CN114049243A - Enteromorpha accumulation amount estimation method and system and storage medium - Google Patents
Enteromorpha accumulation amount estimation method and system and storage medium Download PDFInfo
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Abstract
The invention discloses an enteromorpha accumulation amount estimation method, a system and a storage medium, wherein the method comprises the following steps: acquiring enteromorpha observation information, wherein the enteromorpha observation information comprises enteromorpha outbreak information, enteromorpha region position information, enteromorpha coverage thickness information, enteromorpha picture information and sea air background information; according to the enteromorpha observation information, a three-dimensional enteromorpha space model is constructed by a BIM three-dimensional method; and calculating the total amount of the enteromorpha near the offshore and the salvage area according to the three-dimensional enteromorpha space model. The invention enhances the real-time performance, reduces the labor cost, is beneficial to improving the salvage efficiency, and can be widely applied to the technical field of computers.
Description
Technical Field
The invention relates to the technical field of computers, in particular to an enteromorpha accumulation amount estimation method, an enteromorpha accumulation amount estimation system and a storage medium.
Background
Enteromorpha prolifera is a large filamentous green alga, has extremely strong propagation capacity in sea areas with fertile water quality and sufficient illumination, and can be rapidly overflowed in a short period to form green tide. The enteromorpha outbreaks consume a large amount of oxygen in the water area, and the enteromorpha gathered in pieces inhibits the photosynthesis of algae in the water, thereby influencing the species diversity. Meanwhile, the enteromorpha prolifera generates toxic sulfides in the degradation and decay process, has toxic action on benthos in sea areas, and can reach higher fishes, seabirds and marine mammals. Affected by outbreak of enteromorpha, the fields of marine aquaculture, fishery, tourism and the like all suffer huge economic losses. For preventing and treating outbreak of enteromorpha, the main method in the prior art is to strengthen sea area monitoring and manually salvage; monitoring and forecasting of marine environment is enhanced; strengthening management, formulating an emergency plan and preventing enteromorpha from generating secondary harm; strengthening legal construction, supervision and preventing marine pollution; manual salvage is carried out, and the enteromorpha is prevented from spreading.
Although salvage cleaning is used as a main measure for preventing and treating enteromorpha pollution, the existing salvage method and technology are still not mature enough, manual salvage is mainly used, the efficiency is low, the labor cost is high, and the existing salvage equipment technology is still laggard.
Disclosure of Invention
In view of this, the embodiment of the invention provides an enteromorpha accumulation amount estimation method, system and storage medium with high efficiency and low labor cost.
One aspect of the invention provides an enteromorpha accumulation amount estimation method, which comprises the following steps:
acquiring enteromorpha observation information, wherein the enteromorpha observation information comprises enteromorpha outbreak information, enteromorpha region position information, enteromorpha coverage thickness information, enteromorpha picture information and sea air background information;
according to the enteromorpha observation information, a three-dimensional enteromorpha space model is constructed by a BIM three-dimensional method;
and calculating the total amount of the enteromorpha near the offshore and the salvage area according to the three-dimensional enteromorpha space model.
Optionally, the method further comprises the steps of:
generating a salvage route plan of unmanned ship formation according to the total amount of the enteromorpha and the salvage area;
controlling the unmanned ship formation to salvage the enteromorpha according to the salvage route planning;
and recycling the enteromorpha obtained by fishing.
Optionally, the obtaining of enteromorpha observation information includes:
carrying out remote sensing detection on the offshore and nearshore area through a water color satellite to determine the position of the enteromorpha outbreak area;
acquiring sea area surface layer flow field, wave field and sea surface wind speed information through data information of an offshore high-frequency ground wave radar survey station;
sending an unmanned aerial vehicle to the upper air of the offshore side of the edge of the enteromorpha outbreak area, controlling the unmanned aerial vehicle to carry out cruise observation on a space area from the sea to the land, acquiring a high-precision image terrain, and determining the area position and the coverage area of the enteromorpha;
sending the unmanned ship to the edge of the enteromorpha outbreak area, acquiring picture information of the water surface and the underwater from the sea to the land, and estimating the thickness of the enteromorpha area through penetration of a measuring rod;
and arranging the outer sea enteromorpha marginal areas of the meteorological balloons at equal intervals, and acquiring picture information and sea air background information of the enteromorpha outbreak area.
Optionally, the constructing a three-dimensional enteromorpha space model by a BIM three-dimensional method according to the enteromorpha observation information includes:
obtaining sea air background information from the enteromorpha observation information;
acquiring the size and shape information of the enteromorpha coverage area from the enteromorpha observation information;
constructing an enteromorpha area two-dimensional model according to the sea air background information and the size and shape information of the enteromorpha coverage area;
in the enteromorpha region two-dimensional model, obtaining the edge of an enteromorpha coverage region as a calculation boundary surface for grid division, and determining the value range of the longitude and latitude of the calculation boundary surface;
carrying out edge grid point measuring rod penetration through the unmanned ship, carrying out measuring rod penetration on edge grid points of a grid area divided by the edge of an enteromorpha coverage area, and obtaining thickness information of the enteromorpha grid area;
and constructing a three-dimensional enteromorpha space model according to the sea air background information, the size and shape information of the enteromorpha coverage area, the value range of the longitude and latitude and the thickness information of the enteromorpha grid area.
Optionally, the calculating the total amount of enteromorpha offshore and nearshore according to the three-dimensional enteromorpha space model includes:
predicting the total amount of the enteromorpha near the offshore by a Logistic function according to the three-dimensional enteromorpha space model;
and constructing an enteromorpha elegant prediction model according to the dynamically acquired enteromorpha observation information, and predicting an enteromorpha floating path according to the enteromorpha elegant prediction model.
Optionally, the calculating an offshore near-shore fishing area according to the three-dimensional enteromorpha space model includes:
dividing an enteromorpha outbreak area into a land area side, an intertidal zone side and a sea area side according to the three-dimensional enteromorpha space model;
and calculating the number of the unmanned boats to be dispatched according to the total amount of the enteromorpha to be cleaned, the daily average workload of the unmanned boats and the target time limit.
Optionally, the generating of the salvage route plan of the unmanned ship formation according to the total amount of the enteromorpha and the salvage area includes:
reading the accumulation amount of the enteromorpha, the shoreline terrain and the boundary information of the island obstacle according to the three-dimensional enteromorpha space model;
dividing a to-be-operated area of the three-dimensional enteromorpha space model by an isometric method according to the task amount of the enteromorpha to be cleaned;
configuring operation parameters of the unmanned ship;
carrying out initialization configuration on the operation route of the unmanned ship according to a polygon scanning and filling algorithm;
sequencing and optimizing each operation air route through a greedy algorithm to obtain the shortest path of each unmanned ship;
optimizing the operation course of the unmanned ship according to a minimum span method;
constructing an optimal route target model;
calculating an optimal airline scheduling sequence of the enteromorpha blocks by an OR-Tools method according to the optimal airline target model, and distributing the optimal airline scheduling sequence to the corresponding unmanned ship;
and establishing an unmanned ship energy supply and enteromorpha loading and unloading model, and optimally configuring the energy supply of the unmanned ship and the storage capacity of the enteromorpha.
In another aspect, an embodiment of the present invention further provides an enteromorpha prolifera accumulation amount estimation system, including:
the enteromorpha monitoring system comprises a first module, a second module and a third module, wherein the first module is used for acquiring enteromorpha observation information, and the enteromorpha observation information comprises enteromorpha outbreak information, enteromorpha region position information, enteromorpha coverage range information, enteromorpha coverage thickness information, enteromorpha picture information and sea air background information;
the second module is used for constructing a three-dimensional enteromorpha space model by a BIM three-dimensional method according to the enteromorpha observation information;
and the third module is used for calculating the total amount of the enteromorpha near the offshore and the salvage area according to the three-dimensional enteromorpha space model.
Another aspect of the embodiments of the present invention further provides an electronic device, including a processor and a memory;
the memory is used for storing programs;
the processor executes the program to implement the method as described above.
Yet another aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a program, which is executed by a processor to implement the method as described above.
The embodiment of the invention also discloses a computer program product or a computer program, which comprises computer instructions, and the computer instructions are stored in a computer readable storage medium. The computer instructions may be read by a processor of a computer device from a computer-readable storage medium, and the computer instructions executed by the processor cause the computer device to perform the foregoing method.
According to the embodiment of the invention, enteromorpha observation information is obtained, wherein the enteromorpha observation information comprises enteromorpha outbreak information, enteromorpha region position information, enteromorpha coverage range information, enteromorpha coverage thickness information, enteromorpha picture information and sea air background information; according to the enteromorpha observation information, a three-dimensional enteromorpha space model is constructed by a BIM three-dimensional method; and calculating the total amount of the enteromorpha near the offshore and the salvage area according to the three-dimensional enteromorpha space model. The invention enhances the real-time performance, reduces the labor cost and is beneficial to improving the fishing efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flowchart illustrating the overall steps provided by an embodiment of the present invention;
FIG. 2 is a flowchart of steps of an Enteromorpha area scanning observation process provided in an embodiment of the invention;
FIG. 3 is a flowchart illustrating steps of an Enteromorpha prolifera total amount estimation process according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating steps of a multi-boat coordination operation of an unmanned ship according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a hull of an unmanned ship according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Aiming at the problems in the prior art, the embodiment of the invention provides an offshore and nearshore enteromorpha accumulation estimation method and a fishing system. Based on cooperative observation of unmanned aerial vehicle-unmanned ship-meteorological balloon, a BIM algorithm is adopted to construct a three-dimensional enteromorpha model, the development trend and the drifting path of the three-dimensional enteromorpha model are predicted, and the unmanned ship is dispatched to automatically clear and catch the enteromorpha in the offshore area near the bank. The integrated process from monitoring, measuring, salvaging to transportation and utilization of the enteromorpha is realized.
Specifically, one aspect of the present invention provides a method for estimating an accumulation amount of enteromorpha, including:
acquiring enteromorpha observation information, wherein the enteromorpha observation information comprises enteromorpha outbreak information, enteromorpha region position information, enteromorpha coverage thickness information, enteromorpha picture information and sea air background information;
according to the enteromorpha observation information, a three-dimensional enteromorpha space model is constructed by a BIM three-dimensional method;
and calculating the total amount of the enteromorpha near the offshore and the salvage area according to the three-dimensional enteromorpha space model.
Optionally, the method further comprises the steps of:
generating a salvage route plan of unmanned ship formation according to the total amount of the enteromorpha and the salvage area;
controlling the unmanned ship formation to salvage the enteromorpha according to the salvage route planning;
and recycling the enteromorpha obtained by fishing.
Optionally, the obtaining of enteromorpha observation information includes:
carrying out remote sensing detection on the offshore and nearshore area through a water color satellite to determine the position of the enteromorpha outbreak area;
acquiring sea area surface layer flow field, wave field and sea surface wind speed information through data information of an offshore high-frequency ground wave radar survey station;
sending an unmanned aerial vehicle to the upper air of the offshore side of the edge of the enteromorpha outbreak area, controlling the unmanned aerial vehicle to carry out cruise observation on a space area from the sea to the land, acquiring a high-precision image terrain, and determining the area position and the coverage area of the enteromorpha;
sending the unmanned ship to the edge of the enteromorpha outbreak area, acquiring picture information of the water surface and the underwater from the sea to the land, and estimating the thickness of the enteromorpha area through penetration of a measuring rod;
and arranging the outer sea enteromorpha marginal areas of the meteorological balloons at equal intervals, and acquiring picture information and sea air background information of the enteromorpha outbreak area.
Optionally, the constructing a three-dimensional enteromorpha space model by a BIM three-dimensional method according to the enteromorpha observation information includes:
obtaining sea air background information from the enteromorpha observation information;
acquiring the size and shape information of the enteromorpha coverage area from the enteromorpha observation information;
constructing an enteromorpha area two-dimensional model according to the sea air background information and the size and shape information of the enteromorpha coverage area;
in the enteromorpha region two-dimensional model, obtaining the edge of an enteromorpha coverage region as a calculation boundary surface for grid division, and determining the value range of the longitude and latitude of the calculation boundary surface;
carrying out edge grid point measuring rod penetration through the unmanned ship, carrying out measuring rod penetration on edge grid points of a grid area divided by the edge of an enteromorpha coverage area, and obtaining thickness information of the enteromorpha grid area;
and constructing a three-dimensional enteromorpha space model according to the sea air background information, the size and shape information of the enteromorpha coverage area, the value range of the longitude and latitude and the thickness information of the enteromorpha grid area.
Optionally, the calculating the total amount of enteromorpha offshore and nearshore according to the three-dimensional enteromorpha space model includes:
predicting the total amount of the enteromorpha near the offshore by a Logistic function according to the three-dimensional enteromorpha space model;
and constructing an enteromorpha elegant prediction model according to the dynamically acquired enteromorpha observation information, and predicting an enteromorpha floating path according to the enteromorpha elegant prediction model.
Optionally, the calculating an offshore near-shore fishing area according to the three-dimensional enteromorpha space model includes:
dividing an enteromorpha outbreak area into a land area side, an intertidal zone side and a sea area side according to the three-dimensional enteromorpha space model;
and calculating the number of the unmanned boats to be dispatched according to the total amount of the enteromorpha to be cleaned, the daily average workload of the unmanned boats and the target time limit.
Optionally, the generating of the salvage route plan of the unmanned ship formation according to the total amount of the enteromorpha and the salvage area includes:
reading the accumulation amount of the enteromorpha, the shoreline terrain and the boundary information of the island obstacle according to the three-dimensional enteromorpha space model;
dividing a to-be-operated area of the three-dimensional enteromorpha space model by an isometric method according to the task amount of the enteromorpha to be cleaned;
configuring operation parameters of the unmanned ship;
carrying out initialization configuration on the operation route of the unmanned ship according to a polygon scanning and filling algorithm;
sequencing and optimizing each operation air route through a greedy algorithm to obtain the shortest path of each unmanned ship;
optimizing the operation course of the unmanned ship according to a minimum span method;
constructing an optimal route target model;
calculating an optimal airline scheduling sequence of the enteromorpha blocks by an OR-Tools method according to the optimal airline target model, and distributing the optimal airline scheduling sequence to the corresponding unmanned ship;
and establishing an unmanned ship energy supply and enteromorpha loading and unloading model, and optimally configuring the energy supply of the unmanned ship and the storage capacity of the enteromorpha.
In another aspect, an embodiment of the present invention further provides an enteromorpha prolifera accumulation amount estimation system, including:
the enteromorpha monitoring system comprises a first module, a second module and a third module, wherein the first module is used for acquiring enteromorpha observation information, and the enteromorpha observation information comprises enteromorpha outbreak information, enteromorpha region position information, enteromorpha coverage range information, enteromorpha coverage thickness information, enteromorpha picture information and sea air background information;
the second module is used for constructing a three-dimensional enteromorpha space model by a BIM three-dimensional method according to the enteromorpha observation information;
and the third module is used for calculating the total amount of the enteromorpha near the offshore and the salvage area according to the three-dimensional enteromorpha space model.
Another aspect of the embodiments of the present invention further provides an electronic device, including a processor and a memory;
the memory is used for storing programs;
the processor executes the program to implement the method as described above.
Yet another aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a program, which is executed by a processor to implement the method as described above.
The embodiment of the invention also discloses a computer program product or a computer program, which comprises computer instructions, and the computer instructions are stored in a computer readable storage medium. The computer instructions may be read by a processor of a computer device from a computer-readable storage medium, and the computer instructions executed by the processor cause the computer device to perform the foregoing method.
The following detailed description of the specific implementation principles of the present invention is made with reference to the accompanying drawings:
as shown in fig. 1, the method for estimating the accumulation amount of enteromorpha according to the present invention may specifically include the following six steps:
firstly, the enteromorpha is scanned and observed based on the satellite, the unmanned aerial vehicle, the unmanned ship and the meteorological balloon, and the steps are shown in figure 2. And (4) carrying out large-range remote sensing detection on the offshore and nearshore area by using the water color satellite, and identifying the position of the enteromorpha outbreak area. And dispatching an unmanned aerial vehicle and an unmanned boat which are provided with high-precision detection equipment, and laying a meteorological balloon to an enteromorpha outbreak area for carrying out close-range image real-time monitoring. The unmanned aerial vehicle is dispatched to the upper part of the offshore side of the edge of the enteromorpha outbreak area, cruise observation on a space area is carried out from the sea to the land, a high-precision image terrain is obtained, and the area position and the coverage range of the enteromorpha are determined; the unmanned ship is dispatched to the edge of the enteromorpha outbreak area, the sea land obtains the water surface-underwater picture information, and the thickness of the enteromorpha area is estimated through penetration of a measuring rod; the unmanned ship carries weather balloons to be arranged in the edge area of the enteromorpha in the open sea at equal intervals, and picture information acquisition and weather information (temperature, air pressure, humidity, sunlight intensity, wind speed, wind direction and the like) acquisition are carried out on the enteromorpha outbreak area.
Secondly, estimating the total amount of enteromorpha based on a BIM three-dimensional technology: the bim (building Information modeling) is real Information of a simulated building through digital Information, and the Information not only is three-dimensional geometric shape Information, but also contains a large amount of non-geometric shape Information, such as materials, weight, price, progress and the like of building and construction. According to the method, the BIM three-dimensional technology is applied, the shape, size information and thickness information of the enteromorpha prolifera in the image information detected by the unmanned aerial vehicle, the meteorological fire balloon and the unmanned boat are extracted, a space geometric model of the three-dimensional enteromorpha prolifera is constructed, and therefore the total amount of the enteromorpha prolifera offshore and nearshore is estimated. The specific implementation steps are as follows (see fig. 3):
(1) background information acquired based on a remote sensing satellite, an offshore high-frequency ground wave radar survey station, a meteorological station, a hydrological station and the like comprises data such as offshore shore-near land line land, water level, runoff, tide level, wave, water temperature, wind, meteorological information and the like.
(2) And (4) extracting image information and data from monitoring information such as an unmanned aerial vehicle and a meteorological balloon, and determining the size and the shape of the enteromorpha coverage area. Firstly, constructing an enteromorpha regional two-dimensional model by using a BIM technology.
(3) Dividing a region grid: in the enteromorpha zone two-dimensional model, the edge of an enteromorpha covered zone is taken as a calculation boundary surface for grid division, the value range of longitude and latitude is determined, a curve orthogonal grid is adopted in the horizontal direction, the space step length of the grid is between 50 and 300m, and the grid of a near-shore intertidal zone is encrypted. The water depth of each grid point is obtained by interpolation.
(4) Sending an unmanned ship to carry out edge grid point measuring rod penetration, carrying out measuring rod penetration on edge grid points of the divided grid area at the edge of the enteromorpha coverage area, and obtaining thickness information of the enteromorpha grid area.
(5) Constructing a three-dimensional enteromorpha space model: and constructing a three-dimensional enteromorpha space model according to the obtained background information and the information such as the size, the dimension, the thickness and the like of the enteromorpha outbreak area.
(6) And (3) evolution prediction of the accumulation amount of the enteromorpha prolifera: and updating the three-dimensional enteromorpha space model through the continuously updated picture information acquisition of the meteorological balloon, and predicting the development trend and scale of the enteromorpha by using a Logistic function.
The Logistic function is a common sigmoid function, and the model is widely applied to simulation of the propagation and growth processes of organisms. This function was originally derived from an ecological model. Considering the proliferation of bacteria in a culture medium, the rate of growth of bacteria is proportional to the number of bacteria, apart from that there is no other effect affecting the number of bacteria, and the bacteria will then grow exponentially. In reality, however, the load bearing capacity of the environment is limited. As the number of individuals grows, the nutrients in the environment will become scarce, thus having a negative effect on population growth. If it is assumed that the negative effect is proportional to the square of the number of individuals (e.g., if the inhibition is thought to be due to interaction between two individuals, then the sum of the inhibition is proportional to the square of the number of individuals), then, taken together, we obtain a differential equation whose solution is the logistic function.
The formula is as follows:
wherein the content of the first and second substances,P0is the value of the initial time; p (t) is the value at time t; r is a constant and is used for measuring the speed of curve change, and the larger the value is, the faster the model converges to K; k is the capacity of the system; t is time.
(7) Meanwhile, an enteromorpha floating prediction model is constructed by using a real-time assimilation technology according to longitude and latitude position, terrain, weather, water level and tide element information of the offshore sea area, the ratio of sea current to wind power coefficient is corrected according to a laboratory enteromorpha plaque drift experiment, and the factor of wind dragging angle change is considered to realize prediction of an enteromorpha floating path.
Thirdly, dividing and estimating a salvage area of the unmanned ship: through a three-dimensional enteromorpha space model and information such as tide and water temperature, an enteromorpha outbreak area is divided into a land area side, an intertidal zone side and a sea area side. The intertidal zone refers to the coast between the average highest tide level and the lowest tide level, i.e. the range from the submerged place when the seawater rises to the highest level to the exposed water surface when the seawater falls to the lowest level. Considering the multi-ship parallel salvage efficiency, estimating the cleaning completion time of the enteromorpha, namely estimating the number of dispatched unmanned boats if the total amount of the enteromorpha to be cleaned is Z, the daily average working amount of the unmanned boats is Z and the target time limit is T
Fourthly, planning the route of the unmanned ship formation: the minimum transfer path length of the multi-ship coordinated operation of the unmanned ship is taken as an operation optimization target, and the technical route flow is as follows (see fig. 4). 1. Firstly, reading the accumulation amount of enteromorpha, the boundary of a shoreline terrain, an island obstacle and the like based on a three-dimensional enteromorpha space model. 2. And taking the task amount of the enteromorpha to be cleaned into consideration, and dividing the to-be-operated area of the three-dimensional enteromorpha model by adopting an isometric method. 3. And setting operation parameters of the unmanned ship based on the performance of the unmanned ship. 4. And initializing the operation route of the unmanned ship based on a polygon scanning and filling algorithm. 5. And optimizing the operation sequencing based on a greedy algorithm. The greedy algorithm is widely applied to data structures, a fixed algorithm solution framework is not provided for the greedy algorithm, the key of the algorithm is selection of a greedy strategy, and different strategies are selected according to different problems. The operation sorting optimization algorithm is based on a greedy algorithm, and the shortest path of the current unmanned ship is adopted in each step of selection, so that the result is expected to be the optimal sorting algorithm. 6. And optimizing the operation course based on the minimum span method. 6. An optimal route target model is established (model formula is shown in the following paragraph). 7. And solving the optimal scheduling sequence of the enteromorpha prolifera blocks by using OR-Tools and distributing the optimal scheduling sequence of the enteromorpha prolifera blocks to the m unmanned boats. 8. And considering the energy supply of the unmanned ship and the storage capacity transfer of the enteromorpha, establishing an unmanned ship energy supply and enteromorpha loading and unloading model, and calling OR-Tools to optimize the operation voyage number of the unmanned ship.
9. And outputting a path which can be used for autonomous navigation operation of the unmanned ship through coordinate conversion.
The optimal course target model is as follows: assuming that the unmanned ship is m, the working route is n, the set a is {1,2, ·,2n }, B is {0, 1,2,...,2n }, and C is {1,2,..., m }, each unmanned ship has rkTransfer process, s, not including discharge and charging pointskA transfer process, h, which includes the discharge and energy charging points0Regarding the depth of the unmanned ship operation, h is the safe depth of the unmanned ship operation, regarding each grid point as a mass point, and defining the grid point as an end point in the path, wherein the target model formula (1) of the optimal route scheduling is as follows:
wherein d isijDenotes the distance, x, from the endpoint i to the endpoint jijkRepresenting the function of the unmanned boat k from the endpoints i to j; the formula (2) is a decision variable for unmanned boat scheduling; formula (3) shows that only 1 unmanned boat passes through each route; the formulas (4) and (5) show that any route has only one of the other end points, and the route reaching the end point of the any route only starts from 1 of the other end points; equation (6) sets the nominal distance of 2 end points on the same route to 0 to ensure that the route can be executed, each point on the route can be traversed, and the corresponding actual length is divided into the adjacent transfer paths, in equation (6),
the actual transfer distance between 2 end points not belonging to the same route,
the real length of the actual route of the end points i and j.
Fifthly, dispatching and salvaging unmanned boat formation: carrying out onshore accumulation cleaning on the enteromorpha on the land side by adopting an instrument; and dispatching unmanned boats to the enteromorpha on the intertidal zone side and the sea area side for multi-boat cooperative operation. The enteromorpha on the intertidal zone side is subjected to fishing operation in the tide taking period by considering the necessary draught required by unmanned boat operation and considering the influence of tide factors. The tide taking time is the tide rising time, when and only when the tide rising depth is larger than or equal to the maximum draught of the unmanned boat, the small unmanned boat carries out fishing operation from the water side to the bank side, and when the tide falling depth is equal to the maximum draught of the unmanned boat, the small unmanned boat stops fishing operation. And constructing a sea area block line at the edge of the enteromorpha outbreak area for the enteromorpha on the sea area side, laying an enteromorpha interception net and constructing a sea area block line.
The unmanned ship that this application adopted automatic salvage of waterside tongue is equipped with survey thick stick and pierces through equipment, cutting machine, bow transmission, storage box, vacuum compression device, GPS positioning system etc. see figure 5. The bar-measuring penetrating equipment is used for estimating the thickness of the enteromorpha outbreak area; the cutting machines are positioned on two sides of the bow and used for cutting the enteromorpha in blocks; the bow transmission device is positioned at the bow and used for collecting the cut enteromorpha; the storage box is positioned behind the bow transmission device and used for storing and collecting the obtained enteromorpha garbage; the vacuum compression device is positioned above the storage box and used for compressing and storing the collected enteromorpha; the GPS is used for positioning the unmanned ship.
And sixthly, transporting and utilizing the enteromorpha. Considering the characteristic that the enteromorpha is decomposed and decomposed to release sulfides, an unmanned ship garbage recycling station is arranged in the offshore area near the shore, and when the unmanned ship storage bin is fully loaded or according to tide and weather conditions, the unmanned ship garbage recycling station automatically drives to the nearest unmanned ship garbage recycling station to unload the enteromorpha garbage by taking favorable time such as morning and evening, ebb tide and the like. The unmanned boat garbage recycling station needs to be clean daily, the salvaged enteromorpha can be conveyed to a fertilizer plant and the like to be used as wastes, and the pollution to water sources and air is reduced.
In summary, compared with the prior art, the method and the system for estimating the accumulation amount of the enteromorpha prolifera near the offshore and near shore established by the invention can detect the detection and the estimation of the amount value of periodic outbreak areas of the enteromorpha prolifera near the offshore and the like in real time, and simultaneously adopt unmanned boat formation to carry out long-period uninterrupted detection, salvage, storage and transportation integrated full-automatic collection and cleaning on the detected enteromorpha prolifera, so that the labor cost is greatly reduced, and the characteristics of timely salvage, prevention and control of diffusion and high efficiency of operation are realized.
In alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. 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/acts involved. Furthermore, the embodiments presented and described in the flow charts of the present invention are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of larger operations are performed independently.
Furthermore, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the described functions and/or features may be integrated in a single physical device and/or software module, or one or more functions and/or features may be implemented in a separate physical device or software module. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary for an understanding of the present invention. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be understood within the ordinary skill of an engineer, given the nature, function, and internal relationship of the modules. Accordingly, those skilled in the art can, using ordinary skill, practice the invention as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative of and not intended to limit the scope of the invention, which is defined by the appended claims and their full scope of equivalents.
The functions, if implemented in the form of software functional units 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 invention may be embodied in the form of a software product, which is stored in a storage medium and includes 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 invention. 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 logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method for estimating the accumulation amount of enteromorpha is characterized by comprising the following steps:
acquiring enteromorpha observation information, wherein the enteromorpha observation information comprises enteromorpha outbreak information, enteromorpha region position information, enteromorpha coverage thickness information, enteromorpha picture information and sea air background information;
according to the enteromorpha observation information, a three-dimensional enteromorpha space model is constructed by a BIM three-dimensional method;
and calculating the total amount of the enteromorpha near the offshore and the salvage area according to the three-dimensional enteromorpha space model.
2. The method for estimating accumulation amount of enteromorpha according to claim 1, further comprising the steps of:
generating a salvage route plan of unmanned ship formation according to the total amount of the enteromorpha and the salvage area;
controlling the unmanned ship formation to salvage the enteromorpha according to the salvage route planning;
and recycling the enteromorpha obtained by fishing.
3. The method for estimating the accumulation amount of enteromorpha according to claim 2, wherein the obtaining of the observation information of enteromorpha comprises:
carrying out remote sensing detection on the offshore and nearshore area through a water color satellite to determine the position of the enteromorpha outbreak area;
acquiring sea area surface layer flow field, wave field and sea surface wind speed information through data information of an offshore high-frequency ground wave radar survey station;
sending an unmanned aerial vehicle to the upper air of the offshore side of the edge of the enteromorpha outbreak area, controlling the unmanned aerial vehicle to carry out cruise observation on a space area from the sea to the land, acquiring a high-precision image terrain, and determining the area position and the coverage area of the enteromorpha;
sending the unmanned ship to the edge of the enteromorpha outbreak area, acquiring picture information of the water surface and the underwater from the sea to the land, and estimating the thickness of the enteromorpha area through penetration of a measuring rod;
and arranging the outer sea enteromorpha marginal areas of the meteorological balloons at equal intervals, and acquiring picture information and sea air background information of the enteromorpha outbreak area.
4. The method for estimating the accumulation amount of enteromorpha according to claim 2, wherein the step of constructing a three-dimensional enteromorpha space model by a BIM three-dimensional method according to the enteromorpha observation information comprises the following steps:
obtaining sea air background information from the enteromorpha observation information;
acquiring the size and shape information of the enteromorpha coverage area from the enteromorpha observation information;
constructing an enteromorpha area two-dimensional model according to the sea air background information and the size and shape information of the enteromorpha coverage area;
in the enteromorpha region two-dimensional model, obtaining the edge of an enteromorpha coverage region as a calculation boundary surface for grid division, and determining the value range of the longitude and latitude of the calculation boundary surface;
carrying out edge grid point measuring rod penetration through the unmanned ship, carrying out measuring rod penetration on edge grid points of a grid area divided by the edge of an enteromorpha coverage area, and obtaining thickness information of the enteromorpha grid area;
and constructing a three-dimensional enteromorpha space model according to the sea air background information, the size and shape information of the enteromorpha coverage area, the value range of the longitude and latitude and the thickness information of the enteromorpha grid area.
5. The method for estimating the accumulation amount of enteromorpha according to claim 2, wherein the calculating the total amount of enteromorpha near the offshore according to the three-dimensional enteromorpha space model comprises:
predicting the total amount of the enteromorpha near the offshore by a Logistic function according to the three-dimensional enteromorpha space model;
and constructing an enteromorpha elegant prediction model according to the dynamically acquired enteromorpha observation information, and predicting an enteromorpha floating path according to the enteromorpha elegant prediction model.
6. The method for estimating the accumulation amount of enteromorpha according to claim 2, wherein the calculating of the offshore salvage area according to the three-dimensional enteromorpha space model comprises the following steps:
dividing an enteromorpha outbreak area into a land area side, an intertidal zone side and a sea area side according to the three-dimensional enteromorpha space model;
and calculating the number of the unmanned boats to be dispatched according to the total amount of the enteromorpha to be cleaned, the daily average workload of the unmanned boats and the target time limit.
7. The method for estimating the accumulation amount of enteromorpha according to claim 2, wherein the step of generating a salvage route plan for unmanned ship formation according to the total amount of enteromorpha and the salvage area comprises the following steps:
reading the accumulation amount of the enteromorpha, the shoreline terrain and the boundary information of the island obstacle according to the three-dimensional enteromorpha space model;
dividing a to-be-operated area of the three-dimensional enteromorpha space model by an isometric method according to the task amount of the enteromorpha to be cleaned;
configuring operation parameters of the unmanned ship;
carrying out initialization configuration on the operation route of the unmanned ship according to a polygon scanning and filling algorithm;
sequencing and optimizing each operation air route through a greedy algorithm to obtain the shortest path of each unmanned ship;
optimizing the operation course of the unmanned ship according to a minimum span method;
constructing an optimal route target model;
calculating an optimal airline scheduling sequence of the enteromorpha blocks by an OR-Tools method according to the optimal airline target model, and distributing the optimal airline scheduling sequence to the corresponding unmanned ship;
and establishing an unmanned ship energy supply and enteromorpha loading and unloading model, and optimally configuring the energy supply of the unmanned ship and the storage capacity of the enteromorpha.
8. An enteromorpha accumulation amount estimation system is characterized by comprising:
the enteromorpha monitoring system comprises a first module, a second module and a third module, wherein the first module is used for acquiring enteromorpha observation information, and the enteromorpha observation information comprises enteromorpha outbreak information, enteromorpha region position information, enteromorpha coverage range information, enteromorpha coverage thickness information, enteromorpha picture information and sea air background information;
the second module is used for constructing a three-dimensional enteromorpha space model by a BIM three-dimensional method according to the enteromorpha observation information;
and the third module is used for calculating the total amount of the enteromorpha near the offshore and the salvage area according to the three-dimensional enteromorpha space model.
9. An electronic device comprising a processor and a memory;
the memory is used for storing programs;
the processor executing the program realizes the method of any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the storage medium stores a program, which is executed by a processor to implement the method according to any one of claims 1 to 7.
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