CN114993315A - Route planning method for military application complex environment of unmanned underwater vehicle - Google Patents
Route planning method for military application complex environment of unmanned underwater vehicle Download PDFInfo
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- CN114993315A CN114993315A CN202210556484.2A CN202210556484A CN114993315A CN 114993315 A CN114993315 A CN 114993315A CN 202210556484 A CN202210556484 A CN 202210556484A CN 114993315 A CN114993315 A CN 114993315A
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- underwater vehicle
- unmanned underwater
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a method for planning an airway in a complex environment applied by military of an unmanned underwater vehicle, which relates to the technical field of airway planning and comprises the following steps: firstly, starting the submersible vehicle through a controller of the submersible vehicle; step two: then, the signal receiver is connected with the unmanned underwater vehicle through signals, so that the unmanned underwater vehicle can be controlled to move; step three: detecting a moving route by using the set unmanned underwater vehicle; step four: the data can be sorted by the set numerical control codes and then subjected to statistical analysis. The unmanned underwater vehicle and the underwater vehicle controller are in bidirectional transmission through the numerical control programming, so that sharing and connection of signals and information are facilitated, and planning of the route of the unmanned underwater vehicle by workers is facilitated, so that the unmanned underwater vehicle and the underwater vehicle controller can conveniently pass through the unmanned underwater vehicle in the best and fastest mode.
Description
Technical Field
The invention relates to the technical field of route planning, in particular to a route planning method for an unmanned underwater vehicle in a complex environment for military application.
Background
The unmanned underwater vehicle is an instrument which is unmanned and navigated underwater by remote control or automatic control, and mainly refers to an intelligent system which replaces a diver or a manned small submarine to carry out high-risk underwater operations such as deep sea detection, lifesaving, mine removal and the like. Thus, unmanned vehicles are also referred to as "submersible robots" or "underwater robots". Unmanned undersea vehicles can be classified into military and civil applications according to the application field. In the military field, the unmanned underwater vehicle can be used as an unmanned operation platform weapon in a new concept weapon, and in the sense of a certain layer, the unmanned underwater vehicle has almost the same function as the unmanned aerial vehicle. The following problems exist in the prior art:
1. the route planning of the existing unmanned underwater vehicle in the military application complex environment is complicated and is not beneficial to the operation of the unmanned underwater vehicle;
2. some existing unmanned underwater vehicles applied to military complex environment cannot analyze, screen and calculate routes, so that the optimal shipping route cannot be developed, the consumption of the unmanned underwater vehicles is too high, and the cost is greatly increased.
Disclosure of Invention
The invention provides a route planning method for an unmanned underwater vehicle military application complex environment, which aims to solve the problems that route planning for the unmanned underwater vehicle military application complex environment is more complicated and is not beneficial to the operation of the unmanned underwater vehicle; the other purpose is to solve the problem that the unmanned underwater vehicle is too large in consumption and greatly increases the cost because the optimal shipping route cannot be developed because the unmanned underwater vehicle cannot analyze, screen and calculate the route under the complex environment applied by military and cannot plan the route.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a method for planning a route of an unmanned underwater vehicle in a military application complex environment comprises the following steps: the method comprises the following steps that firstly, a controller of the underwater vehicle is started, then the controller is connected with a signal receiver through a wire, and meanwhile, the underwater vehicle is in bidirectional information connection with a numerical control programming device;
step two: then, the signal receiver is connected with the unmanned underwater vehicle through signals, so that the unmanned underwater vehicle can be controlled to move;
step three: detecting a moving route by using the set unmanned underwater vehicle, and then transmitting a detected route map to a numerical control code by connecting the unmanned underwater vehicle with a signal of the numerical control code;
step four: the data can be sorted through the set numerical control codes, then statistical analysis is carried out, and then the analyzed channel planning is transmitted to the unmanned underwater vehicle in a signal connection mode, and then the unmanned underwater vehicle passes through.
The technical scheme of the invention is further improved as follows: the signal receiver is simultaneously connected with the numerical control code, thereby facilitating the transmission of commands.
The technical scheme of the invention is further improved as follows: the unmanned underwater vehicle is connected with the positioning element, and the track of the unmanned underwater vehicle can be detected in real time in the motion process, so that the passing route can be conveniently tracked, and the route can be conveniently planned by a worker.
The technical scheme of the invention is further improved as follows: the unmanned underwater vehicle is provided with 18 signal connecting elements and monitoring elements, the signal connecting elements are connected with the signal receiver, the signal receiving of the unmanned underwater vehicle is facilitated, the monitoring elements are uniformly distributed outside the unmanned underwater vehicle, no dead angle is adopted for monitoring, external environment signals are collected and transmitted to the numerical control codes, and therefore the route of an airway can be planned.
The technical scheme of the invention is further improved as follows: the numerical control programming carries out statistical arrangement on the collected information, then the information is arranged in a statistical map mode, and then a plurality of applicable navigation channels are made according to the size, the pressure intensity and the density of the unmanned underwater vehicle, the environment outside the navigation channels, the air pressure and other factors.
The technical scheme of the invention is further improved as follows: firstly, counting a plurality of determined routes, then carrying out simulation operation, sequencing the simulation operation effect of each route in an analysis and evaluation mode, then carrying out calculation and analysis on the routes in a multi-evolutionary algorithm mode, thereby obtaining a new route, and when the optimal route efficiency is improved by less than 10% in calculation or the maximum iteration step number is reached, finishing the algorithm and outputting the optimal route.
The technical scheme of the invention is further improved as follows: the channels are screened by utilizing the multi-factor analysis and the rasterization evaluation, so that the calculation efficiency of the channels can be improved, and the applicability of the channels is determined.
The technical scheme of the invention is further improved as follows: the numerical control programming and unmanned underwater vehicle and the underwater vehicle controller are in bidirectional transmission, so that sharing and connection of signals and information are facilitated, and therefore planning of the route of the unmanned underwater vehicle by workers is facilitated, and the unmanned underwater vehicle can conveniently pass through the route in the best and fastest mode.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the technical progress that:
1. the invention provides a route planning method for an unmanned underwater vehicle military application complex environment, which ensures the feasibility of a route through the route design of a continuous space and the real-time satisfaction of constraint conditions; by means of the multi-factor comprehensive analysis and the rasterization evaluation method, the calculation efficiency is improved, the real-time requirement of route planning is met, and the track of the unmanned underwater vehicle can be detected in real time in the motion process by means of the arrangement of the positioning elements, so that the passing route can be conveniently tracked, and the route can be conveniently planned by workers.
2. The invention provides a route planning method for an unmanned underwater vehicle military application complex environment, wherein numerical control programming and the unmanned underwater vehicle and an underwater vehicle controller are transmitted in two directions, so that sharing and connection of signals and information are facilitated, and planning of the route of the unmanned underwater vehicle by a worker is facilitated, so that the unmanned underwater vehicle can pass through the route in the best and fastest mode.
Drawings
FIG. 1 is a schematic structural diagram of the route planning steps of the present invention
FIG. 2 is a schematic structural diagram of a route planning method according to the present invention;
fig. 3 is a schematic structural diagram of the unmanned underwater vehicle of the invention.
Detailed Description
The principles and features of the present invention are described below in conjunction with the accompanying fig. 1-3, which are provided by way of example only to illustrate the present invention and not to limit the scope of the present invention. The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is provided for the purpose of facilitating and clearly illustrating embodiments of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for purposes of illustration only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items, which are described in further detail below with reference to the examples:
example 1
As shown in fig. 1-3, the present invention provides a method for planning a route of an unmanned underwater vehicle in a complex environment for military applications, wherein the first step is as follows: the method comprises the following steps that firstly, the controller of the underwater vehicle is started, then the controller is connected with a signal receiver through an electric wire, meanwhile, the underwater vehicle is in bidirectional information connection with a numerical control programming device, the signal receiver is simultaneously connected with a numerical control code, so that commands can be conveniently transmitted, the unmanned underwater vehicle is connected with a positioning element, the track of the unmanned underwater vehicle can be detected in real time in the motion process, the passing route can be conveniently tracked, and the route can be conveniently planned by a worker;
step two: then, the signal receiver is connected with the unmanned underwater vehicle through signals, so that the unmanned underwater vehicle can be controlled to move;
step three: the method comprises the steps that a moving route is detected by using an unmanned underwater vehicle, and then the moving route is connected with a signal of a numerical control code, so that a detected route map is transmitted to the numerical control code, wherein the unmanned underwater vehicle is provided with 18 signal connecting elements and monitoring elements, the signal connecting elements are connected with signal receivers, the signals of the unmanned underwater vehicle are favorably received, the monitoring elements are uniformly distributed outside the unmanned underwater vehicle, the monitoring without dead angles are adopted to collect external environment signals and transmit the external environment signals to the numerical control code, and therefore the route of the route can be planned;
step four: the data can be sorted through the set numerical control codes, then statistical analysis is carried out, then the analyzed channel plan is transmitted to the unmanned underwater vehicle in a signal connection mode, then the unmanned underwater vehicle passes through, the collected information is sorted in a statistical mode through the numerical control programming, then the information is sorted in a statistical digital map mode, then a plurality of applicable channels are made according to the size, the pressure intensity and the density of the unmanned underwater vehicle, the environment outside the channels, the air pressure and other factors, and the feasibility of the channels is guaranteed through the channel design of continuous space and the real-time satisfaction of constraint conditions.
Example 2
As shown in fig. 1-3, on the basis of embodiment 1, the present invention provides a technical solution: preferably, the plurality of determined routes are counted firstly, then simulation operation is performed, then the simulation operation effect of each route is sequenced in an analysis and evaluation mode, then calculation and analysis are performed on the routes in a multi-evolutionary algorithm mode, so that a new route is obtained, the optimal route efficiency is improved by less than 10% in calculation, or the optimal route is output after the algorithm is ended when the maximum iteration step number is reached, the calculation efficiency is improved through a multi-factor comprehensive analysis and rasterization evaluation method, and the real-time requirement of route planning is met.
Preferably, the channels are screened by means of multi-factor analysis and rasterization evaluation, so that the calculation efficiency of the channels can be improved, and the applicability of the channels is determined, the numerical control programming and the unmanned underwater vehicle and the underwater vehicle controller are in bidirectional transmission, sharing and connection of signals and information are facilitated, so that a worker can plan the channel of the unmanned underwater vehicle conveniently, the best and fastest mode can be adopted for passing through the channel, the numerical control programming can integrate collected data, a plurality of different routes are analyzed, a plurality of routes are analyzed by means of calculation screening, and meanwhile, a programmed program can control transportation of the unmanned underwater vehicle.
The working principle of the route planning method for the unmanned underwater vehicle applied to the military complex environment is described in detail below.
As shown in fig. 1-3, step one: the method comprises the following steps that firstly, the controller of the underwater vehicle is used for starting, then the controller is connected with a signal receiver through a wire, and meanwhile, the underwater vehicle is in bidirectional information connection with a numerical control programming device;
step two: then, the signal receiver is connected with the unmanned underwater vehicle through signals, so that the unmanned underwater vehicle can be controlled to move;
step three: detecting a moving route by using the set unmanned underwater vehicle, and then transmitting a detected route map to a numerical control code by connecting the unmanned underwater vehicle with a signal of the numerical control code;
step four: the data can be sorted through the set numerical control codes, then statistical analysis is carried out, and then the analyzed channel planning is transmitted to the unmanned underwater vehicle in a signal connection mode, and then the unmanned underwater vehicle passes through.
The present invention has been described in general terms in the foregoing, but it will be apparent to those skilled in the art that modifications and improvements can be made thereto based on the present invention. Therefore, it is possible to modify or improve the optical characteristics of the optical fiber without departing from the spirit of the present invention.
Claims (8)
1. A route planning method for a military application complex environment of an unmanned underwater vehicle is characterized by comprising the following steps: the above-mentioned
The method comprises the following steps: the method comprises the following steps that firstly, a controller of the underwater vehicle is started, then the controller is connected with a signal receiver through a wire, and meanwhile, the underwater vehicle is in bidirectional information connection with a numerical control programming device;
step two: then, the signal receiver is connected with the unmanned underwater vehicle through signals, so that the unmanned underwater vehicle can be controlled to move;
step three: detecting a moving route by using the set unmanned underwater vehicle, and then transmitting a detected route map to the numerical control code through signal connection with the numerical control code;
step four: the data can be sorted through the set numerical control codes, then statistical analysis is carried out, and then the analyzed channel planning is transmitted to the unmanned underwater vehicle in a signal connection mode, and then the unmanned underwater vehicle passes through.
2. The unmanned underwater vehicle military application complex environment route planning method according to claim 1, characterized in that: the signal receiver is simultaneously connected with the numerical control code, thereby facilitating the transmission of commands.
3. The unmanned underwater vehicle military application complex environment route planning method according to claim 2, characterized in that: be connected with the locating element on the unmanned underwater vehicle, can be at the in-process real-time detection unmanned underwater vehicle's of motion whereabouts to be convenient for to the tracking of passing through the route, make things convenient for the planning of staff to the route.
4. The unmanned underwater vehicle military application complex environment route planning method according to claim 3, characterized in that: the unmanned underwater vehicle is provided with 18 monitoring elements which are uniformly distributed outside the unmanned underwater vehicle, dead-angle-free monitoring is adopted to collect external environment signals and transmit the environment signals to a numerical control code, and thus, a route of an airway can be planned.
5. The unmanned underwater vehicle military application complex environment route planning method according to claim 4, characterized in that: the numerical control programming carries out statistical arrangement on the collected information, then the information is arranged in a statistical map mode, and then a plurality of applicable navigation channels are made according to the size, the pressure intensity and the density of the unmanned underwater vehicle, the environment outside the navigation channels, the air pressure and other factors.
6. The unmanned underwater vehicle military application complex environment route planning method according to claim 5, characterized in that: the method comprises the steps of firstly counting a plurality of determined routes, then carrying out simulation operation, sequencing the simulation operation effect of each route in an analysis and evaluation mode, then carrying out calculation and analysis on the routes in a multi-evolutionary algorithm mode, thereby obtaining a new route, and finishing the algorithm and outputting the optimal route when the optimal route efficiency is improved by less than 10% in calculation or the maximum iteration step number is reached.
7. The unmanned underwater vehicle military application complex environment route planning method according to claim 6, characterized in that: the channels are screened by utilizing the multi-factor analysis and the rasterization evaluation, so that the calculation efficiency of the channels can be improved, and the applicability of the channels is determined.
8. The unmanned underwater vehicle military application complex environment route planning method according to claim 7, characterized in that: the numerical control programming and unmanned underwater vehicle and the underwater vehicle controller are in bidirectional transmission, so that sharing and connection of signals and information are facilitated, and therefore planning of the route of the unmanned underwater vehicle by workers is facilitated, and the unmanned underwater vehicle can conveniently pass through the route in the best and fastest mode.
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| CN202210556484.2A CN114993315A (en) | 2022-05-19 | 2022-05-19 | Route planning method for military application complex environment of unmanned underwater vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117125230A (en) * | 2023-08-28 | 2023-11-28 | 成都诸元天成智能装备有限公司 | Control system and method based on diving equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117125230A (en) * | 2023-08-28 | 2023-11-28 | 成都诸元天成智能装备有限公司 | Control system and method based on diving equipment |
| CN117125230B (en) * | 2023-08-28 | 2024-03-22 | 成都诸元天成智能装备有限公司 | Control system and method based on diving equipment |
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