CN114049243B - Enteromorpha accumulation amount estimation method, system and storage medium - Google Patents
Enteromorpha accumulation amount estimation method, system and storage medium Download PDFInfo
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Abstract
The application discloses a method, a system and a storage medium for estimating accumulation amount of enteromorpha, wherein the method comprises the following steps: the method comprises the steps of obtaining enteromorpha observation information, wherein the enteromorpha observation information comprises enteromorpha explosion information, enteromorpha region position information, enteromorpha coverage thickness information, enteromorpha picture information and sea air background information; constructing a three-dimensional enteromorpha spatial model by a BIM three-dimensional method according to the enteromorpha observation information; and calculating the total amount of the enteromorpha and the salvaging area on the offshore according to the three-dimensional enteromorpha space model. The application enhances the instantaneity, reduces the labor cost, is beneficial to improving the salvaging efficiency, and can be widely applied to the technical field of computers.
Description
Technical Field
The application relates to the technical field of computers, in particular to a method, a system and a storage medium for estimating accumulation of enteromorpha.
Background
Enteromorpha prolifera is a large filamentous green alga, has extremely strong propagation energy in sea areas with rich water quality and sufficient illumination, and can rapidly overflow in a short period to form green tide. The enteromorpha bursts consume a large amount of oxygen in the water area, and the enteromorpha gathered in a piece inhibits photosynthesis of algae in water, so that species diversity is affected. Meanwhile, toxic sulfides are generated in the enteromorpha degradation and decay process, and the enteromorpha degradation and decay process has toxic effects on benthos in sea areas, and affects higher fishes, seabirds and marine mammals. The method is affected by the outbreak of enteromorpha, and huge economic losses can be suffered in the fields of marine farming, fishery, travel industry and the like. For preventing and controlling enteromorpha outbreak, the main method in the prior art is to strengthen sea area monitoring and manually salvage; the monitoring and forecasting of the marine environment are enhanced; the management is enhanced, an emergency plan is formulated, and secondary hazard of enteromorpha is prevented; strengthening the legal construction, supervising and preventing ocean pollution; manually salvaging, preventing enteromorpha from spreading, and the like.
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, and the method and technology mainly use manual salvage, so that the efficiency is low, the labor cost is high, and the existing salvage equipment technology is still relatively backward.
Disclosure of Invention
Therefore, the embodiment of the application provides the enteromorpha accumulation amount estimation method, the enteromorpha accumulation amount estimation system and the storage medium with high efficiency and low labor cost.
One aspect of the application provides a method for estimating accumulation of enteromorpha, comprising the following steps:
the method comprises the steps of obtaining enteromorpha observation information, wherein the enteromorpha observation information comprises enteromorpha explosion information, enteromorpha region position information, enteromorpha coverage thickness information, enteromorpha picture information and sea air background information;
constructing a three-dimensional enteromorpha spatial model by a BIM three-dimensional method according to the enteromorpha observation information;
and calculating the total amount of the enteromorpha and the salvaging area on the offshore 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 enteromorpha amount and the salvage area;
according to the salvage route planning, controlling unmanned ship formation to salvage enteromorpha;
and recycling the enteromorpha obtained by salvaging.
Optionally, the obtaining enteromorpha observation information includes:
remote sensing detection is carried out on an offshore area through a water-based satellite, and the position of an enteromorpha outbreak area is determined;
acquiring the surface flow field, the wave field and the sea surface wind speed information of the sea area through the data information of an offshore high-frequency ground wave radar measuring station;
dispatching an unmanned aerial vehicle to the position above the offshore side of the edge of an enteromorpha explosion region, controlling the unmanned aerial vehicle to perform cruising observation on a space region from sea to land, acquiring high-precision image topography, and determining the region position and coverage of the enteromorpha;
dispatching an unmanned boat to the edge of an enteromorpha outbreak area, acquiring water surface and underwater picture information from sea to land, and estimating the thickness of the enteromorpha area through measuring rod penetration;
and (3) arranging the meteorological balloons in the edge regions of the external sea enteromorpha at equal intervals, and collecting picture information and sea background information of the enteromorpha outbreak regions.
Optionally, the constructing a three-dimensional enteromorpha spatial model according to the enteromorpha observation information by a BIM three-dimensional method includes:
acquiring sea background information from the enteromorpha observation information;
acquiring the size and shape information of an enteromorpha coverage area from the enteromorpha observation information;
constructing an enteromorpha region two-dimensional model according to the sea air background information and the size and shape information of the enteromorpha coverage region;
in the enteromorpha region two-dimensional model, acquiring the edge of an enteromorpha coverage region as a calculation boundary surface of grid division, and determining the value range of longitude and latitude of the calculation boundary surface;
performing measuring bar penetration on edge grid points of a grid area divided by the edges of the enteromorpha covered area by an unmanned ship to obtain thickness information of the enteromorpha grid area;
and constructing a three-dimensional enteromorpha spatial model according to the sea-air background information, the size and shape information of the enteromorpha coverage area, the value range of longitude and latitude and the thickness information of the enteromorpha grid area.
Optionally, the calculating the total amount of the offshore and offshore enteromorpha according to the three-dimensional enteromorpha space model includes:
predicting the total amount of the offshore enteromorpha by a Logistic function according to the three-dimensional enteromorpha space model;
according to the dynamically obtained enteromorpha observation information, an enteromorpha drift prediction model is constructed, and an enteromorpha floating path is predicted according to the enteromorpha drift prediction model.
Optionally, the calculating the offshore and offshore salvage area according to the three-dimensional enteromorpha space model includes:
dividing an enteromorpha outbreak area into a land side, an intertidal zone side and a sea side according to the three-dimensional enteromorpha space model;
and calculating the number of unmanned boats to be dispatched according to the total enteromorpha to be cleaned, the daily average workload of the unmanned boats and the target time limit.
Optionally, generating a salvage route plan of the unmanned aerial vehicle formation according to the total enteromorpha amount and the salvage area includes:
reading the accumulation amount of the enteromorpha, the landline topography and island obstacle boundary information according to the three-dimensional enteromorpha space model;
dividing a to-be-operated area of the three-dimensional enteromorpha spatial model by an isovolumetric method according to the task amount of the enteromorpha to be cleaned;
configuring operation parameters of the unmanned ship;
initializing and configuring an operation route of the unmanned ship according to a polygonal scanning filling algorithm;
sequencing and optimizing each operation 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;
according to the optimal route target model, calculating an optimal route scheduling order of the enteromorpha blocks by an OR-Tools method, and distributing the optimal route scheduling order to the corresponding unmanned ship;
establishing an unmanned ship energy supply and enteromorpha loading and unloading model, and optimally configuring the energy supply and enteromorpha storage capacity of the unmanned ship.
In another aspect of the embodiment of the present application, there is provided a system for estimating accumulation of enteromorpha, including:
the device comprises a first module, a second module and a third module, wherein the first module is used for acquiring enteromorpha observation information, wherein the enteromorpha observation information comprises enteromorpha explosion information, enteromorpha region position 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 through 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 and the salvaging area of the offshore according to the three-dimensional enteromorpha space model.
Another aspect of the embodiment of the application also provides an electronic device, which includes a processor and a memory;
the memory is used for storing programs;
the processor executes the program to implement the method as described above.
Another aspect of the embodiments of the present application also provides a computer-readable storage medium storing a program that is executed by a processor to implement a method as described above.
Embodiments of the present application also disclose a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions may be read from a computer-readable storage medium by a processor of a computer device, and executed by the processor, to cause the computer device to perform the foregoing method.
The method comprises the steps of obtaining enteromorpha observation information, wherein the enteromorpha observation information comprises enteromorpha explosion information, enteromorpha region position information, enteromorpha coverage thickness information, enteromorpha picture information and sea air background information; constructing a three-dimensional enteromorpha spatial model by a BIM three-dimensional method according to the enteromorpha observation information; and calculating the total amount of the enteromorpha and the salvaging area on the offshore according to the three-dimensional enteromorpha space model. The application enhances the instantaneity, reduces the labor cost and is beneficial to improving the salvaging efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of the overall steps provided by an embodiment of the present application;
FIG. 2 is a flow chart of steps in the enteromorpha area scanning observation process provided by the embodiment of the application;
FIG. 3 is a flow chart of the steps of the estimation process of the total enteromorpha amount provided by the embodiment of the application;
FIG. 4 is a flow chart of steps for unmanned boats coordination operation according to an embodiment of the present application;
fig. 5 is a schematic structural view of an unmanned ship hull according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Aiming at the problems existing in the prior art, the embodiment of the application provides an offshore and offshore enteromorpha accumulation amount estimation method and a fishing system. Based on the collaborative observation of unmanned plane, unmanned ship and meteorological balloon, a BIM algorithm is adopted to construct a three-dimensional enteromorpha model, the development trend and drifting path of the three-dimensional enteromorpha model are predicted, and the unmanned ship is dispatched to automatically clean and catch the enteromorpha in the offshore area. The enteromorpha is monitored, estimated and salvaged to be transported and utilized in an integrated process.
Specifically, one aspect of the application provides a method for estimating accumulation of enteromorpha, comprising the following steps:
the method comprises the steps of obtaining enteromorpha observation information, wherein the enteromorpha observation information comprises enteromorpha explosion information, enteromorpha region position information, enteromorpha coverage thickness information, enteromorpha picture information and sea air background information;
constructing a three-dimensional enteromorpha spatial model by a BIM three-dimensional method according to the enteromorpha observation information;
and calculating the total amount of the enteromorpha and the salvaging area on the offshore 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 enteromorpha amount and the salvage area;
according to the salvage route planning, controlling unmanned ship formation to salvage enteromorpha;
and recycling the enteromorpha obtained by salvaging.
Optionally, the obtaining enteromorpha observation information includes:
remote sensing detection is carried out on an offshore area through a water-based satellite, and the position of an enteromorpha outbreak area is determined;
acquiring the surface flow field, the wave field and the sea surface wind speed information of the sea area through the data information of an offshore high-frequency ground wave radar measuring station;
dispatching an unmanned aerial vehicle to the position above the offshore side of the edge of an enteromorpha explosion region, controlling the unmanned aerial vehicle to perform cruising observation on a space region from sea to land, acquiring high-precision image topography, and determining the region position and coverage of the enteromorpha;
dispatching an unmanned boat to the edge of an enteromorpha outbreak area, acquiring water surface and underwater picture information from sea to land, and estimating the thickness of the enteromorpha area through measuring rod penetration;
and (3) arranging the meteorological balloons in the edge regions of the external sea enteromorpha at equal intervals, and collecting picture information and sea background information of the enteromorpha outbreak regions.
Optionally, the constructing a three-dimensional enteromorpha spatial model according to the enteromorpha observation information by a BIM three-dimensional method includes:
acquiring sea background information from the enteromorpha observation information;
acquiring the size and shape information of an enteromorpha coverage area from the enteromorpha observation information;
constructing an enteromorpha region two-dimensional model according to the sea air background information and the size and shape information of the enteromorpha coverage region;
in the enteromorpha region two-dimensional model, acquiring the edge of an enteromorpha coverage region as a calculation boundary surface of grid division, and determining the value range of longitude and latitude of the calculation boundary surface;
performing measuring bar penetration on edge grid points of a grid area divided by the edges of the enteromorpha covered area by an unmanned ship to obtain thickness information of the enteromorpha grid area;
and constructing a three-dimensional enteromorpha spatial model according to the sea-air background information, the size and shape information of the enteromorpha coverage area, the value range of longitude and latitude and the thickness information of the enteromorpha grid area.
Optionally, the calculating the total amount of the offshore and offshore enteromorpha according to the three-dimensional enteromorpha space model includes:
predicting the total amount of the offshore enteromorpha by a Logistic function according to the three-dimensional enteromorpha space model;
according to the dynamically obtained enteromorpha observation information, an enteromorpha drift prediction model is constructed, and an enteromorpha floating path is predicted according to the enteromorpha drift prediction model.
Optionally, the calculating the offshore and offshore salvage area according to the three-dimensional enteromorpha space model includes:
dividing an enteromorpha outbreak area into a land side, an intertidal zone side and a sea side according to the three-dimensional enteromorpha space model;
and calculating the number of unmanned boats to be dispatched according to the total enteromorpha to be cleaned, the daily average workload of the unmanned boats and the target time limit.
Optionally, generating a salvage route plan of the unmanned aerial vehicle formation according to the total enteromorpha amount and the salvage area includes:
reading the accumulation amount of the enteromorpha, the landline topography and island obstacle boundary information according to the three-dimensional enteromorpha space model;
dividing a to-be-operated area of the three-dimensional enteromorpha spatial model by an isovolumetric method according to the task amount of the enteromorpha to be cleaned;
configuring operation parameters of the unmanned ship;
initializing and configuring an operation route of the unmanned ship according to a polygonal scanning filling algorithm;
sequencing and optimizing each operation 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;
according to the optimal route target model, calculating an optimal route scheduling order of the enteromorpha blocks by an OR-Tools method, and distributing the optimal route scheduling order to the corresponding unmanned ship;
establishing an unmanned ship energy supply and enteromorpha loading and unloading model, and optimally configuring the energy supply and enteromorpha storage capacity of the unmanned ship.
In another aspect of the embodiment of the present application, there is provided a system for estimating accumulation of enteromorpha, including:
the device comprises a first module, a second module and a third module, wherein the first module is used for acquiring enteromorpha observation information, wherein the enteromorpha observation information comprises enteromorpha explosion information, enteromorpha region position 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 through 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 and the salvaging area of the offshore according to the three-dimensional enteromorpha space model.
Another aspect of the embodiment of the application also provides an electronic device, which includes a processor and a memory;
the memory is used for storing programs;
the processor executes the program to implement the method as described above.
Another aspect of the embodiments of the present application also provides a computer-readable storage medium storing a program that is executed by a processor to implement a method as described above.
Embodiments of the present application also disclose a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions may be read from a computer-readable storage medium by a processor of a computer device, and executed by the processor, to cause the computer device to perform the foregoing method.
The specific implementation principle of the application is described in detail below with reference to the drawings of the specification:
as shown in FIG. 1, the enteromorpha accumulation amount estimation method of the present application specifically comprises the following six steps:
in the first step, enteromorpha area scanning observation is based on satellite-unmanned aerial vehicle-unmanned boat-meteorological balloon, and the steps are shown in fig. 2. And carrying out large-scale remote sensing detection on an offshore area by using a water-based satellite, and identifying the position of an enteromorpha outbreak area. And dispatching an unmanned aerial vehicle and an unmanned ship carrying high-precision detection equipment, and laying a meteorological balloon to an enteromorpha outbreak area for close-range image real-time monitoring. The unmanned aerial vehicle is dispatched to the position above the offshore side of the edge of the enteromorpha explosion region, cruising observation on a space region is carried out from sea to land, high-precision image topography is obtained, and the region position and coverage range of the enteromorpha are determined; the unmanned boat is sent to the edge of an enteromorpha outbreak area, the sea-to-land image information of the water surface and underwater is obtained, and the thickness of the enteromorpha area is estimated through measuring rod penetration; the weather balloons are distributed in the edge areas of the outside sea enteromorpha at equal intervals through unmanned ship carrying, and picture information and weather information (air temperature, air pressure, humidity, sunlight intensity, wind speed, wind direction and the like) of the enteromorpha outbreak area are collected.
Secondly, estimating total enteromorpha amount based on BIM three-dimensional technology: BIM (Building Information Modeling) is the real information of the simulated building by digital information, which is not only three-dimensional geometric information, but also contains a great amount of non-geometric information, such as materials, weight, price, progress and the like of the building. The application uses BIM three-dimensional technology to extract the shape, size and thickness information of the enteromorpha in the image information detected by unmanned aerial vehicles, meteorological hot air balloons and unmanned boats, and constructs a three-dimensional space geometric model of the enteromorpha, thereby measuring the total amount of the offshore enteromorpha. The specific implementation steps are as follows (see fig. 3):
(1) The background information acquired based on remote sensing satellites, offshore high-frequency ground wave radar stations, meteorological stations, hydrologic stations and the like comprises data of offshore coastline land, water level, runoff, tide level, waves, water temperature, wind, meteorological information and the like.
(2) And extracting image information and data from monitoring information such as unmanned aerial vehicles, meteorological balloons and the like, and determining the size and shape of the enteromorpha coverage area. And firstly, constructing an enteromorpha region two-dimensional model by using a BIM technology.
(3) Dividing a regional grid: in the enteromorpha region two-dimensional model, the edge of an enteromorpha coverage region is taken as a calculation boundary surface of grid division, the value range of longitude and latitude is determined, curve orthogonal grids are adopted in the horizontal direction, the space step length of the grids is between 50 and 300m, and the grids in the offshore intertidal zone are encrypted. The water depth of each grid point is obtained by interpolation.
(4) And dispatching an unmanned ship to perform measuring rod penetration of the edge grid points, performing measuring rod penetration of the edge grid points of the divided grid areas at the edge of the enteromorpha coverage area, and obtaining thickness information of the enteromorpha grid areas.
(5) Constructing a three-dimensional enteromorpha space model: and constructing a three-dimensional enteromorpha spatial model according to the obtained background information and the information such as the size, the size and the thickness of the enteromorpha explosion area.
(6) Evolution prediction of enteromorpha accumulation: and updating a three-dimensional enteromorpha spatial model through continuously updated picture information acquisition of the meteorological balloon, and predicting the development trend and the scale of the enteromorpha by using a Logistic function.
Logistic functions are a common S-shaped function and the model is widely used for simulating biological reproduction and growth processes. This function initially comes from an ecological model. Considering the proliferation of bacteria in the medium, the rate of bacterial growth is proportional to the number of bacteria, but there is no other effect affecting the number of bacteria, and the bacteria will grow exponentially. In reality, however, the load bearing capacity of the environment is limited. As the number of individuals increases, the nutrients in the environment will become scarce and thus have a negative effect on population growth. If it is assumed that this negative effect is proportional to the square of the number of individuals (e.g. it is assumed that the impediment results from interactions between two individuals, then the sum of the impediments is proportional to the square of the number of individuals), then we get a differential equation in combination, the solution of which is a logistic function.
The formula is as follows:
wherein P is 0 Is the value of the initial moment; p (t) is the value at time t; r is a constant, which is used for measuring the change speed of the curve, and the model converges to K faster as the value is larger; k is the capacity of the system; t is time.
(7) Meanwhile, an enteromorpha drift prediction model is constructed by using a real-time assimilation technology according to longitude and latitude position, topography, weather, water level and tide element information of an offshore area, the ratio of sea current to wind power coefficient is corrected according to a laboratory enteromorpha plaque drift experiment, and the wind drag angle change factor is considered to realize the prediction of the enteromorpha floating path.
Thirdly, unmanned ship salvage area division and estimation: dividing the enteromorpha outbreak area into land sides and inter-tide by using a three-dimensional enteromorpha space model and information such as tide, water temperature and the likeBelt side, and sea side. The inter-tidal zone refers to the coast between the average highest and lowest tide levels, that is, the range from the point where seawater is submerged when it rises to the highest to the point where the tide falls to the lowest. The enteromorpha cleaning completion time is estimated by considering the multi-ship parallel salvage efficiency, namely, assuming that the total quantity of enteromorpha to be cleaned is Z, the daily average work quantity of unmanned ships is Z, and the target time limit is T, the quantity of unmanned ships to be dispatched is estimated
Fourthly, route planning of unmanned ship formation: the minimum transfer path length of the multi-ship coordination 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, based on a three-dimensional enteromorpha space model, the accumulation amount of the enteromorpha is read, and boundaries such as shoreline topography, island barriers and the like are read. 2. Considering the task amount of the enteromorpha to be cleaned, dividing the region to be operated by adopting an 'isovolumetric method' to the three-dimensional enteromorpha model. 3. Based on the performance of the unmanned ship, the operation parameters of the unmanned ship are set. 4. And initializing an operation route of the unmanned ship based on a polygon scanning filling algorithm. 5. The job ordering optimization is based on a greedy algorithm. The greedy algorithm is widely applied to data structures, a fixed algorithm solution framework does not exist in the greedy algorithm, the key of the algorithm is the selection of the greedy strategy, and different strategies are selected according to different problems. The operation sequencing optimization algorithm adopted by the application is based on a greedy algorithm, and the shortest path in the current unmanned ship is adopted in each step of selection, so that the sequencing algorithm with the optimal result is hoped to be obtained. 6. And optimizing the working course based on a minimum span method. 6. An optimal route target model is established (the model formula is shown in the following section). 7. And solving the optimal route scheduling sequence of the enteromorpha blocks by using OR-Tools and distributing the optimal route scheduling sequence to m unmanned boats. 8. Taking the energy supply of the unmanned ship and the storage quantity transfer of the enteromorpha into consideration, establishing an energy supply and enteromorpha loading and unloading model of the unmanned ship, and calling OR-Tools to optimize the operation voyage of the unmanned ship.
9. And outputting a path for autonomous navigation operation of the unmanned ship through coordinate conversion.
The optimal route target model is as follows: assuming noThe airship is m, the operation route is n, the set a= {1, 2..2, 2n }, b= {0,1,2, 2n }, c= {1, 2..m }, each unmanned airship has r k Secondary transfer process not involving discharge charging point s k Secondary transfer process including unloading charging point, h 0 For unmanned ship operation water depth, h is safe water depth of unmanned ship operation, each grid point is regarded as a particle, the grid point is defined as an endpoint in a path, and a target model formula (1) of optimal route scheduling is as follows:
wherein d ij Represents the distance, x, from endpoint i to endpoint j ijk A function representing unmanned boat k from endpoint i to j; the formula (2) is a decision variable of unmanned ship scheduling; equation (3) shows that only 1 unmanned boat passes through each route; equations (4) (5) represent that any route has and only one that reaches the other endpoints, the route that reaches any route endpoint only starts from 1 of the other endpoints; equation (6) sets the nominal distance of 2 endpoints on the same route to 0 to ensure that the route can be implemented, one for each routeThe points can be traversed and the corresponding actual lengths averaged over the adjacent transfer paths, equation (6),for the actual transition distance between 2 endpoints, which do not belong to the same route, +.>Is the true length of the actual route where the endpoints i, j are located.
Fifth, unmanned ship formation dispatch salvage: performing on-shore accumulation cleaning on land side enteromorpha by adopting an instrument; and (3) dispatching unmanned ships to carry out multi-ship collaborative operation on the enteromorpha on the intertidal zone side and the sea area side. The method comprises the steps of taking necessary draft required by unmanned ships into consideration for enteromorpha on the side of a tidal zone, and taking influence of tide elements into consideration, wherein the unmanned ships dispatched carry out fishing operation in a tide period. The tide moment is the tide rising moment, and the small unmanned boat carries out fishing operation from the water side to the shore side if and only if the tide rising water depth is more than or equal to the maximum draft of the unmanned boat, and stops the fishing operation when the tide falling water depth=the maximum draft of the unmanned boat. For the sea side enteromorpha, constructing a sea area interception line at the edge of an enteromorpha outbreak area, laying an enteromorpha interception net, and constructing the sea area interception line.
The unmanned boat for automatically salvaging enteromorpha is provided with a lever measuring penetrating device, a cutting machine, a bow transmission device, a storage box, a vacuum compression device, a GPS positioning system and the like, and is shown in fig. 5. The lever penetrating equipment is used for estimating the thickness of the enteromorpha outbreak area; the cutting machines are positioned at two sides of the bow and are used for cutting the enteromorpha in blocks; the ship head transmission device is positioned at the ship head and used for collecting the cut enteromorpha; the storage box is positioned behind the bow transmission device and is 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; GPS is used for unmanned boat positioning.
And sixthly, transporting and utilizing enteromorpha. In consideration of the characteristic of releasing sulfides by decay and decomposition of enteromorpha, an unmanned boat garbage recycling station is arranged in an offshore area, and when the unmanned boat storage bin is fully loaded, or according to tide and weather conditions, the unmanned boat garbage recycling station can be automatically driven to the nearest unmanned boat garbage recycling station to unload enteromorpha garbage at favorable moments such as the morning and evening, the ebb and the like. The unmanned ship garbage recycling station should be clean in daily life, and the salvaged enteromorpha can be transported to chemical fertilizer plants and the like for waste utilization, so that the pollution to water sources and air is reduced.
In summary, compared with the prior art, the method and the system for estimating the accumulated quantity of the enteromorpha on the offshore side, which are established by the application, can detect the detection and the estimation of the quantity value of the periodic outbreak area of the enteromorpha on the offshore side and the like in real time, and simultaneously adopt unmanned ship formation to perform long-period uninterrupted detection, salvage, storage and transportation integrated full-automatic collection and cleaning on the detected enteromorpha, thereby greatly reducing the labor cost and realizing the characteristics of timely salvage, diffusion prevention and control and high operation efficiency.
In some 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 flowcharts of the present application 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 a larger operation are performed independently.
Furthermore, while the application is described in the context of functional modules, it should be appreciated that, unless otherwise indicated, 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 separate physical devices or software modules. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary to an understanding of the present application. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be apparent to those skilled in the art from consideration of their attributes, functions and internal relationships. Accordingly, one of ordinary skill in the art can implement the application as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative and are not intended to be limiting upon the scope of the application, which is to be defined in 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 this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing 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). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may 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 is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. 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 present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the application, the scope of which is defined by the claims and their equivalents.
While the preferred embodiment of the present application has been described in detail, the present application is not limited to the embodiments described above, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present application, and these equivalent modifications or substitutions are included in the scope of the present application as defined in the appended claims.
Claims (7)
1. The enteromorpha accumulation amount estimation method is characterized by comprising the following steps of:
the method comprises the steps of obtaining enteromorpha observation information, wherein the enteromorpha observation information comprises enteromorpha explosion information, enteromorpha region position information, enteromorpha coverage thickness information, enteromorpha picture information and sea air background information;
constructing a three-dimensional enteromorpha spatial model by a BIM three-dimensional method according to the enteromorpha observation information;
calculating the total amount of the enteromorpha and a salvaging area on the offshore according to the three-dimensional enteromorpha space model;
generating a salvage route plan of unmanned ship formation according to the total enteromorpha amount and the salvage area;
according to the salvage route planning, controlling unmanned ship formation to salvage enteromorpha;
recycling the enteromorpha obtained by salvaging;
according to the enteromorpha observation information, constructing a three-dimensional enteromorpha space model by a BIM three-dimensional method, comprising:
acquiring sea background information from the enteromorpha observation information;
acquiring the size and shape information of an enteromorpha coverage area from the enteromorpha observation information;
constructing an enteromorpha region two-dimensional model according to the sea air background information and the size and shape information of the enteromorpha coverage region;
in the enteromorpha region two-dimensional model, acquiring the edge of an enteromorpha coverage region as a calculation boundary surface of grid division, and determining the value range of longitude and latitude of the calculation boundary surface;
performing measuring bar penetration on edge grid points of a grid area divided by the edges of the enteromorpha covered area by an unmanned ship to obtain thickness information of the enteromorpha grid area;
constructing a three-dimensional enteromorpha spatial model according to the sea air background information, the size and shape information of the enteromorpha coverage area, the value range of longitude and latitude and the thickness information of the enteromorpha grid area;
according to the total enteromorpha amount and the salvage area, generating a salvage route plan of the unmanned ship formation, including:
reading the accumulation amount of the enteromorpha, the landline topography and island obstacle boundary information according to the three-dimensional enteromorpha space model;
dividing a to-be-operated area of the three-dimensional enteromorpha spatial model by an isovolumetric method according to the task amount of the enteromorpha to be cleaned;
configuring operation parameters of the unmanned ship;
initializing and configuring an operation route of the unmanned ship according to a polygonal scanning filling algorithm;
sequencing and optimizing each operation 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;
according to the optimal route target model, calculating an optimal route scheduling order of the enteromorpha blocks by an OR-Tools method, and distributing the optimal route scheduling order to the corresponding unmanned ship;
establishing an unmanned ship energy supply and enteromorpha loading and unloading model, and optimally configuring the energy supply and enteromorpha storage capacity of the unmanned ship.
2. The method for estimating accumulation of enteromorpha as claimed in claim 1, wherein the obtaining the observation information of enteromorpha comprises:
remote sensing detection is carried out on an offshore area through a water-based satellite, and the position of an enteromorpha outbreak area is determined;
acquiring the surface flow field, the wave field and the sea surface wind speed information of the sea area through the data information of an offshore high-frequency ground wave radar measuring station;
dispatching an unmanned aerial vehicle to the position above the offshore side of the edge of an enteromorpha explosion region, controlling the unmanned aerial vehicle to perform cruising observation on a space region from sea to land, acquiring high-precision image topography, and determining the region position and coverage of the enteromorpha;
dispatching an unmanned boat to the edge of an enteromorpha outbreak area, acquiring water surface and underwater picture information from sea to land, and estimating the thickness of the enteromorpha area through measuring rod penetration;
and (3) arranging the meteorological balloons in the edge regions of the external sea enteromorpha at equal intervals, and collecting picture information and sea background information of the enteromorpha outbreak regions.
3. The method for estimating the accumulation of enteromorpha as claimed in claim 1, wherein the calculating the total amount of the enteromorpha offshore according to the three-dimensional enteromorpha space model comprises:
predicting the total amount of the offshore enteromorpha by a Logistic function according to the three-dimensional enteromorpha space model;
according to the dynamically obtained enteromorpha observation information, an enteromorpha drift prediction model is constructed, and an enteromorpha floating path is predicted according to the enteromorpha drift prediction model.
4. The method for estimating accumulation of enteromorpha as claimed in claim 1, wherein the calculating the offshore salvage area according to the three-dimensional enteromorpha space model comprises:
dividing an enteromorpha outbreak area into a land side, an intertidal zone side and a sea side according to the three-dimensional enteromorpha space model;
and calculating the number of unmanned boats to be dispatched according to the total enteromorpha to be cleaned, the daily average workload of the unmanned boats and the target time limit.
5. A system for applying the enteromorpha accumulation amount estimation method as claimed in any one of claims 1 to 4, characterized by comprising:
the device comprises a first module, a second module and a third module, wherein the first module is used for acquiring enteromorpha observation information, wherein the enteromorpha observation information comprises enteromorpha explosion information, enteromorpha region position 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 through 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 and the salvaging area of the offshore according to the three-dimensional enteromorpha space model.
6. An electronic device comprising a processor and a memory;
the memory is used for storing programs;
the processor executing the program implements the method of any one of claims 1 to 4.
7. A computer-readable storage medium, characterized in that the storage medium stores a program that is executed by a processor to implement the method of any one of claims 1 to 4.
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