CN-121979221-A - Double-constraint reduction-based water surface unmanned ship task recording and playback method and system

CN121979221ACN 121979221 ACN121979221 ACN 121979221ACN-121979221-A

Abstract

The invention discloses a water surface unmanned ship multitasking recording and playback method and system based on double constraint real-time simplification, and belongs to the technical field of fishery cultivation equipment control. Aiming at the problems of complex operation and easy loss of key nodes in the prior art, a teaching recording scheme based on double constraint real-time simplification is provided, complete tasks comprising space tracks and operation equipment states are synchronously constructed, and the operation equipment states are automatically navigated and reproduced along the recording tracks during playback, so that a single boat is supported to store a plurality of reusable tasks. The method is suitable for the automatic operation scene of unmanned boats on the water surface.

Inventors

LU MINGHUA
LIU XINGHUI
LIU HUAN
MA YIYANG
CHAI XINGWANG

Assignees

蓝水先锋(大连)智能科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260208

Claims (6)

1. The method for recording and playing back the task of the unmanned surface vehicle on the basis of double constraint real-time simplification is characterized by comprising the following steps: establishing a double-constraint judging mechanism, wherein the double constraint comprises a business state constraint and a geometric constraint, and the priority of the business state constraint is higher than that of the geometric constraint; In the teaching recording stage, position coordinates and operation equipment states of the unmanned ship are collected in a fixed period to construct candidate waypoints, when the number of stored waypoints is more than or equal to 2, the penultimate waypoint A, the penultimate waypoint B and the candidate waypoint C are extracted, and the following judgment is sequentially carried out: If the operating equipment state of the waypoint B is different from that of the waypoint A, judging that the waypoint B is a key service node and forcedly preserving, and judging geometrical constraint no longer; if the states of the operation equipment are the same, calculating the course angle changes of the navigation points A to B and the navigation points B to C and the space distances of the navigation points A to C, and judging the navigation point B as a geometric key point and reserving the geometric key point when the course angle changes or the space distances exceed a first threshold value or a second threshold value; Performing waypoint management according to the judgment result, namely replacing the waypoint B with the candidate waypoint C when the redundant point is judged, keeping the total number of the waypoints unchanged, and sending a replacement message to a remote management end; And in the task playback stage, performing automatic navigation based on the reduced waypoint sequence, and automatically executing corresponding equipment state switching operation when the waypoint marked with the change of the state of the operation equipment is reached.
2. The method of claim 1, wherein the business state constraint is to forcedly reserve waypoints based on a change in the working state of the working equipment, and wherein the geometric constraint is to determine geometric necessity of the waypoints based on a change in heading angle and a spatial distance.
3. The method of claim 1 wherein sending a replacement message to the remote management side comprises sending a replacement message including the replaced waypoint index and candidate waypoint coordinates, the operating device status via the MQTT protocol to enable the remote management side to synchronously update the corresponding waypoint data instead of appending the new waypoint.
4. The method of claim 1 further comprising the step of multitasking cloud collaborative management, wherein the method further comprises the step of uploading waypoint data in the recording process to a cloud server in real time through an MQTT protocol, supporting cloud sharing of a plurality of tasks stored in a single boat and a multi-boat task library, and the step of monitoring recording progress and task execution conditions of a plurality of unmanned boats at the same time by a remote management end.
5. The method of claim 1, wherein the automatically navigating comprises calculating azimuth and distance based on the current location coordinates and the target waypoint coordinates, adjusting heading and speed by a PID control algorithm, and determining to reach and switch to the next waypoint when the distance to the target waypoint is less than an arrival threshold.
6. The utility model provides a water surface unmanned ship task record and playback system based on real-time retrench of double constraint, its characterized in that includes: The track acquisition module is configured at the unmanned ship end and is used for periodically acquiring position coordinates and operating equipment states; The double-constraint judging module is configured at the unmanned ship end and is used for establishing a sliding window to extract the three nearest waypoints and sequentially executing business state constraint judgment and geometric constraint judgment; The navigation point management module is configured at the unmanned ship end, is connected with the double-constraint judging module, and is used for executing navigation point replacement or addition operation according to the judging result and sending corresponding replacement information or newly-added information to the remote management end through the MQTT protocol; The task storage module is configured at the unmanned ship end, connected with the waypoint management module and used for storing the optimized waypoint sequence in a lasting mode; The automatic execution module is configured at the unmanned ship end and is used for executing automatic navigation and operation equipment state control based on the simplified waypoint sequence; The cloud coordination module is configured on the cloud server and the remote management end, is communicated with the waypoint management module through an MQTT protocol, and is used for receiving real-time information, updating map display and issuing task execution instructions.

Description

Double-constraint reduction-based water surface unmanned ship task recording and playback method and system Technical Field The invention relates to the technical field of control of fishery cultivation equipment, in particular to an automatic task execution method of an unmanned surface vehicle. Background In the technical field of unmanned boats for aquaculture, the existing automatic operation method mainly comprises the following two types: 1. the automatic navigation method based on the pre-planned route requires the user to manually mark the navigation point coordinates on the ground station software or the electronic map, generate a working path and then import the working path into the unmanned ship for execution. However, this method has the following technical drawbacks: 1. The operation complexity is high, an operator needs to master the operation of map software and the labeling of longitude and latitude coordinates, and the requirement on the professional knowledge of a farmer is high; 2. The environment adaptability is poor, and for the irregularly shaped aquaculture pond, the sailing path which is attached to the actual shoreline is difficult to accurately plan; 3. the dynamic adjustment is difficult, when the position of the obstacle in the cultivation environment changes, the route planning and editing are needed to be carried out again, and the flexibility is not enough. 2. The teaching recording method based on real-time sampling partially adopts the prior art to sample GPS coordinates at fixed time intervals (such as every second or every two seconds) to generate a navigation point sequence, or adopts a post-processing mode of firstly completely recording original data and uniformly performing geometric optimization (such as a Douglas-Peucker algorithm) after recording is finished. The method has the following technical defects: 1. The data redundancy and the key information are simultaneously present, namely a large number of redundant waypoints are generated during linear navigation by fixed interval sampling, and important waypoints are possibly missed at key positions such as turning due to sampling intervals; 2. The real-time performance is insufficient, the post-processing optimization is performed after the recording is finished, the time complexity is O (n 2), the processing of hundreds of waypoints on the embedded equipment takes seconds to minutes, and an operator cannot know the distribution condition of the optimized waypoints in real time in the recording process; 3. The collaborative management capability is limited, and the post-processing mode cannot synchronize the optimized waypoints to a remote management end in real time, so that parallel monitoring and unified management of a plurality of unmanned boats are difficult to support. In addition, the demonstrator method (such as a robot demonstrating box) in the field of industrial automation adopts a inching-recording-inching mode, the positioning precision is in millimeter level, the system is suitable for a fixed working space, the unmanned surface vehicle on the water surface depends on GPS positioning, the precision is 2-5 meters, the system cannot hover accurately under the environmental interference of water flow, wind power and the like, and the industrial demonstrating method is difficult to be directly applied to the unmanned surface vehicle scene. Therefore, there is a need for a water surface unmanned aerial vehicle task recording and playback method that is easy to operate, can optimize trajectories in real time, maintains critical job nodes, and supports multi-boat collaborative management. Disclosure of Invention The invention aims to overcome the technical defects of complex operation, insufficient track optimization instantaneity, easy loss of key operation nodes and difficult multi-boat collaborative management in the prior art, and provides a double-constraint real-time simplified water surface unmanned boat task recording and playback method and system. The invention provides a real-time reduced water surface unmanned ship task recording and playback method based on double constraints, wherein the double constraints comprise service state constraints and geometric constraints, the service state constraints have higher priority than the geometric constraints, and the method comprises the following steps: Establishing a double constraint judging mechanism, and setting service state constraint conditions and geometric constraint conditions; in the teaching recording stage: step S1, receiving a recording instruction, entering a recording mode, and initializing a task data structure; s2, collecting position coordinates and operation equipment states of the unmanned ship in a fixed period, and constructing a candidate navigation point C; Step S3, judging the number of stored waypoints, if the number of the stored waypoints is smaller than 2, storing the candidate waypoints C as the waypoints A and returning