ship is obtained again, whether the unmanned ship needs to avoid the barrier is judged according to dynamic environment information and state information, if yes, an obstacle avoiding instruction is sent to the unmanned ship, and the unmanned ship is enabled to avoid the barrier according to the obstacle avoiding instruction.
The dynamic environment information may include information such as position information, angular velocity of movement, and velocity of movement of the obstacle, the moving obstacle may be a ship or the like, and the fixed obstacle may be an island or the like.
The state information of the unmanned ship can comprise information such as the current running speed and the course of the unmanned ship, the remote control terminal can judge whether the unmanned ship collides with the obstacle according to the position information and the motion information of the obstacle and the state information of the unmanned ship, for example, the remote control terminal can judge whether the unmanned ship collides with the obstacle in a future period of time based on the information, if the unmanned ship collides with the obstacle, an obstacle avoiding instruction is sent to the unmanned ship, so that the unmanned ship can avoid the obstacle, the safety of the unmanned ship is ensured, and the unmanned ship can continuously complete the measurement task of the area to be measured.
Referring to fig. 11, fig. 11 is a block diagram of a marine environment measurement apparatus 200 according to an embodiment of the present disclosure, the apparatus includes:
the region segmentation module 210 is configured to acquire a region to be measured, segment the region to be measured, and acquire a plurality of segmented regions;
an allocating module 220, configured to allocate, to each partition area, at least one corresponding unmanned ship;
a path generating module 230, configured to generate a measurement path of at least one unmanned ship corresponding to each segmented region;
the path issuing module 240 is configured to issue the measurement path corresponding to each partition area to at least one unmanned boat in each partition area, so that the at least one unmanned boat performs environmental data measurement on each partition area according to the measurement path.
Optionally, the region segmentation module 210 is specifically configured to identify an obstacle region in the region to be measured; acquiring a remaining area except the obstacle area in the area to be measured; and dividing the residual region to obtain a plurality of divided regions.
Optionally, the region segmentation module 210 is further configured to segment the remaining region into a plurality of segmented regions with area differences within a preset range according to the area of the remaining region; the allocating module 220 is configured to allocate at least one unmanned ship with the same number to each partition area.
Optionally, the region dividing module 210 is further configured to divide the remaining region into a plurality of divided regions according to the shape of the remaining region; the allocating module 220 is configured to allocate, to each of the divided regions, a corresponding number of at least one unmanned boat that matches an area of each of the divided regions.
Optionally, the apparatus further comprises: the deployment module is used for monitoring the running state of each unmanned ship in each partition area; and if the target unmanned ship of the target segmentation area is monitored to have a fault, allocating other unmanned ships of the segmentation area which have finished the environmental data measurement to the target segmentation area.
Optionally, the deployment module is further configured to determine whether the fault of the target unmanned ship can be repaired remotely; if not, judging whether the environmental data measurement of the target segmentation area is finished or not; if the environmental data measurement of the target segmentation area is not finished, allocating unmanned boats of other segmentation areas which have finished the environmental data measurement to the target segmentation area.
Optionally, the allocating module is further configured to obtain distances between other partitioned areas where the environmental data measurement is completed and the target partitioned area; and allocating the unmanned ship of the partition area with the closest distance to the target partition area.
Optionally, the apparatus further comprises: the grid map building module is used for building a grid map for each divided area, and the grid map is used for recording the measurement records of at least one unmanned ship in each divided area.
The embodiment of the present application provides a readable storage medium, and when being executed by a processor, the computer program performs the method process performed by the electronic device in the method embodiment shown in fig. 2.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method, and will not be described in too much detail herein.
In summary, the embodiments of the present application provide a method, an apparatus and an electronic device for marine environment measurement, in the method, a plurality of segmentation areas are obtained by segmenting the area to be measured, and then at least one corresponding unmanned ship is distributed to each segmentation area, then, a measurement path of the unmanned ship in each divided region is generated so that the unmanned ship performs measurement of the environment data for each divided region according to the measurement path, in this way, the region to be measured can be divided into divided regions of smaller area, then, a corresponding number of unmanned boats can be allocated to each divided region, the unmanned boats in a plurality of divided regions can independently perform measurement tasks in parallel, the measurement efficiency is improved, and because the area of each divided region is smaller than that of the region to be measured, therefore, the unmanned boat can carry out more comprehensive environmental data measurement on each segmented area.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (8)
1. A marine environment measurement method, comprising:
acquiring a region to be measured, and segmenting the region to be measured to acquire a plurality of segmented regions;
distributing at least one unmanned ship for each partition area;
generating a measurement path of at least one unmanned ship corresponding to each segmentation area;
sending the measurement path corresponding to each partition area to at least one unmanned ship in each partition area, so that the at least one unmanned ship performs environmental data measurement on each partition area according to the measurement path;
the dividing the region to be measured to obtain a plurality of divided regions includes:
identifying an obstacle area in the area to be measured;
acquiring a remaining area except the obstacle area in the area to be measured;
dividing the residual region to obtain a plurality of divided regions;
the segmenting the remaining region to obtain a plurality of segmented regions includes:
dividing the residual region into a plurality of divided regions according to the shape of the residual region;
assigning to each partitioned area a corresponding at least one unmanned boat, comprising:
each of the partitioned regions is assigned a corresponding number of at least one unmanned boat that matches the area of each of the partitioned regions.
2. The method of claim 1, wherein segmenting the remaining region to obtain a plurality of segmented regions comprises:
dividing the residual region into a plurality of divided regions with area difference within a preset range according to the area of the residual region;
assigning to each partitioned area a corresponding at least one unmanned boat, comprising:
each partition area is allocated with the same number of at least one unmanned boat.
3. The method of claim 1, wherein issuing the measurement path corresponding to each partition to at least one unmanned boat in each partition further comprises:
monitoring the running state of each unmanned ship of each partition area;
and if the target unmanned ship of the target segmentation area is monitored to have a fault, allocating other unmanned ships of the segmentation area which have finished the environmental data measurement to the target segmentation area.
4. The method of claim 3, wherein deploying unmanned boats for other segmented regions for which environmental data measurements have been performed to the target segmented region comprises:
judging whether the fault of the target unmanned ship can be remotely repaired or not;
if not, judging whether the environmental data measurement of the target segmentation area is finished or not;
if the environmental data measurement of the target segmentation area is not finished, allocating unmanned boats of other segmentation areas which have finished the environmental data measurement to the target segmentation area.
5. The method of claim 4, wherein deploying unmanned boats for other segmented regions for which environmental data measurements have been performed to the target segmented region comprises:
acquiring the distance between other segmented areas which have finished the environmental data measurement and the target segmented area;
and allocating the unmanned ship of the partition area with the closest distance to the target partition area.
6. The method of claim 1, wherein after obtaining the plurality of segmented regions, further comprising:
and establishing a grid map for each partitioned area, wherein the grid map is used for recording the measurement records of at least one unmanned ship in each partitioned area.
7. A marine environment measuring device, comprising:
the area dividing module is used for acquiring an area to be measured, dividing the area to be measured and acquiring a plurality of divided areas;
the distribution module is used for distributing at least one corresponding unmanned ship for each partition area;
the path generation module is used for generating a measurement path of at least one unmanned ship corresponding to each segmentation area;
the path issuing module is used for issuing the measurement path corresponding to each partition area to at least one unmanned ship in each partition area so that the at least one unmanned ship can measure the environmental data of each partition area according to the measurement path;
the region segmentation module is specifically used for identifying an obstacle region in the region to be measured;
acquiring a remaining area except the obstacle area in the area to be measured;
dividing the residual region to obtain a plurality of divided regions;
the segmenting the remaining region to obtain a plurality of segmented regions includes:
dividing the residual region into a plurality of divided regions according to the shape of the residual region;
assigning to each partitioned area a corresponding at least one unmanned boat, comprising:
each of the partitioned regions is assigned a corresponding number of at least one unmanned boat that matches the area of each of the partitioned regions.
8. An electronic device comprising a processor and a memory, said memory storing computer readable instructions which, when executed by said processor, perform the steps of the method of any of claims 1-6.
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| CN110118561A (en) * | 2019-06-10 | 2019-08-13 | 华东师范大学 | A kind of unmanned boat paths planning method and unmanned boat |
| CN113108690A (en) * | 2021-04-06 | 2021-07-13 | 成都网感科技有限公司 | Area measurement method suitable for large-area land measurement |
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