CN117141677A

CN117141677A - Automatic control implementation method of multifunctional unmanned survey ship and multifunctional unmanned survey ship

Info

Publication number: CN117141677A
Application number: CN202311260940.XA
Authority: CN
Inventors: 彭海波; 吕福水; 李仕豪; 刘雷雷; 王浩
Original assignee: Guangzhou Provincial Hydrology Bureau Huizhou Hydrology Branch; Guangzhou Xingyuan Technology Co ltd
Current assignee: Guangzhou Provincial Hydrology Bureau Huizhou Hydrology Branch; Guangzhou Xingyuan Technology Co ltd
Priority date: 2023-09-26
Filing date: 2023-09-26
Publication date: 2023-12-01
Anticipated expiration: 2043-09-26
Also published as: CN117141677B

Abstract

The invention discloses a self-control realization method of a multifunctional unmanned survey vessel and the multifunctional unmanned survey vessel, comprising the following steps: when the multifunctional unmanned survey vessel submerges in a target water environment and advances according to a pre-planned original path, acquiring an operation information set executed by the multifunctional unmanned survey vessel in the advancing process, and determining all tasks to be executed in a set acquisition task according to the operation information set; and inputting the operation information set, the current residual electric quantity of the multifunctional unmanned survey vessel, all tasks to be executed, the current position information of the multifunctional unmanned survey vessel in the target water environment and the original path into the automatic control parameter determining model to obtain the automatic control parameters of the multifunctional unmanned survey vessel for the tasks to be executed. Therefore, the invention can adaptively generate corresponding self-control parameters in the running process of the multifunctional unmanned survey vessel, and is beneficial to improving the control flexibility and control accuracy of the multifunctional unmanned survey vessel.

Description

Automatic control implementation method of multifunctional unmanned survey ship and multifunctional unmanned survey ship

Technical Field

The invention relates to the technical field of intelligent control, in particular to a self-control implementation method of a multifunctional unmanned survey vessel and the multifunctional unmanned survey vessel.

Background

Currently, based on related requirements such as data analysis, related parameters in related scenes need to be collected, for example: in order to realize water quality monitoring, relevant parameters in the water environment need to be collected so as to analyze the water quality in the water environment, the existing water quality influencing factors and the like. Compared with the traditional method that relevant personnel hold information acquisition equipment and submerge the equipment in the water environment to acquire information, the multifunctional unmanned measuring ship has the advantages of high safety, high acquisition efficiency and the like, and is widely applied in the water environment.

Currently, for a multifunctional unmanned survey vessel, short-distance remote control of related personnel is mainly relied on, and compared with the situation that related personnel submerge into a water environment, the control mode can improve safety and information acquisition efficiency, but also relies on control experience of related personnel, so that the control flexibility and control accuracy of the multifunctional unmanned survey vessel are not improved.

Disclosure of Invention

The invention aims to solve the technical problem of providing a self-control implementation method of a multifunctional unmanned survey vessel and the multifunctional unmanned survey vessel, which can realize intelligent self-control of the multifunctional unmanned survey vessel and are beneficial to improving the control flexibility and control accuracy of the multifunctional unmanned survey vessel.

In order to solve the technical problems, a first aspect of the embodiment of the invention discloses a self-control implementation method of a multifunctional unmanned survey vessel, which comprises the following steps:

when the multifunctional unmanned survey vessel submerges in a target water environment and advances according to a pre-planned original path, collecting an operation information set executed by the multifunctional unmanned survey vessel in the advancing process, wherein the operation information set comprises at least one executed operation, an operation attribute corresponding to each executed operation, an execution time corresponding to each executed operation, the residual electric quantity of the multifunctional unmanned survey vessel before each executed operation is executed, the residual electric quantity of the multifunctional unmanned survey vessel after each executed operation is executed, and an operation result corresponding to each executed operation; the operation attribute corresponding to the executed operation is used for representing the operation type of the executed operation, and the operation type is used for representing the executed operation as a target acquisition operation in a given acquisition task, a predicted burst operation in the given acquisition task or other burst operations except the predicted burst operation in the given acquisition task;

Determining all tasks to be executed in the established acquisition tasks according to the operation information set;

and inputting the operation information set, the current residual electric quantity of the multifunctional unmanned survey vessel, all tasks to be executed, the current position information of the multifunctional unmanned survey vessel in the target water environment and the original path into a predetermined automatic control parameter determination model to obtain automatic control parameters of the multifunctional unmanned survey vessel for all the tasks to be executed, wherein the automatic control parameters are used for controlling the backward travelling process of the multifunctional unmanned survey vessel.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the method further includes:

after the operation information set is collected, determining the feedback emergency degree of the operation result corresponding to each executed operation;

determining that the corresponding operation result feedback emergency degree is greater than or equal to a preset emergency degree threshold value from all the executed operations;

determining a feedback mode of an operation result corresponding to the operation executed by the target and a wireless feedback path corresponding to the feedback mode according to the current position of the multifunctional unmanned survey vessel in the target water environment, the current wireless communication signal intensity of the multifunctional unmanned survey vessel and the influence degree of the target water environment on the wireless communication distance of the multifunctional unmanned survey vessel under the current wireless communication signal intensity; the feedback mode comprises a direct feedback mode or a transit feedback mode;

And feeding back an operation result corresponding to the executed operation of the target to an information acquisition center corresponding to the multifunctional unmanned survey vessel based on the feedback mode and a wireless feedback path corresponding to the feedback mode.

before the multifunctional unmanned survey vessel finishes the set acquisition task, judging whether the current condition meets the return condition corresponding to the multifunctional unmanned survey vessel, and controlling the multifunctional unmanned survey vessel to execute the return operation when judging that the current condition meets the return condition;

wherein, judge whether current condition satisfies the condition of returning journey that multifunctional unmanned survey ship corresponds, include:

judging whether the multifunctional unmanned survey vessel is one of the multifunctional unmanned survey vessels in the pre-bound unmanned survey vessel group, and obtaining a judging result;

determining a current condition matched with the judging result, and judging whether the current condition meets a return condition corresponding to the multifunctional unmanned survey vessel;

when the judging result shows that the multifunctional unmanned survey vessel is one of the multifunctional unmanned survey vessels in the unmanned survey vessel group, the current condition is the communication state of the multifunctional unmanned survey vessel and other survey vessels in the unmanned survey vessel group and the communication state of the multifunctional unmanned survey vessel and the information acquisition center; when the judging result indicates that the multifunctional unmanned survey vessel is not one of the multifunctional unmanned survey vessels in the unmanned survey vessel group, the current condition is the real-time position of the multifunctional unmanned survey vessel in the target water environment and the residual electric quantity of the multifunctional unmanned survey vessel.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, when the determination result indicates that the multi-functional unmanned survey vessel is not one of the multi-functional unmanned survey vessels in the unmanned survey vessel group, the determining whether the current condition meets a return condition corresponding to the multi-functional unmanned survey vessel includes:

predicting the success rate of the multifunctional unmanned survey vessel returning to a return point from the real-time position of the multifunctional unmanned survey vessel in the target water environment according to the real-time position of the multifunctional unmanned survey vessel in the target water environment and the residual electric quantity of the multifunctional unmanned survey vessel;

judging whether the success rate is smaller than or equal to a preset success rate threshold value, and determining that the current condition meets a predetermined return condition when the success rate is smaller than or equal to the preset success rate threshold value.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, when the determination result indicates that the multifunctional unmanned survey vessel is not one of the multifunctional unmanned survey vessels in the unmanned survey vessel group and it is determined that the current condition meets the return condition, before the controlling the multifunctional unmanned survey vessel to perform the return operation, the method further includes:

Judging whether all target key acquisition tasks in the established acquisition tasks are executed completely or not; when all the target key acquisition tasks are not executed, judging whether other multifunctional unmanned survey vessels capable of bearing the multifunctional unmanned survey vessels and finishing the target key acquisition tasks to be finished exist in the wireless communication range of the multifunctional unmanned survey vessels;

when the other multifunctional unmanned survey vessels exist, sending information acquisition requirements corresponding to the key acquisition tasks of the targets to be completed to the other multifunctional unmanned survey vessels, and inquiring whether the other multifunctional unmanned survey vessels currently have information to be fed back, which requires the generation of the multifunctional unmanned survey vessels to feed back;

after inquiring the information to be fed back, which needs the generation of the multifunctional unmanned survey ship to be fed back, of the other multifunctional unmanned survey ship, the step of controlling the multifunctional unmanned survey ship to execute the return operation is executed.

monitoring whether a potential barrier exists in the travelling direction of the multifunctional unmanned survey vessel in the travelling process;

When the potential obstacle exists, calculating the blocking influence degree of the potential obstacle on the running of the multifunctional unmanned survey ship according to the movement parameter of the multifunctional unmanned survey ship and the movement parameter of the potential obstacle;

when the obstruction influence degree is greater than or equal to a preset influence degree threshold, determining an obstacle avoidance strategy corresponding to the multifunctional unmanned survey vessel according to the movement parameters of the multifunctional unmanned survey vessel, the movement parameters of the potential obstacle, the type of the potential obstacle, the real-time residual electric quantity of the multifunctional unmanned survey vessel and the electric quantity demand information of the multifunctional unmanned survey vessel, and executing obstacle avoidance operation aiming at the potential obstacle based on the obstacle avoidance strategy.

In an optional implementation manner, in a first aspect of the embodiment of the present invention, after the operation information set is collected, determining an operation result feedback urgency corresponding to each of the performed operations includes:

after the operation information sets are collected, determining a feedback emergency degree influence factor set corresponding to each executed operation according to the operation type corresponding to each executed operation;

For each executed operation, determining the feedback urgency of an operation result corresponding to each executed operation according to the feedback urgency influence factor set corresponding to each executed operation;

the feedback emergency degree influence factor set corresponding to each executed operation comprises an operation result corresponding to each executed operation, an operation process corresponding to each executed operation, a travel reference value of each operation result corresponding to each executed operation on a following task of the multifunctional unmanned survey vessel, a travel reference value of each operation result corresponding to each executed operation on a following return travel process of the multifunctional unmanned survey vessel, a power consumption duty ratio corresponding to each executed operation, a travel reference value of each operation result corresponding to each executed operation on other traveling multifunctional unmanned survey vessels in the target water environment, and a travel reference value of each operation result corresponding to each executed operation on the multifunctional unmanned survey vessel to be traveled.

The second aspect of the embodiment of the invention discloses a multifunctional unmanned survey vessel, which comprises:

The acquisition module is used for acquiring an operation information set executed by the multifunctional unmanned survey vessel in the traveling process when the multifunctional unmanned survey vessel submerges in a target water environment and travels according to a pre-planned original path, wherein the operation information set comprises at least one executed operation, an operation attribute corresponding to each executed operation, an execution time corresponding to each executed operation, the residual electric quantity of the multifunctional unmanned survey vessel before each executed operation is executed, the residual electric quantity of the multifunctional unmanned survey vessel after each executed operation is executed and an operation result corresponding to each executed operation; the operation attribute corresponding to the executed operation is used for representing the operation type of the executed operation, and the operation type is used for representing the executed operation as a target acquisition operation in a given acquisition task, a predicted burst operation in the given acquisition task or other burst operations except the predicted burst operation in the given acquisition task;

the first determining module is used for determining all tasks to be executed in the established acquisition tasks according to the operation information set;

The second determining module is configured to input the operation information set, the current residual power of the multifunctional unmanned survey vessel, all tasks to be performed, the current position information of the multifunctional unmanned survey vessel in the target water environment, and the original path to a predetermined automatic control parameter determining model, so as to obtain automatic control parameters of the multifunctional unmanned survey vessel for all the tasks to be performed, where the automatic control parameters are used for controlling a backward traveling process of the multifunctional unmanned survey vessel.

As an alternative implementation manner, in the second aspect of the embodiment of the present invention, the multifunctional unmanned survey vessel further includes:

the information feedback control module is used for determining the feedback emergency degree of the operation result corresponding to each executed operation after the operation information set is acquired; determining that the corresponding operation result feedback emergency degree is greater than or equal to a preset emergency degree threshold value from all the executed operations; determining a feedback mode of an operation result corresponding to the operation executed by the target and a wireless feedback path corresponding to the feedback mode according to the current position of the multifunctional unmanned survey vessel in the target water environment, the current wireless communication signal intensity of the multifunctional unmanned survey vessel and the influence degree of the target water environment on the wireless communication distance of the multifunctional unmanned survey vessel under the current wireless communication signal intensity; the feedback mode comprises a direct feedback mode or a transit feedback mode; and feeding back an operation result corresponding to the executed operation of the target to an information acquisition center corresponding to the multifunctional unmanned survey vessel based on the feedback mode and a wireless feedback path corresponding to the feedback mode.

the return control module is used for judging whether the current condition meets the return condition corresponding to the multifunctional unmanned survey vessel before the multifunctional unmanned survey vessel finishes the set acquisition task, and controlling the multifunctional unmanned survey vessel to execute return operation when judging that the current condition meets the return condition;

the specific mode for judging whether the current condition meets the return condition corresponding to the multifunctional unmanned survey vessel by the return control module comprises the following steps:

In a second aspect of the present invention, a specific manner of determining, by the return control module, whether the current condition meets a return condition corresponding to the multifunctional unmanned survey vessel includes:

when the judging result shows that the multifunctional unmanned survey vessel is not one of the multifunctional unmanned survey vessels in the unmanned survey vessel group, predicting the success rate of the multifunctional unmanned survey vessel returning to a return point from the real-time position of the multifunctional unmanned survey vessel in the target water environment according to the real-time position of the multifunctional unmanned survey vessel in the target water environment and the residual electric quantity of the multifunctional unmanned survey vessel;

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the return control module is further configured to, when the determination result indicates that the multi-functional unmanned survey vessel is not one of the multi-functional unmanned survey vessels in the unmanned survey vessel group and the current condition is determined to satisfy the return condition, determine, before the multi-functional unmanned survey vessel is controlled to perform a return operation, whether all target critical acquisition tasks in the given acquisition task are performed completely; when all the target key acquisition tasks are not executed, judging whether other multifunctional unmanned survey vessels capable of bearing the multifunctional unmanned survey vessels and finishing the target key acquisition tasks to be finished exist in the wireless communication range of the multifunctional unmanned survey vessels;

after inquiring information to be fed back, which needs the generation of the multifunctional unmanned survey ship to be fed back, of the other multifunctional unmanned survey ship, triggering and executing the control of the multifunctional unmanned survey ship to execute the return operation.

the obstacle avoidance control module is used for monitoring whether potential obstacles exist in the advancing direction of the multifunctional unmanned survey ship in the advancing process; when the potential obstacle exists, calculating the blocking influence degree of the potential obstacle on the running of the multifunctional unmanned survey ship according to the movement parameter of the multifunctional unmanned survey ship and the movement parameter of the potential obstacle; when the obstruction influence degree is greater than or equal to a preset influence degree threshold, determining an obstacle avoidance strategy corresponding to the multifunctional unmanned survey vessel according to the movement parameters of the multifunctional unmanned survey vessel, the movement parameters of the potential obstacle, the type of the potential obstacle, the real-time residual electric quantity of the multifunctional unmanned survey vessel and the electric quantity demand information of the multifunctional unmanned survey vessel, and executing obstacle avoidance operation aiming at the potential obstacle based on the obstacle avoidance strategy.

In a second aspect of the embodiment of the present invention, the specific manner of determining, by the first determining module, the feedback urgency level of the operation result corresponding to each of the performed operations includes:

determining a feedback emergency degree influence factor set corresponding to each executed operation according to the operation type corresponding to each executed operation;

In a third aspect the present invention discloses another multifunctional unmanned survey vessel, said multifunctional unmanned survey vessel comprising:

a memory storing executable program code;

a processor coupled to the memory;

the processor invokes the executable program codes stored in the memory to execute the self-control implementation method of the multifunctional unmanned survey vessel disclosed in the first aspect of the invention.

A fourth aspect of the present invention discloses a computer storage medium storing computer instructions for executing the autonomous implementation method of the multifunctional unmanned survey vessel disclosed in the first aspect of the present invention when the computer instructions are called.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

in the embodiment of the invention, when the multifunctional unmanned survey vessel submerges in a target water environment and advances according to a pre-planned original path, an operation information set executed by the multifunctional unmanned survey vessel in the advancing process is acquired, and all tasks to be executed in a set acquisition task are determined according to the operation information set; and inputting the operation information set, the current residual electric quantity of the multifunctional unmanned survey vessel, all tasks to be executed, the current position information of the multifunctional unmanned survey vessel in the target water environment and the original path into the automatic control parameter determining model to obtain the automatic control parameters of the multifunctional unmanned survey vessel for the tasks to be executed. Therefore, the invention can adaptively generate corresponding self-control parameters in the running process of the multifunctional unmanned survey vessel, and is beneficial to improving the control flexibility and control accuracy of the multifunctional unmanned survey vessel. In addition, the multifunctional unmanned survey vessel can automatically determine the target operation with higher emergency degree of the operation result feedback in the executed operation in the running process, intelligently determine the operation result feedback mode and the feedback path corresponding to the feedback mode according to the multidimensional information, and improve the feedback reliability and the feedback flexibility of the emergency information while realizing timely feedback of the emergency information. In addition, the multifunctional unmanned survey vessel can also realize the judgment of the return condition in the process of executing the acquisition task in the running process, thereby being beneficial to improving the return reliability. Further, when the return judgment result indicates that the multifunctional unmanned survey ship is not one of the multifunctional unmanned survey ships in the unmanned survey ship group, the return success rate of the multifunctional unmanned survey ship can be intelligently predicted based on the real-time position and the residual electric quantity, so that whether the return condition is met or not is judged, and the return reliability is guaranteed. In addition, before the return operation is executed, the linkage control among a plurality of multifunctional unmanned survey vessels can be further realized based on the to-be-executed task, the intelligent control function of the multifunctional unmanned survey vessels can be further improved, the execution reliability of the to-be-executed key task can be improved, and the return resource can be fully utilized to realize timely feedback of information. In addition, in the running process of the multifunctional unmanned survey ship, intelligent obstacle avoidance can be realized, intelligent judgment of the obstacle is realized based on multidimensional parameters, the execution accuracy and the execution reliability of obstacle avoidance operation are improved, corresponding obstacle avoidance strategies can be intelligently determined by combining corresponding multidimensional information, the matching degree of the obstacle avoidance strategies and actual obstacle avoidance requirements is improved, and the obstacle avoidance accuracy is improved. In addition, when the feedback emergency degree of the operation result corresponding to the executed operation is determined, the feedback emergency degree influence factor set can be determined according to the operation type, and the intelligent determination of the feedback emergency degree of the operation result is realized by further combining the feedback emergency degree influence factor set, so that the accuracy of determining the feedback emergency degree of the operation result is improved, the accuracy of the determined feedback information is improved while the information feedback timeliness is improved, and the reasonable utilization of feedback resources is realized.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, 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 invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a method for realizing self control of a multifunctional unmanned survey vessel according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a multifunctional unmanned survey vessel according to an embodiment of the present invention;

FIG. 3 is a schematic view of the structure of another multi-functional unmanned survey vessel disclosed in an embodiment of the present invention;

fig. 4 is a schematic structural view of yet another multifunctional unmanned survey vessel according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, apparatus, article, or device that comprises a list of steps or elements is not limited to the list of steps or elements but may, in the alternative, include other steps or elements not expressly listed or inherent to such process, method, article, or device.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

The invention discloses a self-control realization method of a multifunctional unmanned survey vessel and the multifunctional unmanned survey vessel, which can adaptively generate corresponding self-control parameters in the running process of the multifunctional unmanned survey vessel, thereby being beneficial to improving the control flexibility and control accuracy of the multifunctional unmanned survey vessel. . The following will describe in detail.

Example 1

Referring to fig. 1, fig. 1 is a schematic flow chart of a method for implementing self-control of a multifunctional unmanned survey vessel according to an embodiment of the present invention. The method described in fig. 1 can be applied to a multifunctional unmanned survey vessel to realize self-adaptive self-control of the multifunctional unmanned survey vessel, and the method can comprise:

101. and when the multifunctional unmanned survey vessel submerges in the target water environment and advances according to the pre-planned original path, collecting an operation information set executed by the multifunctional unmanned survey vessel in the advancing process.

In the embodiment of the invention, the multifunctional unmanned survey vessel can be integrated with one or a combination of a plurality of communication functions (such as a wireless communication function), a working mode selection function, a direction control function, a navigation function, a full-automatic navigation function, an automatic obstacle avoidance function, a positioning function, an out-of-control protection function, a task planning function and the like.

In the embodiment of the present invention, the operation information set includes at least one executed operation, an operation attribute corresponding to each executed operation, an execution time (such as a start execution time, an end execution time, and an execution duration) corresponding to each executed operation, a remaining power of the multifunctional unmanned survey vessel before each executed operation is executed, a remaining power of the multifunctional unmanned survey vessel after each executed operation is executed, and an operation result corresponding to each executed operation. Further, the operation attribute corresponding to the executed operation is used for indicating the operation type of the executed operation, and the operation type is used for indicating that the executed operation is a target acquisition operation in a given acquisition task, a predicted burst operation in the given acquisition task or other burst operation except the predicted burst operation in the given acquisition task. It should be specifically noted that, the predicted burst operation may be understood as a burst operation (e.g., obstacle avoidance operation, early warning operation, etc.) that is anticipated, and the other burst operation may be understood as an unexpected burst operation (e.g., sailing operation exceeding the maximum speed).

102. And determining all tasks to be executed in the established acquisition tasks according to the operation information set.

The preset collection task can comprise one or more of a special collection task planned for the multifunctional unmanned survey vessel in advance, a collection task generated by the multifunctional unmanned survey vessel in a self-adaptive manner, a collection task processed by the other multifunctional unmanned survey vessels, and a collection task processed by the other multifunctional unmanned survey vessels in a cooperative manner. In particular, all of the tasks to be performed may be the remaining acquisition tasks of the given acquisition task other than the acquisition tasks that have been performed.

103. And inputting the operation information set, the current residual electric quantity of the multifunctional unmanned survey vessel, all tasks to be executed, the current position information of the multifunctional unmanned survey vessel in the target water environment and the original path into a predetermined automatic control parameter determination model to obtain the automatic control parameters of the multifunctional unmanned survey vessel for all the tasks to be executed.

In the embodiment of the invention, the automatic control parameters are used for controlling the backward travelling process of the multifunctional unmanned survey vessel. Optionally, the automatic control parameters for each task to be performed may include: the execution necessity of each task to be executed is higher than the preset necessity threshold, the execution necessity of the task to be executed is higher than the preset necessity threshold, the task to be executed can be executed or not in the subsequent traveling process, and the task with the execution necessity not higher than the preset necessity threshold can further determine whether the task to be executed is needed or not according to the actual situation (such as the residual electric quantity and the like) in the subsequent traveling process. Further optionally, for the task to be executed, the self-control parameters may further include: the execution position information, the execution time point information, the travel path information before execution, the maximum execution time for executing the task, the maximum power consumption for executing the task, the expected execution result for executing the task, the feedback attribute of the actual execution result for executing the task, etc., and the feedback attribute of the execution result is used for indicating the feedback necessity and/or the feedback urgency of the execution result, which is not limited in the embodiment of the present invention.

Further, the predetermined automatic control parameter determination model is obtained by training the predetermined control parameter determination model through sample data training in advance and training until convergence.

Therefore, the method described by the embodiment of the invention can adaptively generate corresponding self-control parameters in the running process of the multifunctional unmanned survey vessel, and is beneficial to improving the control flexibility and control accuracy of the multifunctional unmanned survey vessel.

In an alternative embodiment, the method may further comprise the operations of:

determining a feedback mode of an operation result corresponding to the executed operation of the target and a wireless feedback path corresponding to the feedback mode according to the current position of the multifunctional unmanned survey vessel in the target water environment, the current wireless communication signal intensity of the multifunctional unmanned survey vessel and the influence degree of the target water environment on the wireless communication distance of the multifunctional unmanned survey vessel under the current wireless communication signal intensity; the feedback mode comprises a direct feedback mode or a transit feedback mode;

And feeding back an operation result corresponding to the executed operation of the target to an information acquisition center corresponding to the multifunctional unmanned survey ship based on the feedback mode and the wireless feedback path corresponding to the feedback mode.

When the feedback mode is a transit feedback mode, the feedback path corresponding to the transit feedback mode may be: multifunctional unmanned survey vessel-one or more buoys-information collection center; or, the multifunctional unmanned survey vessel-one or more traveling multifunctional unmanned survey vessels-an information acquisition center; or, the multifunctional unmanned survey vessel-one or more buoys-one or more traveling multifunctional unmanned survey vessels-an information collection center; or the multifunctional unmanned survey vessel-one or more traveling multifunctional unmanned survey vessels-one or more buoys-information collection centers.

Therefore, in the optional embodiment, in the running process of the multifunctional unmanned survey vessel, the target operation with higher emergency degree of the operation result feedback in the executed operation can be automatically determined, and according to the feedback mode of the operation result intelligently determined by the multidimensional information and the feedback path corresponding to the feedback mode, the feedback reliability and the feedback flexibility of the emergency information are improved while the timely feedback of the emergency information is realized.

In another alternative embodiment, the method may further comprise the operations of:

before the multifunctional unmanned survey ship finishes the established acquisition task, judging whether the current condition meets the return-to-air condition corresponding to the multifunctional unmanned survey ship, and controlling the multifunctional unmanned survey ship to execute the return-to-air operation when judging that the current condition meets the return-to-air condition.

and determining a current condition matched with the judging result, and judging whether the current condition meets the return navigation condition corresponding to the multifunctional unmanned survey vessel.

Specifically, when the judgment result indicates that the multifunctional unmanned survey vessel is one of the multifunctional unmanned survey vessels in the unmanned survey vessel group, the current condition is the communication state of the multifunctional unmanned survey vessel and other survey vessels in the unmanned survey vessel group and the communication state of the multifunctional unmanned survey vessel and the information acquisition center; when the judging result shows that the multifunctional unmanned survey vessel is not one of the multifunctional unmanned survey vessels in the unmanned survey vessel group, the current condition is the real-time position of the multifunctional unmanned survey vessel in the target water environment and the residual electric quantity of the multifunctional unmanned survey vessel.

Optionally, when the judging result indicates that the multifunctional unmanned survey vessel is one of the multifunctional unmanned survey vessels in the unmanned survey vessel group, judging whether the current condition meets the return condition corresponding to the multifunctional unmanned survey vessel may include:

judging whether the communication states of the multifunctional unmanned survey vessel and other survey vessels of the unmanned survey vessel group are communicable states or judging whether the communication states of the multifunctional unmanned survey vessel and the information acquisition center are communicable states;

when the communication states are all non-communication states, the current conditions are determined to meet the return navigation conditions corresponding to the multifunctional unmanned survey ship.

It can be seen that this alternative embodiment can reduce the probability of a multi-function unmanned survey vessel losing connectivity.

Further, when the judging result indicates that the multifunctional unmanned survey vessel is not one of the multifunctional unmanned survey vessels in the unmanned survey vessel group, the judging whether the current condition meets the return condition corresponding to the multifunctional unmanned survey vessel may include:

predicting the success rate of the multifunctional unmanned survey vessel returning to the return point from the real-time position of the multifunctional unmanned survey vessel in the target water environment according to the real-time position of the multifunctional unmanned survey vessel in the target water environment and the residual electric quantity of the multifunctional unmanned survey vessel;

Judging whether the success rate is smaller than or equal to a preset success rate threshold value, and determining that the current condition meets the predetermined return condition when the power is smaller than or equal to the preset success rate threshold value.

Still further, when the judging result indicates that the multifunctional unmanned survey vessel is not one of the multifunctional unmanned survey vessels in the unmanned survey vessel group, before controlling the multifunctional unmanned survey vessel to perform the return operation, the method further includes:

when other multifunctional unmanned survey vessels exist, sending information acquisition requirements corresponding to key acquisition tasks of targets to be completed to the other multifunctional unmanned survey vessels, and inquiring whether the other multifunctional unmanned survey vessels currently have information to be fed back, which requires the multifunctional unmanned survey vessels to be fed back;

after inquiring the information to be fed back which is needed to be fed back by the multifunctional unmanned survey ship currently existing in other multifunctional unmanned survey ships, the step of controlling the multifunctional unmanned survey ship to execute the return operation is executed.

Therefore, the optional embodiment can also realize the judgment of the return condition in the process of executing the acquisition task in the travelling process of the multifunctional unmanned survey vessel, thereby being beneficial to improving the return reliability. Further, when the return judgment result indicates that the multifunctional unmanned survey ship is not one of the multifunctional unmanned survey ships in the unmanned survey ship group, the return success rate of the multifunctional unmanned survey ship can be intelligently predicted based on the real-time position and the residual electric quantity, so that whether the return condition is met or not is judged, and the return reliability is guaranteed. In addition, before the return operation is executed, the linkage control among a plurality of multifunctional unmanned survey vessels can be further realized based on the to-be-executed task, the intelligent control function of the multifunctional unmanned survey vessels can be further improved, the execution reliability of the to-be-executed key task can be improved, and the return resource can be fully utilized to realize timely feedback of information.

In yet another alternative embodiment, the method may further comprise the operations of:

when potential obstacles exist, calculating the degree of blocking influence of the potential obstacles on the running of the multifunctional unmanned survey ship according to the movement parameters of the multifunctional unmanned survey ship and the movement parameters of the potential obstacles;

when the blocking influence degree is greater than or equal to a preset influence degree threshold, determining an obstacle avoidance strategy corresponding to the multifunctional unmanned survey vessel according to the movement parameters of the multifunctional unmanned survey vessel, the movement parameters of the potential obstacle, the type of the potential obstacle, the real-time residual electricity quantity of the multifunctional unmanned survey vessel and the electricity quantity demand information of the multifunctional unmanned survey vessel, and executing the obstacle avoidance operation on the potential obstacle based on the obstacle avoidance strategy.

Therefore, in the running process of the multifunctional unmanned measuring ship, the intelligent obstacle avoidance can be realized, intelligent judgment of the obstacle is realized based on the multidimensional parameter, the execution accuracy and the execution reliability of the obstacle avoidance operation are improved, the corresponding obstacle avoidance strategy can be intelligently determined by combining the corresponding multidimensional information, the matching degree of the obstacle avoidance strategy and the actual obstacle avoidance requirement is improved, and the obstacle avoidance accuracy is improved.

In this optional embodiment, further optionally, after the operation information set is collected, determining an operation result feedback urgency corresponding to each performed operation includes:

after the operation information set is collected, determining a feedback emergency degree influence factor set corresponding to each executed operation according to the operation type corresponding to each executed operation;

and for each executed operation, determining the feedback emergency degree of an operation result corresponding to each executed operation according to the feedback emergency degree influence factor set corresponding to each executed operation.

Optionally, the feedback urgency impact factor set corresponding to each executed operation includes an operation result corresponding to each executed operation, an operation process corresponding to each executed operation, a travel reference value of the operation result corresponding to each executed operation for a backward task of the multifunctional unmanned survey vessel, a travel reference value of the operation result corresponding to each executed operation for a backward travel process of the multifunctional unmanned survey vessel, a power consumption duty ratio corresponding to each executed operation, a travel reference value of the operation result corresponding to each executed operation for other traveling multifunctional unmanned survey vessels in the target water environment, and a travel reference value of the operation result corresponding to each executed operation for the multifunctional unmanned survey vessel to be traveled.

Therefore, when determining the feedback emergency degree of the operation result corresponding to the executed operation, the optional embodiment can determine the feedback emergency degree influence factor set according to the operation type, and further combine the feedback emergency degree influence factor set to realize the intelligent determination of the feedback emergency degree of the operation result, thereby being beneficial to improving the determination accuracy of the feedback emergency degree of the operation result, further being beneficial to improving the accuracy of the determined feedback information while improving the information feedback timeliness, and further being beneficial to realizing the reasonable utilization of feedback resources.

Example two

Referring to fig. 2, fig. 2 is a schematic structural diagram of a multifunctional unmanned survey vessel according to an embodiment of the present invention. Wherein the multifunctional unmanned survey vessel depicted in fig. 2 may comprise:

the acquisition module 201 is configured to acquire an operation information set executed by the multifunctional unmanned survey vessel in a traveling process when the multifunctional unmanned survey vessel is immersed in a target water environment and travels according to a pre-planned original path.

The first determining module 202 is configured to determine all tasks to be executed in the given collection task according to the operation information set.

The second determining module 203 is configured to input the above operation information set, the current remaining power of the multifunctional unmanned survey vessel, all tasks to be performed, the current location information of the multifunctional unmanned survey vessel in the target water environment, and the original path to a predetermined automatic control parameter determining model, so as to obtain automatic control parameters of the multifunctional unmanned survey vessel for all the tasks to be performed.

Therefore, by implementing the embodiment of the invention, corresponding self-control parameters can be adaptively generated in the running process of the multifunctional unmanned survey vessel, which is beneficial to improving the control flexibility and control accuracy of the multifunctional unmanned survey vessel.

In an alternative embodiment, as shown in fig. 3, the multifunctional unmanned survey vessel further comprises:

the information feedback control module 204 is configured to determine, after the operation information set is collected, an operation result feedback urgency corresponding to each performed operation; determining that the corresponding operation result feedback emergency degree is greater than or equal to a preset emergency degree threshold value from all the executed operations; determining a feedback mode of an operation result corresponding to the executed operation of the target and a wireless feedback path corresponding to the feedback mode according to the current position of the multifunctional unmanned survey vessel in the target water environment, the current wireless communication signal intensity of the multifunctional unmanned survey vessel and the influence degree of the target water environment on the wireless communication distance of the multifunctional unmanned survey vessel under the current wireless communication signal intensity; the feedback mode comprises a direct feedback mode or a transit feedback mode; and feeding back an operation result corresponding to the executed operation of the target to an information acquisition center corresponding to the multifunctional unmanned survey ship based on the feedback mode and the wireless feedback path corresponding to the feedback mode.

In another alternative embodiment, as shown in fig. 3, the multifunctional unmanned survey vessel further comprises:

and the return control module 205 is configured to determine whether the current condition meets a return condition corresponding to the multifunctional unmanned survey vessel before the multifunctional unmanned survey vessel finishes the predetermined acquisition task, and when it is determined that the current condition meets the return condition, control the multifunctional unmanned survey vessel to perform a return operation.

The specific manner in which the return control module 205 determines whether the current condition meets the return condition corresponding to the multifunctional unmanned survey vessel may include:

Optionally, when the judging result indicates that the multifunctional unmanned survey vessel is one of the multifunctional unmanned survey vessels in the unmanned survey vessel group, a specific manner of the return control module 205 judging whether the current condition meets the return condition corresponding to the multifunctional unmanned survey vessel may include:

Further, when the judging result indicates that the multifunctional unmanned survey vessel is not one of the multifunctional unmanned survey vessels in the unmanned survey vessel group, the return control module 205 judges whether the current condition satisfies the return condition corresponding to the multifunctional unmanned survey vessel, and may include:

Still further, the return control module 205 is further configured to determine whether all target critical acquisition tasks in the given acquisition tasks are performed before controlling the multi-functional unmanned survey vessel to perform the return operation when the determination result indicates that the multi-functional unmanned survey vessel is not one of the multi-functional unmanned survey vessels in the unmanned survey vessel group; when all the target key acquisition tasks are not executed, judging whether other multifunctional unmanned survey vessels capable of bearing the multifunctional unmanned survey vessels and finishing the target key acquisition tasks to be finished exist in the wireless communication range of the multifunctional unmanned survey vessels; when other multifunctional unmanned survey vessels exist, sending information acquisition requirements corresponding to key acquisition tasks of targets to be completed to the other multifunctional unmanned survey vessels, and inquiring whether the other multifunctional unmanned survey vessels currently have information to be fed back, which requires the multifunctional unmanned survey vessels to be fed back;

after inquiring the information to be fed back which is needed to be fed back by the multifunctional unmanned survey ship currently existing in other multifunctional unmanned survey ships, the multifunctional unmanned survey ship is controlled to execute the return operation.

In yet another alternative embodiment, as shown in fig. 3, the multifunctional unmanned survey vessel may further comprise:

the obstacle avoidance control module 206 is used for monitoring whether a potential obstacle exists in the travelling direction of the multifunctional unmanned survey ship in the travelling process; when potential obstacles exist, calculating the degree of blocking influence of the potential obstacles on the running of the multifunctional unmanned survey ship according to the movement parameters of the multifunctional unmanned survey ship and the movement parameters of the potential obstacles; when the blocking influence degree is greater than or equal to a preset influence degree threshold, determining an obstacle avoidance strategy (a high-speed bypass obstacle avoidance strategy or a low-speed road avoidance strategy) corresponding to the multifunctional unmanned survey vessel according to the movement parameters of the multifunctional unmanned survey vessel, the movement parameters of the potential obstacle, the type of the potential obstacle, the real-time residual electricity quantity of the multifunctional unmanned survey vessel and the electricity quantity demand information of the multifunctional unmanned survey vessel, and executing obstacle avoidance operation for the potential obstacle based on the obstacle avoidance strategy.

In this optional embodiment, further optionally, after the operation information set is collected, the specific manner of determining, by the first determining module 201, the feedback urgency of the operation result corresponding to each performed operation may include:

Example III

Referring to fig. 4, fig. 4 is a schematic structural diagram of another multifunctional unmanned survey vessel according to an embodiment of the present invention. Wherein, the multifunctional unmanned survey vessel depicted in fig. 4 includes a main control portion, and the main control portion may include:

a 301 memory storing executable program code;

a processor 302 coupled with the memory;

the processor 302 invokes executable program code stored in the memory 301 to perform the steps in the autonomous implementation method of the multifunctional unmanned survey vessel described in any of the first embodiments.

Example IV

The embodiment of the invention discloses a computer storage medium which stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute the steps in the self-control implementation method of the multifunctional unmanned survey vessel described in any one of the embodiment I.

Example five

An embodiment of the invention discloses a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps of the autonomous implementation method of the multifunctional unmanned survey vessel described in any of the embodiment one.

The apparatus embodiments described above are merely illustrative, wherein the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random access Memory (RandomAccess Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for carrying or storing data that is readable by a computer.

Finally, it should be noted that: the embodiment of the invention discloses a self-control implementation method of a multifunctional unmanned survey vessel and the multifunctional unmanned survey vessel, which are disclosed by the embodiment of the invention only as the preferred embodiment of the invention, and are only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. A method for automatically controlling a multifunctional unmanned survey vessel, the method comprising:

2. The method for automatically controlling a multifunctional unmanned survey vessel according to claim 1, further comprising:

3. The method for automatically controlling a multifunctional unmanned survey vessel according to claim 2, further comprising:

4. A method for automatically controlling a multifunctional unmanned survey vessel according to claim 3, wherein when the determination result indicates that the multifunctional unmanned survey vessel is not one of the multifunctional unmanned survey vessels in the unmanned survey vessel group, the determining whether the current condition satisfies a return condition corresponding to the multifunctional unmanned survey vessel comprises:

5. The method according to claim 4, wherein when the determination result indicates that the multi-functional unmanned survey vessel is not one of the unmanned survey vessels in the unmanned survey vessel group and it is determined that the current condition satisfies the return condition, before the controlling the multi-functional unmanned survey vessel to perform a return operation, the method further comprises:

6. The method for autonomous implementation of a multifunctional unmanned survey vessel according to any of claims 1 to 5, further comprising:

7. The method for automatically controlling the multifunctional unmanned survey vessel according to claim 2, wherein the determining the feedback urgency of the operation result corresponding to each of the performed operations after the collection of the operation information comprises:

8. A multi-functional unmanned survey vessel, characterized in that it comprises:

9. A multi-functional unmanned survey vessel, characterized in that it comprises:

a memory storing executable program code;

a processor coupled to the memory;

the processor invokes the executable program code stored in the memory to perform the autonomous implementation method of the multifunctional unmanned survey vessel of any of claims 1-7.

10. A computer storage medium storing computer instructions for performing the autonomous implementation of the multifunctional unmanned survey vessel of any of claims 1-7 when invoked.