CN116719352A - Unmanned ship cloud deck automatic steering method, system, computer equipment and storage medium - Google Patents
Unmanned ship cloud deck automatic steering method, system, computer equipment and storage medium Download PDFInfo
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Abstract
The application is suitable for the field of unmanned ship cradle head control, and provides an automatic unmanned ship cradle head steering method for acquiring longitude and latitude of a base station and an unmanned ship cradle head; calculating the distance between the unmanned ship cradle head and the base station according to a distance formula to obtain a plurality of distance values; selecting the minimum value in the plurality of distance values, wherein the base station corresponding to the minimum value is the nearest base station; obtaining an azimuth angle I of the unmanned ship cradle head along the direction of the nearest base station according to an angle formula; acquiring a second azimuth angle of the current direction of the unmanned ship cradle head; the azimuth angle is an included angle between the north direction and the clockwise direction; calculating the difference between the azimuth angle II and the azimuth angle I to obtain a rotation angle; obtaining an elevation angle included angle between the unmanned ship cradle head and the nearest base station according to the height of the nearest base station; according to the rotation angle and the elevation angle included angle, the cradle head posture of the unmanned ship is adjusted, so that the cradle head is more accurate to the opposite base station, the network connection is more stable, the signal feedback is more efficient, and the problems of overlarge distance between the unmanned ship and the base station and unstable real-time video are solved.
Description
Technical Field
The application belongs to the field of unmanned ship control, and particularly relates to an unmanned ship cradle head automatic steering method, an unmanned ship cradle head automatic steering system, computer equipment and a storage medium.
Background
In the ecological field of wetland, unmanned ship on the surface of water has wide application in fields such as automatic inspection, automatic monitoring birds, automatic mapping under water, and the like, and unmanned ship's inspection is compared and needs the staff to carry a great deal of equipment to open the ship and go down the lake operation more than 40 times in the efficiency in traditional mode, still removes many personal safety's risk for surface of water operating personnel, in the weather of windy and rainy day, automatic unmanned ship has more obvious advantage.
Currently, unmanned vessels on the market communicate with wireless base stations on shore through wireless bridges on the unmanned vessels to control the movements and monitoring operations of the unmanned vessels.
However, in the practical process, the unmanned ship is affected by weather and the like, so that the wireless bridge cannot be aligned to the on-shore wireless base station, the information transmission efficiency is low, the video picture is blocked, and the user operation experience is affected.
Disclosure of Invention
The embodiment of the application aims to provide an automatic steering method for a cradle head of an unmanned ship, which aims to solve the problems that in the prior art, the unmanned ship is affected by weather and the like, a wireless bridge cannot be aligned to an onshore wireless base station, so that the information transmission efficiency is low, video pictures are blocked, the operation experience of a user is affected and the like.
The embodiment of the application is realized in such a way that the unmanned ship cradle head automatic steering method comprises the following steps:
acquiring longitude and latitude of a base station and an unmanned ship cradle head;
calculating the distance between the unmanned ship cradle head and the base station according to a distance formula to obtain a plurality of distance values;
selecting a minimum value in a plurality of distance values, wherein a base station corresponding to the minimum value is the nearest base station;
obtaining an azimuth angle I of the unmanned ship cradle head along the direction of the nearest base station according to an angle formula;
acquiring a second azimuth angle of the current direction of the unmanned ship cradle head; the azimuth angle is an included angle between the azimuth angle and the north direction along the clockwise direction;
calculating the difference between the azimuth angle II and the azimuth angle I to obtain a rotation angle;
obtaining an elevation angle between the unmanned ship tripod head and the nearest base station according to the nearest base station height;
and adjusting the posture of the unmanned ship cradle head according to the rotation angle and the elevation angle included angle.
Another object of an embodiment of the present application is an unmanned ship head automatic steering system, comprising:
the rotating cradle head is used for providing a signal sending platform and an environment information monitoring platform;
the positioning module is used for determining longitude and latitude information, installation height and installation azimuth angle information of the rotating cradle head;
the information storage module records longitude and latitude information and installation height information of the base station;
and the operation control module calculates the distance and azimuth information between the base station and the rotating cradle head through a distance formula.
According to the unmanned ship cloud deck automatic steering method, the angle required to be rotated is calculated according to the longitude and latitude of the unmanned ship cloud deck and the longitude and latitude of the base station, so that the network bridge signal transmitting end on the cloud deck is steered to the nearest base station, meanwhile, the network bridge signal transmitting end is more accurately faced to the nearest base station by calculating the elevation angle required to be changed relative to the nearest base station, network connection is more stable, signal feedback is more efficient, and the problems that the unmanned ship is far away from the base station and real-time video is unstable are solved.
Drawings
FIG. 1 is a flow chart of an automated unmanned aerial vehicle pan-tilt steering method provided in one embodiment;
FIG. 2 is a block diagram of an automated steering apparatus for an unmanned aerial vehicle cradle head in one embodiment;
FIG. 3 is a block diagram of the internal architecture of a computer device in one embodiment.
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.
It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various elements, but these elements are not limited by these terms unless otherwise specified. These terms are only used to distinguish one element from another element. For example, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script, without departing from the scope of this disclosure.
As shown in FIG. 1, the unmanned ship cradle head automatic steering method specifically comprises the following steps:
step S102, acquiring longitude and latitude of a base station and an unmanned ship cradle head.
In the embodiment of the application, the base station is erected on the shore, and because the base station is fixed in position, the longitude and latitude, the height and other information of the base station can be prestored in the information storage module of the unmanned ship, and the unmanned ship cradle head monitors the water surface and the surrounding environment information in real time, and continuously moves and accurately positions the longitude and latitude through satellites.
Step S104, calculating the distance between the unmanned ship cradle head and the base station according to a distance formula, obtaining a plurality of distance values, and selecting the minimum value in the plurality of distance values, wherein the base station corresponding to the minimum value is the nearest base station.
In the embodiment of the application, the radian of the earth surface is fully considered by a distance formula, the nearest base station is continuously changed in the continuous motion process of the unmanned ship, the unmanned ship calculates the distance value between the unmanned ship and the base stations at different positions in real time, so that the minimum distance is conveniently and always selected from a plurality of distance values, the communication delay is reduced, the nearest base station is not changed any more after being determined, and the base station which is in information transmission with the unmanned ship is guaranteed to be the nearest base station according to the position information of the unmanned ship.
Step S106, obtaining an azimuth angle I of the unmanned ship cradle head along the nearest base station direction according to an angle formula;
in the embodiment of the application, the longitude and latitude of the unmanned ship are continuously changed in continuous motion, so that the cradle head faces the nearest base station, the unmanned ship is taken as the vertex of the first direction angle, the connecting line of the unmanned ship and the nearest base station forms two included angles with the north direction of the unmanned ship, the included angle in the clockwise direction is taken as the first direction angle, the longitude and latitude of the nearest base station is (60 degrees and 40 degrees) by taking a plane coordinate system as an example, the longitude and latitude of the unmanned ship is (61 degrees and 40 degrees) and the first direction angle is 270 degrees, the judgment mode of the first direction angle is only described, and the radian of a spherical surface is needed to be considered in actual work.
Step S108, acquiring a second azimuth angle of the current direction of the unmanned ship cradle head; the azimuth angle is an included angle between the azimuth angle and the north direction along the clockwise direction; calculating the difference between the azimuth angle II and the azimuth angle I to obtain a rotation angle;
in the embodiment of the application, the current direction of the unmanned ship cradle head refers to the direction of the cradle head facing the unmanned ship according to the monitoring requirement, the current direction of the unmanned ship cradle head is not related to the movement direction of the unmanned ship, the azimuth angle II is the included angle between the current direction of the unmanned ship cradle head and the clockwise direction, the azimuth angle I is subtracted by the azimuth angle II, the rotation angle obtained by the azimuth angle I is positive and negative, the rotation direction of the cradle head is clockwise when the rotation angle is positive, the rotation direction of the cradle head is anticlockwise when the rotation angle is negative, and the heading of the unmanned ship is in the southeast direction by taking a plane coordinate system as an example, at the moment, the nearest base station is in the right south of the unmanned ship, the first direction angle is 180 degrees, at the moment, the monitoring direction of the unmanned ship cradle head is in the right east direction, the second direction angle is 90 degrees, the unmanned ship cradle head needs to rotate clockwise by 90 degrees, and the cradle head can be rotated to the direction facing the nearest base station.
And step S110, obtaining an elevation angle included angle between the unmanned ship cradle head and the nearest base station according to the height of the nearest base station.
In the embodiment of the application, the height of the nearest base station relative to the water surface is a fixed value, the height of the unmanned aerial vehicle cradle head can be obtained as the height relative to the still water surface, the height can be ignored, the distance between the nearest base station and the unmanned aerial vehicle is also obtained through longitude and latitude calculation of the nearest base station and the unmanned aerial vehicle, the height of the base station and the distance between the nearest base station and the unmanned aerial vehicle are regarded as right-angle sides of a right triangle, and the elevation angle required by the unmanned aerial vehicle cradle head can be obtained through an arcsine function formula.
And step S112, adjusting the attitude of the unmanned ship cradle head according to the rotation angle and the elevation angle included angle.
In the embodiment of the application, the unmanned ship cradle head adjusts the horizontal direction and the pitching gesture to enable the communication direction of the unmanned ship cradle head to be more accurate, so that the network connection is more stable, the signal feedback is more efficient, and the problems of excessive distance of the unmanned ship from the base station and unstable real-time video are solved.
In one embodiment, the longitude and latitude of the base station may be expressed as (x, y), and the longitude and latitude of the unmanned ship cradle head may be expressed as (x 0 ，y 0 ) The nearest base station longitude and latitude may be expressed as (x) min ，y min ）。
In the embodiment of the present application, the longitude and latitude of multiple base stations may be distinguished by different subscripts, for example, base station 1 (x 1 ，y 1 ) Base station 2 (x 2 ，y 2 ) The longitude and latitude of the unmanned ship holder can be used as independent variables, the distance between the unmanned ship and each base station is dynamically changed, the nearest base station in communication with the unmanned ship holder can be timely changed, and the stability of network connection is ensured.
In one embodiment, the distance formula is:
，
in the formula, r is the radius of the earth, d is the distance, and the unit is meter; y is the latitude of the base station, y 0 The latitude of the unmanned ship cradle head is the longitude of the base station, and x is the longitude of the base station 0 And the unit is the latitude of the unmanned ship cradle head.
In the embodiment of the application, the longitude and latitude of the base station are known in the formula, and the position of the unmanned ship cradle head is continuously changed, for example, two base stations 1 (x 1 ，y 1 ) And base station 2 (x 2 ，y 2 ) The difference between the longitude of the base station 1 and the cradle head of the unmanned ship is x 1 -x 0 The difference in latitude is y 1 -y 0 The longitude difference and the latitude difference are brought into a formula, the earth radius is 6378137 meters, the distance d1 between the base station 1 and the unmanned ship cradle head is further obtained, and the distance d2 between the base station 2 and the unmanned ship cradle head can be obtained similarly.
In one embodiment, the angle formula is:
，
in the formula, x min ，y min Longitude and latitude for the nearest base station; x is x 0 ，y 0 Unmanned ship cradle head longitude and latitude; ang1 is the direction angle one.
In the embodiment of the application, the formula can be realized through Java calculation codes, and can also be realized through other platforms such as python, wherein the unit of a result obtained through a trigonometric function is radian, the result is converted into an angle, atan2 (Y, X) in the formula represents a computer function, the azimuth angle of the origin in the direction from the origin to the destination is returned by the atan2 function, the origin is the unmanned aerial vehicle holder, the destination is the nearest base station, the longitude and latitude of the unmanned aerial vehicle holder are (45, 35), the longitude and latitude of the nearest base station are (50, 35), the origin is the unmanned aerial vehicle holder, and the direction angle of the nearest base station is 64.1 degrees.
In one embodiment, the elevation angle p is formulated as:
，
in the formula, h is the height difference between the nearest base station and the unmanned ship cradle head, and d is the distance between the nearest base station and the unmanned ship cradle head.
In the embodiment of the application, the radian of the distance from the unmanned ship to the nearest base station is not considered, the distance is regarded as a straight line distance, the distance is regarded as one right-angle side of a plane right triangle, the nearest base station height is regarded as the other right-angle side, the calculation process is simplified, meanwhile, the influence of alignment accuracy is small, the pitch angle of the unmanned ship body due to water surface fluctuation can be used as a reference for the change of an elevation angle, specifically, when the pitch angle is the elevation angle, a small elevation angle is subtracted by a large elevation angle, the relative elevation angle is obtained, when the pitch angle and the elevation angle are different, the relative elevation angle is obtained by adding the depression angle and the elevation angle, for example, when the angle between the unmanned ship cloud platform and the horizontal plane is the depression angle of 30 degrees, and when the elevation angle between the unmanned ship cloud platform and the nearest base station is 60 degrees, the relative elevation angle is 90 degrees.
As shown in fig. 2, in one embodiment, there is provided an unmanned ship head automatic steering system, comprising:
the rotating pan-tilt 210 is used for providing a signal sending platform and an environmental information monitoring platform;
the positioning module 220 is configured to determine latitude and longitude information, an installation height and an installation azimuth information of the rotating pan-tilt;
an information storage module 230, which records longitude and latitude information and installation height information of the base station;
and the operation control module 240 calculates the distance and azimuth information between the base station and the rotating cradle head through a distance formula.
In the embodiment of the application, the unmanned ship monitors a water surface area with the length and width exceeding 10 km, the distance from the shore to the maximum theoretically reaches more than 10 km, the unmanned ship is an unmanned platform which is powered by solar energy and can be controlled to move, and the unmanned ship can be automatically patrolled and examined on a lake surface frequently, so that the direction of the unmanned ship cannot be determined, the pitching posture of the unmanned ship cannot be fixed due to the fluctuation of the water surface, the posture of a cloud platform of the unmanned ship is continuously changed, the unmanned ship on the water surface has the illegal events in the ecology of an automatic patrolling wetland and the monitoring work of field rare birds, the unmanned ship is often deployed in a field environment, the 4/5G signal difference of the field environment is unstable, and the network connection is carried out in a mode of using a directional network bridge, so that the network bridge signal transmitting end is arranged on the cloud platform of the unmanned ship, the network bridge signal transmitting end can accurately face to a base station in real time, the network connection is more stable, the signal feedback is more efficient, and the problems of the overstep distance of the unmanned ship from the base station and the real-time video instability are solved.
As shown in fig. 3, the computer device includes a processor, a memory, a network interface, an input device, and a display screen connected by a system bus. The memory includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program which, when executed by the processor, causes the processor to implement an unmanned aerial vehicle pan-tilt automatic steering method. The internal memory may also store a computer program which, when executed by the processor, causes the processor to perform an unmanned aerial vehicle pan-tilt automatic steering method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in FIG. 3 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, the automatic steering device for the unmanned ship cradle head provided by the application can be implemented in the form of a computer program, and the computer program can be run on computer equipment shown in fig. 3. The memory of the computer device may store various program modules, such as the positioning module, the information storage module and the operation control module shown in fig. 2, which constitute the unmanned ship head automatic steering device. The computer program comprising the program modules causes the processor to carry out the steps of the automatic steering method for the unmanned ship cradle head according to the embodiments of the application described in the specification.
For example, the computer device shown in fig. 3 may execute the operation control steps S102-S112 through a module in an unmanned ship head automatic steering apparatus as shown in fig. 2.
In one embodiment, a computer device is presented, the computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
acquiring longitude and latitude of a base station and an unmanned ship cradle head;
calculating the distance between the unmanned ship cradle head and the base station according to a distance formula to obtain a plurality of distance values;
selecting a minimum value in a plurality of distance values, wherein a base station corresponding to the minimum value is the nearest base station;
obtaining an azimuth angle I of the unmanned ship cradle head along the direction of the nearest base station according to an angle formula;
acquiring a second azimuth angle of the current direction of the unmanned ship cradle head; the azimuth angle is an included angle between the azimuth angle and the north direction along the clockwise direction;
calculating the difference between the azimuth angle II and the azimuth angle I to obtain a rotation angle;
obtaining an elevation angle between the unmanned ship tripod head and the nearest base station according to the nearest base station height;
and adjusting the posture of the unmanned ship cradle head according to the rotation angle and the elevation angle included angle.
In one embodiment, a computer readable storage medium is provided, having a computer program stored thereon, which when executed by a processor causes the processor to perform the steps of:
acquiring longitude and latitude of a base station and an unmanned ship cradle head;
calculating the distance between the unmanned ship cradle head and the base station according to a distance formula to obtain a plurality of distance values;
selecting a minimum value in a plurality of distance values, wherein a base station corresponding to the minimum value is the nearest base station;
obtaining an azimuth angle I of the unmanned ship cradle head along the direction of the nearest base station according to an angle formula;
acquiring a second azimuth angle of the current direction of the unmanned ship cradle head; the azimuth angle is an included angle between the azimuth angle and the north direction along the clockwise direction;
calculating the difference between the azimuth angle II and the azimuth angle I to obtain a rotation angle;
obtaining an elevation angle between the unmanned ship tripod head and the nearest base station according to the nearest base station height;
and adjusting the posture of the unmanned ship cradle head according to the rotation angle and the elevation angle included angle.
It should be understood that, although the steps in the flowcharts of the embodiments of the present application are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. An unmanned ship head automatic steering method, the method comprising:
acquiring longitude and latitude of a base station and an unmanned ship cradle head;
calculating the distance between the unmanned ship cradle head and the base station according to a distance formula to obtain a plurality of distance values;
selecting a minimum value in a plurality of distance values, wherein a base station corresponding to the minimum value is the nearest base station;
obtaining an azimuth angle I of the unmanned ship cradle head along the direction of the nearest base station according to an angle formula;
acquiring a second azimuth angle of the current direction of the unmanned ship cradle head; the azimuth angle is an included angle between the azimuth angle and the north direction along the clockwise direction;
calculating the difference between the azimuth angle II and the azimuth angle I to obtain a rotation angle;
obtaining an elevation angle between the unmanned ship tripod head and the nearest base station according to the nearest base station height;
and adjusting the attitude of the unmanned ship cradle head according to the rotation angle and the elevation angle included angle.
2. The unmanned ship holder automatic steering method according to claim 1, wherein the longitude and latitude of the base station are expressed as (x, y), and the longitude and latitude of the unmanned ship holder are expressed as (x) 0 ，y 0 ) The nearest base station longitude and latitude is expressed as (x) min ，y min ）。
3. The method of claim 1, wherein the distance formula is:
，
in the formula, r is the radius of the earth, d is the distance, and the unit is meter; y is the latitude of the base station, y 0 The latitude of the unmanned ship cradle head is the longitude of the base station, and x is the longitude of the base station 0 And the unit is the latitude of the unmanned ship cradle head.
4. The unmanned ship head automatic steering method according to claim 1, wherein the angle formula is:
，
in the formula, x min ，y min Longitude and latitude for the nearest base station; x is x 0 ，y 0 Unmanned ship cradle head longitude and latitude; ang1 is the direction angle one.
5. The unmanned ship holder automatic steering method according to claim 1, wherein the elevation angle p formula is:
，
in the formula, h is the height difference between the nearest base station and the unmanned ship cradle head, and d is the distance between the nearest base station and the unmanned ship cradle head.
6. An unmanned ship head automatic steering system, the system comprising:
the rotating cradle head is used for providing a signal sending platform and an environment information monitoring platform;
the positioning module is used for determining longitude and latitude information, installation height and installation azimuth angle information of the rotating cradle head;
the information storage module records longitude and latitude information and installation height information of the base station;
and the operation control module calculates the distance and azimuth information between the base station and the rotating cradle head through a distance formula.
7. The unmanned ship holder automatic steering system according to claim 6, wherein the rotating holder is provided with a camera, and the camera is used for capturing video of each area in real time at 360 degrees.
8. The unmanned ship holder automatic steering system according to claim 6, wherein the rotating holder is provided with a bridge signal transmitting end, and the bridge signal transmitting end and the base station are transmitted in a CPE-AP mode.
9. A computer device comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to perform the steps of an unmanned aerial vehicle pan-tilt automatic steering method as claimed in any one of claims 1 to 5.
10. A computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, which when executed by a processor causes the processor to perform the steps of a method for automatically steering an unmanned aerial vehicle pan-tilt according to any of claims 1 to 5.
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| CN112698668A (en) * | 2019-10-22 | 2021-04-23 | 中移(成都)信息通信科技有限公司 | Holder equipment control method, device, equipment and storage medium |
| CN116312056A (en) * | 2023-02-21 | 2023-06-23 | 中华人民共和国深圳海事局 | Ship tracking relay method based on AIS system and video algorithm |
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