CN111523771B - Unmanned ship assessment system - Google Patents
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Abstract
The invention discloses an unmanned ship evaluation system, which comprises a tested ship subsystem, a shore-based evaluation system and a remote control system, wherein the tested ship subsystem is arranged on a tested ship and is used for collecting first data information generated in a testing process of the tested ship and sending the first data information to the shore-based evaluation system; the buoy subsystem is arranged on the buoy monomer and is used for collecting environmental data in the test area, collecting second data information generated by dynamic operation of the unmanned ship after the unmanned ship enters the buoy test range, and sending the second data information to the shore-based evaluation subsystem; and the shore-based evaluation system is used for receiving the first data information sent by the tested boat and the second data information sent by the buoy, and performing online evaluation according to the received first data information and second data information. The invention can solve the problems that the unmanned ship on-sea test evaluation system is lacking in the prior art, the unmanned ship real-time running condition cannot be effectively acquired and analyzed, quantitative analysis data is lacking, and the technical basis and the storage are relatively poor.
Description
Technical Field
The invention relates to the technical field of unmanned ship testing, in particular to an unmanned ship evaluation system.
Background
With the development of the international ocean situation, unmanned ships gain more importance in the military and civil fields. Unmanned ships are widely applied to water channel measurement, marine environment monitoring, maritime search and rescue, scientific exploration and modern military wars as an intelligent offshore motion platform. The unmanned ship has wide application prospect, becomes a research hotspot of intelligent marine equipment at home and abroad, and is an important means for scientifically evaluating the comprehensive capacity level of the unmanned ship.
At present, the test evaluation of unmanned ships mainly comprises the steps of selecting different test scenes according to different test subjects to test specific test indexes, and adopting different calculation methods to sort test results to obtain final evaluation results. The inventor finds that in the prior art in the process of realizing the invention, the problem that an unmanned ship on-sea test evaluation system is lacking, real-time running conditions of the unmanned ship cannot be effectively acquired and analyzed, quantitative analysis data is lacking, and technical basis and reserve are relatively poor exists. Therefore, the unmanned ship is not good for finding out the weak item of the unmanned ship capacity short plate because of inaccurate evaluation test on the unmanned ship, and the comprehensive capacity of the unmanned ship is improved.
Disclosure of Invention
In view of the above, the invention provides an unmanned ship assessment system, which mainly aims to solve the problems that an unmanned ship marine test assessment system is lacked in the prior art, real-time operation conditions of the unmanned ship cannot be effectively collected and analyzed, quantitative analysis data is lacked, and technical basis and storage are relatively poor.
In order to solve the above problems, the embodiment of the present invention mainly provides the following technical solutions:
in a first aspect, an embodiment of the present invention provides an unmanned ship assessment system, including:
the tested boat subsystem is arranged on the tested boat and is used for collecting first data information generated by the tested boat in the testing process and sending the first data information to the shore-based assessment subsystem;
the buoy subsystem is arranged on the buoy monomer and used for collecting environmental data in the test area, collecting second data information generated by dynamic operation of the unmanned ship after the unmanned ship enters the buoy test range, and sending the second data information to the shore-based evaluation system;
and the shore-based evaluation system is used for receiving the first data information sent by the tested boat and the second data information sent by the buoy, and performing online evaluation according to the received first data information and the received second data information.
Optionally, the unmanned ship assessment system further includes:
the test boat distribution subsystem is arranged on the test boat and is used for collecting third data information generated in the test process of the test boat and sending the collected third data information to the shore-based evaluation system;
and the shore-based evaluation system is also used for receiving third data information sent by the test boat and carrying out online evaluation according to the received first data information, second data information and third data information.
Optionally, the tested boat subsystem includes:
the data acquisition subsystem is used for acquiring first data information according to a preset acquisition mode and acquisition frequency through equipment such as optics, beidou/GPS navigation, attitude measurement, strain gauges and the like arranged on the tested boat, wherein the first data information comprises any one or any combination of the following: navigation information, gesture information, visible light information, infrared light information, video data and current speed;
the information network subsystem is connected with the tested boat control system through a wired network on the boat and is used for monitoring system operation information and state information according to a received control instruction sent by the tested boat control system;
The information network subsystem is also connected with the shore-based assessment system through an on-board wireless network, and is used for returning the acquired first data information, system operation information and state information in real time, receiving and executing a task scheduling instruction and a tested boat emergency control instruction which are sent by the shore-based assessment system;
the task management subsystem monitors the running states of the information network subsystem and the data acquisition subsystem in the test process and stores first data information, system running information and state information generated in the test process; and after the test is finished, the first data information, the system operation information and the state information are sent to the shore-based assessment system according to a preset data packet export mode.
Optionally, the test boat subsystem includes:
the data acquisition subsystem is used for acquiring third data information according to a preset acquisition mode and acquisition frequency through equipment such as optics, beidou/GPS navigation, attitude measurement, strain gauges and the like arranged on the test boat, wherein the third data information comprises any one or any combination of the following: navigation information, gesture information, visible light information, infrared light information and current speed;
The information network subsystem is connected with the tested boat control system through a wired network on the boat and is used for monitoring system operation information and state information according to a control instruction sent by the received tested boat control system;
the information network subsystem is also connected with the shore-based assessment system through an on-board wireless network, and is used for returning and collecting third data information, system operation information and state information in real time, receiving and executing a task scheduling instruction and a tested boat emergency control instruction sent by the shore-based assessment system.
The task management subsystem monitors the running states of the information network subsystem and the data acquisition subsystem in the test process and stores third data information, system running information and state information generated in the test process; and after the test is finished, the third data information, the system operation information and the state information are sent to the shore-based assessment system according to a preset data packet export mode.
Optionally, the buoy subsystem includes:
the data acquisition subsystem acquires current position information of the buoy and environmental data in a test area through equipment such as an optical sensor, a laser radar, a gesture measurement thermometer, an anemometer and the like arranged on the buoy;
After the unmanned ship enters the buoy test range, collecting second data information dynamically generated by the unmanned ship and/or the test-matched ship, wherein the second data information comprises any one or any combination of the following components: absolute position, relative position, attitude information, noise information and video information of the tested boat and/or the test boat;
the signal simulation subsystem is used for receiving buoy acousto-optic electromagnetic simulation control instructions sent by the shore-based evaluation system and simulating acousto-magnetic characteristic signals according to the acousto-optic electromagnetic simulation control instructions through configured acoustic and magnetic simulation equipment;
the information network subsystem is connected with the shore-based assessment system through a wireless network, and is used for returning the acquired current position information of the buoy, the environmental data in the test area and the second data information in real time, receiving and executing a task scheduling instruction and a tested boat emergency control instruction which are sent by the shore-based assessment system;
the task management subsystem monitors the running states of the information network subsystem and the data acquisition subsystem in the test process and stores second data information, system running information and state information generated in the test process; and after the test is finished, the second data information, the system operation information and the state information are sent to the shore-based assessment system according to a preset data packet export mode.
Optionally, the shore-based assessment system includes:
the test scheme editing subsystem is used for editing test subjects and evaluation rules thereof, and respectively setting configuration files for the tested boat, the matched boat and the buoy, wherein task scheduling information is recorded in the configuration files;
the evaluation guiding and adjusting and situation displaying subsystem is used for conducting task guiding and adjusting and displaying real-time situations according to the configuration file in the evaluation process, and specifically comprises the following steps:
(1) System configuration function: the use configuration of the shore-based assessment system is realized, which comprises the following steps: self-test data acquisition configuration, test task configuration and system communication configuration;
(2) System health status management function: and determining and displaying the working health state according to the system operation information and state information of each subsystem and subsystem, and determining the normal working state of the shore-based assessment system.
(3) And (3) evaluating, guiding and adjusting functions: task scheduling information is sent to a tested boat subsystem, a pilot boat subsystem and a buoy subsystem according to the test subjects;
(4) Data receiving function: and respectively receiving the first data information, the second data information and the third data information sent by the tested boat subsystem, the test boat subsystem and the buoy subsystem, and the operation information and the state information of each subsystem.
(5) And (5) performing situation display of the assessment task: comprehensively processing data corresponding to the test subjects and visually displaying the data;
(6) Data storage function: and locally storing the received first data information, second data information, third data information and running information and state information of each subsystem.
The comprehensive evaluation subsystem analyzes and quantitatively scores the first data information, the system operation information and the state information transmitted by the tested boat according to the evaluation calculation model, and generates an evaluation result report;
the information network management subsystem is used for receiving the first data information, the second data information and the third data information sent by the tested boat, the matched boat and the buoy, and the running information and the state information of each subsystem;
a multiple disc subsystem for complete reproduction of the test procedure.
By means of the technical scheme, the unmanned ship assessment system comprises a tested ship subsystem, wherein the tested ship subsystem is used for collecting first data information generated in a testing process of a tested ship and sending the first data information to a shore-based assessment system; the buoy subsystem is used for collecting environmental data in the test area, collecting second data information generated by dynamic operation of the unmanned ship after the unmanned ship enters the buoy test range, and sending the second data information to the shore-based evaluation subsystem; and the shore-based evaluation system is used for receiving the first data information sent by the tested boat and the second data information sent by the buoy, and performing online evaluation according to the received first data information and the received second data information. Compared with the prior art, the unmanned ship test system has the advantages that the unmanned ship test system is used for testing the offshore test, real-time running conditions of the unmanned ship are effectively collected and analyzed, real-time data are quantitatively analyzed, the unmanned ship test method is optimized, the unmanned ship comprehensive capacity test method is more comprehensive, the unmanned ship comprehensive capacity assessment is facilitated, meanwhile, short-plate weak items of the unmanned ship capacity can be found, and the unmanned ship comprehensive capacity is improved.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 shows a schematic diagram of a framework for unmanned ship testing provided by an embodiment of the invention;
fig. 2 shows a physical diagram of an unmanned ship assessment system provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram showing a data interaction relationship between subsystems according to an embodiment of the present invention;
FIG. 4 shows a block diagram of a tested boat subsystem provided by an embodiment of the present invention;
FIG. 5 shows a block diagram of a test boat subsystem according to an embodiment of the present invention;
FIG. 6 shows a block diagram of a buoy subsystem provided by an embodiment of the invention;
FIG. 7 shows a block diagram of a shore-based assessment system provided by an embodiment of the present invention;
fig. 8 is a schematic diagram of an evaluation data analysis processing flow according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment of the invention provides an unmanned ship evaluation system, which mainly aims to solve the problems that an unmanned ship marine test evaluation system is lacked in the prior art, real-time operation conditions of the unmanned ship cannot be effectively acquired and analyzed, quantitative analysis of real-time data is lacked, and technical basis and reserve are relatively poor. In order to solve the above problems, an embodiment of the present invention provides an unmanned ship testing system, where the unmanned ship testing system includes a tested ship subsystem 1, a configuration ship subsystem 4, a buoy subsystem 2, and a shore-based testing subsystem 3, as shown in fig. 1, fig. 1 shows a schematic frame diagram of an unmanned ship testing provided in the embodiment of the present invention, and specifically includes:
The tested boat subsystem 1 is arranged on the tested boat and is used for collecting first data information generated in the testing process of the tested boat and sending the first data information to the shore-based assessment subsystem; the first data information includes, but is not limited to, the following: the method for collecting the first data information by the acceleration sensor, the Beidou/GPS, the attitude sensor, the laser and the like is not limited, and the collected first data information is transmitted back to the shore-based assessment system in real time so that the shore-based assessment system can analyze and score the data.
The buoy subsystem 2 is arranged on the buoy monomer and is used for collecting environmental data in a test area, collecting second data information generated by dynamic operation of the unmanned ship after the unmanned ship enters a buoy test range, and sending the second data information to the shore-based evaluation system.
In the embodiment of the present invention, the buoy subsystem 2 is configured to collect environmental data of a test area and second data information generated by an unmanned boat in the measurement area, where the environmental data includes weather hydrologic data such as sea conditions, air temperatures, wind speeds, etc. in the test area, and the second data information includes, but is not limited to, the following contents: the unmanned ship is provided with data such as real-time navigational speed, position, gesture, absolute position, relative position, gesture, noise, video information and the like, and the collected second data information is returned to the shore-based assessment system in real time.
And the shore-based assessment system 3 is used for receiving the first data information sent by the tested boat and the second data information sent by the buoy and carrying out online assessment according to the received first data information and the received second data information.
The shore-based assessment system 3 is used for receiving data acquired by the tested boat and the buoy system, performing online scoring assessment according to preset scoring rules, and giving out comprehensive assessment results.
The unmanned ship evaluation system provided by the invention comprises a tested ship subsystem 1, a shore-based evaluation subsystem and a ship evaluation subsystem, wherein the tested ship subsystem is used for acquiring first data information generated in a test process of a tested ship and sending the first data information to the shore-based evaluation subsystem; the buoy subsystem 2 is used for collecting environmental data in a test area, collecting second data information generated by dynamic operation of the unmanned ship after the unmanned ship enters a buoy test range, and sending the second data information to the shore-based evaluation subsystem; and the shore-based evaluation system is used for receiving the first data information sent by the tested boat and the second data information sent by the buoy, and performing online evaluation according to the received first data information and the received second data information. Compared with the prior art, the system for testing the unmanned ship on the sea is realized, real-time running conditions of the unmanned ship are effectively collected and analyzed, real-time data are quantitatively analyzed, and a testing method for testing the unmanned ship is optimized, so that the method for testing the comprehensive capacity of the unmanned ship is more comprehensive, the comprehensive capacity of the unmanned ship is favorably evaluated, short-plate weak items of the unmanned ship capacity can be found, and the comprehensive capacity of the unmanned ship is accelerated.
As shown in fig. 2, fig. 2 shows a physical diagram of an unmanned ship assessment system according to an embodiment of the present invention, where the system further includes:
the test boat allocation subsystem 4 is arranged on the test boat and is used for acquiring third data information generated in the test process of the test boat and sending the acquired third data information to the shore-based assessment subsystem 3.
The third data information includes, but is not limited to, the following: the data such as real-time navigational speed, position and gesture of the tested boat can be acquired by means of an acceleration sensor, a Beidou/GPS, a gesture sensor, laser and the like, the mode of acquiring the third data information is not limited, and the acquired third data information is transmitted back to the shore-based assessment system 3 in real time so that the shore-based assessment system 3 can analyze and score the data.
The shore-based assessment system 3 is further configured to receive third data information sent by the test boat, and perform online assessment according to the received first data information, second data information, and third data information.
As shown in fig. 3, fig. 3 shows a schematic diagram of a data interaction relationship between each subsystem, which is provided in the embodiment of the present invention, in order to meet the requirement of data collection in all dimensions in the test process, each subsystem (unmanned ship test system is composed of a tested ship subsystem 1, a pilot ship subsystem 4 and a buoy subsystem 2) independently collects and stores various data, and gathers the data to a shore-based evaluation subsystem 3, wherein the shore-based evaluation subsystem 3 performs online comprehensive processing evaluation according to the current test subject setting situation and a preset evaluation rule and index system, and the following embodiments respectively teach the compositions of each subsystem:
As shown in fig. 4, the tested boat subsystem 1 includes:
the data acquisition subsystem 11 is used for acquiring first data information according to a preset acquisition mode and acquisition frequency through equipment such as optics, beidou/GPS navigation, attitude measurement, strain gauges and the like arranged on the tested boat, wherein the first data information comprises any one or any combination of the following: navigation information, gesture information, visible light information, infrared light information, video data, current speed.
The information network subsystem 12 is connected with the tested boat control system through a wired network on the boat and is used for monitoring system operation information and state information according to a received control instruction sent by the tested boat control system. The tested boat control command comprises, but is not limited to, a speed control command, a position control command, a state switching command and the like.
The information network subsystem 12 is also connected with the shore-based assessment system 3 through an on-board wireless network, and returns the acquired first data information, system operation information and state information in real time, and receives and executes a task scheduling instruction and a tested boat emergency control instruction sent by the shore-based assessment system 3.
A task management subsystem 13 for monitoring the operation states of the information network subsystem 12 and the data acquisition subsystem 11 in the test process and storing first data information, system operation information and state information generated in the test process; and after the test is finished, the first data information is sent to the shore-based assessment system 3 according to a preset data packet export mode. The system is a guarantee system of the tested boat subsystem 1, is used for configuring, controlling and monitoring all test equipment in the test process, and stores all kinds of original data information (namely first data information) generated in the test process according to the same time sequence; after the test is finished, the collected related data are exported to the shore-based assessment scoring system 3 in a specified data packet mode.
Because the tested boat subsystem 1 is arranged on the tested boat, the functions and the components of the system can be properly tailored according to the test requirements in order to reduce the influence and disturbance on the tested boat in the test process. For example, the attitude information of the tested boat is collected by cutting.
Further, as shown in fig. 5, the test boat subsystem 4 includes:
the data acquisition subsystem 41 is configured to acquire third data information according to a preset acquisition mode and acquisition frequency through the optical equipment, the Beidou/GPS navigation equipment, the attitude measurement equipment, the strain gauge equipment and the like arranged on the test boat, wherein the third data information comprises any one or any combination of the following: navigation information, gesture information, visible light information, infrared light information and current speed;
the information network subsystem 42 is connected with the tested boat control system through a wired network on the boat and is used for monitoring system operation information and state information according to a received control instruction sent by the tested boat control system;
the information network subsystem 42 is further connected with the shore-based assessment system 3 through an on-board wireless network, and returns the collected third data information, system operation information and state information in real time, and receives and executes a task scheduling instruction and a tested boat emergency control instruction sent by the shore-based assessment system 3.
A task management subsystem 43 for monitoring the operation states of the information network subsystem 42 and the data acquisition subsystem 41 during the test process and storing third data information, system operation information and state information generated during the test process; and after the test is finished, the third data information is sent to the shore-based assessment system 3 according to a preset data packet export mode. The tested boat subsystem 1 and the test boat subsystem 4 have the same system composition, and the description of the test boat subsystem 4 in the embodiment of the present invention is not repeated, and the detailed description will refer to the related description of the above embodiment.
Further, as shown in fig. 6, the buoy subsystem 2 includes:
the data acquisition subsystem 21 is used for acquiring the current position information of the buoy and the environmental data in a test area through equipment such as an optical sensor, a laser radar, an attitude measurement thermometer, an anemometer and the like arranged on the buoy; and collecting meteorological hydrologic data such as sea conditions, air temperature, wind speed and the like of the test area.
After the unmanned ship enters the buoy test range, collecting second data information dynamically generated by the unmanned ship and/or the test-matched ship, wherein the second data information comprises any one or any combination of the following components: absolute position, relative position, attitude information, noise information, and video information of the test boat and/or the test boat.
The signal simulation subsystem 22 is configured to receive a buoy acousto-optic electromagnetic simulation control command sent by the shore-based assessment scoring system 3, and simulate an acousto-magnetic characteristic signal according to the acousto-optic electromagnetic simulation control command through configured acoustic and magnetic simulation equipment; for example, the equipment is required to be configured to generate acousto-magnetic characteristic signals simulating typical targets such as frogmans, submarines, mines and the like according to acousto-optic electromagnetic simulation control instructions.
The information network subsystem 23 is connected with the shore-based assessment system 3 through a wireless network, and is used for returning the acquired current position information of the buoy, the environmental data in the test area and the second data information in real time, receiving and executing a task scheduling instruction and a tested boat emergency control instruction sent by the shore-based assessment system 3;
a task management subsystem 24 for monitoring the operation states of the information network subsystem 23 and the data acquisition subsystem 21 during the test process and storing second data information, system operation information and state information generated during the test process; and after the test is finished, the third data information is sent to the shore-based assessment system 3 according to a preset data packet export mode. The task management subsystem 24 is a security system of the buoy subsystem 2, and is used for configuring, controlling and monitoring each test device in the test process, and storing various kinds of original data information (such as second data information, system operation information and status information) generated in the test process according to the same time sequence. In addition, the relative position of the detected boat is measured by fusing data with different dimensions such as optics, laser radar, communication signal intensity and the like.
In the embodiment of the invention, in order to meet the requirement of full-dimension data acquisition in the test process, each subsystem independently acquires and stores various data in the test process, the data are collected and summarized to the shore-based evaluation system 3, the shore-based evaluation system 3 carries out online comprehensive processing evaluation according to the current subject setting condition and a preset evaluation rule and index system, in the test process, the task management subsystems in the tested boat subsystem 1, the test boat subsystem 4 and the buoy subsystem 2 need to store various original data information generated by the tested boat in the test process in time sequence, and after the test is finished, the acquired related data are sent to the shore-based evaluation system 3 in a preset data packet export mode.
It should be noted that, the tested boat subsystem 1, the test boat subsystem 4 and the buoy subsystem 2 can all complete tasks such as task binding configuration and health status information detection of the system in real time.
Further, the shore-based assessment system 3 as shown in fig. 7 includes:
the test scheme editing subsystem 31 is used for editing test subjects and evaluation rules thereof, and respectively setting configuration files for the tested boat, the matched boat and the buoy, wherein task scheduling information is recorded in the configuration files;
The test plan editing subsystem 31 specifically needs to implement the following functions:
(1) Evaluation test design scheme editing function: according to the requirements of the evaluation test outline and the evaluation test rule, a test task scheduling design scheme is created, edited and stored, wherein the test task scheduling design scheme comprises basic test conditions, basic test field conditions, basic test network configuration, test task codes, scheduling numbers and the like.
(2) Evaluation test design scheme derivation function: and exporting an assemblable configuration file according to different test object configuration requirements, and realizing the consistency and unification of test object task scheduling.
The evaluation guiding and situation displaying subsystem 32 is used for task guiding and real-time situation displaying in the evaluation process, and specifically comprises the following steps:
(1) System configuration function: the implementation of the use configuration of the shore-based assessment system 3 includes: self-test data acquisition configuration such as interface mode, acquisition frequency, address, port number and the like, test task configuration such as information of a manufacturer, task number, task name, execution time and the like, and system communication configuration such as communication mode, address, port number and the like;
(2) System health status management function: and determining and displaying the working health state according to the system operation information and state information of each subsystem and subsystem, and determining the normal working state of the shore-based assessment system 3.
(3) And (3) evaluating, guiding and adjusting functions: task scheduling information is respectively sent to a tested boat subsystem 1, a test boat allocation test subsystem and a buoy subsystem 2 according to the test subjects; the task scheduling information including the current execution task number, the tested boat emergency control instruction, the buoy acousto-optic electromagnetic simulation control instruction and the like is timely sent to the tested boat subsystem 1, the tested boat subsystem 4 and the buoy subsystem 2 according to the evaluation subject flow.
(4) Data receiving function: the method comprises the steps of respectively receiving first data information, second data information, third data information and running information and state information of all subsystems sent by a tested boat subsystem 1, a test boat subsystem 4 and a buoy subsystem 2;
(5) And (5) performing situation display of the assessment task: comprehensively processing data corresponding to the test subjects and visually displaying the data; the visual presentation may include, but is not limited to, the following forms: data forms, video windows, two-dimensional sea charts, three-dimensional models, etc.;
(6) Data storage function: and locally storing the received first data information, second data information, third data information and running information and state information of each subsystem.
The comprehensive evaluation subsystem 33 analyzes and quantitatively scores the first data information, the system operation information and the state information transmitted by the tested boat according to the evaluation calculation model, and generates an evaluation result report;
The comprehensive evaluation subsystem 33 specifically needs to implement the following functions:
(1) Data evaluation model management function: designing and realizing an evaluation method mathematical model and standardizing an input/output interface; realizing the configuration management function of the evaluation method; and the mathematical model loading/unloading function of the evaluation method is realized.
(2) And (3) an evaluation analysis result data management function: and the storage and query functions of the evaluation analysis result data are realized.
(3) And (3) evaluating and analyzing the result to show the functions: the evaluation analysis result information is comprehensively displayed in various manners (bar graph, pie graph, line graph, curve graph, etc.).
(4) Evaluation report generation function: realizing the management function of the evaluation report template; and automatically collecting calculation result data according to the template report selected by the user and generating a final evaluation result report.
The information network management subsystem 34 is used for receiving the first data information, the second data information, the third data information and the running information and the state information of each subsystem sent by the tested boat, the matched boat and the buoy;
a multiple disc subsystem 35 for complete reproduction of the test procedure. The shore-based assessment system 3 carries out online comprehensive processing assessment according to the current subject setting condition, a preset assessment rule and an index system, and can also carry out whole-course multi-disc analysis after collecting data of each subsystem offline.
The multiple disc subsystem 35 specifically needs to perform the following functions:
(1) The replay data preparation function of the multiplex disk: and querying the process replay data according to the condition input by the user, checking the validity and the integrity of the data, and providing basic data support for the process replay.
(2) And (3) a multi-disc data display function: the process replay data is comprehensively processed, and the process execution condition is comprehensively displayed in various modes (data table, video window, two-dimensional sea chart, three-dimensional model and the like).
(3) And (3) a replay control function of the multiplex disk: and the control functions of playing, fast forwarding, fast rewinding, pausing, stopping and the like in the process of replaying are realized.
The above embodiment has described the composition of the whole unmanned ship assessment system and the data interaction relationship between the components, and the functions of each component, and fig. 8 shows a schematic diagram of the assessment data analysis processing flow provided by the embodiment of the present invention, from which the data analysis logic between the subsystems can be more intuitively checked.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
It will be appreciated that the relevant features of the above-described subsystems and subsystems may be referenced to each other. In addition, the "first", "second", and the like in the above embodiments are for distinguishing the embodiments, and do not represent the merits and merits of the embodiments.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present invention is not directed to any particular programming language. It will be appreciated that the teachings of the present invention described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present invention.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.
Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the method and apparatus for verifying test data according to embodiments of the present invention. The present invention can also be implemented as an apparatus or device program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
Claims (1)
1. An unmanned ship assessment system, comprising: a tested boat subsystem 1, a buoy subsystem 2, a shore-based evaluation subsystem 3 and a test boat subsystem 4;
the tested boat subsystem 1 is arranged on the tested boat, and is used for collecting first data information generated in the testing process of the tested boat and sending the first data information to the shore-based assessment subsystem 3;
the tested boat subsystem 1 comprises:
the data acquisition subsystem 11 acquires first data information according to a preset acquisition mode and acquisition frequency through optics, beidou/GPS navigation, attitude measurement and strain gauges arranged on the tested boat; the first data information comprises navigation information, gesture information, visible light information, infrared light information, video data and current speed;
the information network subsystem 12 is connected with the tested boat control system through a wired network on the boat and is used for monitoring system operation information and state information according to a received control instruction sent by the tested boat control system;
the information network subsystem 12 is connected with the shore-based assessment system 3 through a wireless network on the boat, and returns the acquired first data information, system operation information and state information in real time, and receives and executes a task scheduling instruction and a tested boat emergency control instruction sent by the shore-based assessment system 3;
A task management subsystem 13 for monitoring the operation states of the information network subsystem 12 and the data acquisition subsystem 11 in the test process and storing first data information, system operation information and state information generated in the test process; after the test is finished, the first data information, the system operation information and the state information are sent to the shore-based assessment system 3 according to a preset data packet export mode;
the buoy subsystem 2 comprises:
the data acquisition subsystem 21 is used for acquiring current position information of the buoy and environmental data in a test area through an optical sensor, a laser radar, an attitude measurement thermometer and an anemometer which are arranged on the buoy;
after the unmanned ship enters the buoy test range, collecting second data information dynamically generated by the unmanned ship and/or the test-matched ship, wherein the second data information comprises any one or any combination of the following components: absolute position, relative position, attitude information, noise information and video information of the tested boat and/or the test boat;
the signal simulation subsystem 22 is configured to receive a buoy acousto-optic electromagnetic simulation control command sent by the shore-based evaluation system, and simulate an acousto-magnetic characteristic signal according to the acousto-optic electromagnetic simulation control command through configured acoustic and magnetic simulation equipment;
The information network subsystem 23 is connected with the shore-based assessment system through a wireless network, and is used for returning the acquired current position information of the buoy, the environmental data in the test area and the second data information in real time, receiving and executing a task scheduling instruction and a tested boat emergency control instruction sent by the shore-based assessment system;
a task management subsystem 24 for monitoring the operation states of the information network subsystem and the data acquisition subsystem in the test process and storing second data information, system operation information and state information generated in the test process; after the test is finished, the second data information, the system operation information and the state information are sent to the shore-based assessment system according to a preset data packet export mode;
the buoy subsystem 2 is arranged on the buoy monomer and is used for collecting environmental data in a test area, collecting second data information generated by dynamic operation of the unmanned ship after the unmanned ship enters a buoy test range, and sending the second data information to the shore-based evaluation system 3;
the buoy subsystem 2 collects current position information of the buoy and environmental data in a test area through optics, a laser radar, a gesture measurement thermometer and an anemometer which are arranged on the buoy; the buoy acousto-optic electromagnetic simulation control command sent by the shore-based evaluation system 3 is received, and an acousto-optic characteristic signal is simulated according to the acousto-optic electromagnetic simulation control command through the configured acoustic and magnetic simulation equipment;
The second data information comprises real-time navigational speed, position, gesture of the unmanned ship, absolute position, relative position, gesture, noise and video information of the unmanned ship;
the shore-based assessment system 3 is configured to receive the first data information sent by the tested boat and the second data information sent by the buoy, receive the third data information sent by the tested boat, and perform online assessment according to the received first data information, second data information and third data information;
the shore-based assessment system 3 comprises a testing scheme editing subsystem 31, an assessment, guiding and situation displaying subsystem 32, a comprehensive assessment subsystem 33, an information network management subsystem 34 and a compound subsystem 35;
the test scheme editing subsystem 31 is configured to edit a test subject and an evaluation rule thereof, and set configuration files for a tested boat, a matched boat and a buoy, where task scheduling information is recorded in the configuration files;
the test scheme editing subsystem 31 implements the following functions:
(1) Evaluation test design scheme editing function: according to the requirements of the evaluation test outline and the evaluation test rule, creating, editing and storing an evaluation test task scheduling thinking scheme, wherein the scheme comprises an evaluation test basic condition, a test field basic condition, a test network basic configuration, a test task code and a scheduling number;
(2) Evaluation test design scheme derivation function: according to different test object configuration requirements, an assemblable configuration file is exported, and the consistency and unification of test object task scheduling are realized;
the evaluation guiding and situation displaying subsystem 32 is used for task guiding and real-time situation displaying in the evaluation process, and specifically comprises the following steps:
(1) System configuration function: the use configuration of the shore-based assessment system is realized, which comprises the following steps: self-test data acquisition configuration, test task configuration and system communication configuration;
(2) System health status management function: determining and displaying the working health state according to the system operation information and state information of each subsystem and subsystem, and determining the normal working state of the shore-based assessment system;
(3) And (3) evaluating, guiding and adjusting functions: task scheduling information is sent to a tested boat subsystem and a pilot boat testing subsystem and a buoy subsystem respectively according to the test subjects; the task scheduling information is timely sent to the tested boat subsystem, the test boat subsystem and the buoy subsystem according to the evaluation subject flow, and comprises the currently executed task number, the tested boat emergency control instruction and the buoy acousto-optic electromagnetic simulation control instruction;
(4) Data receiving function: respectively receiving first data information, second data information and third data information sent by a tested boat subsystem, a buoy subsystem and a test boat subsystem, and running information and state information of each subsystem;
(5) And (5) performing situation display of the assessment task: comprehensively processing data corresponding to the test subjects and visually displaying the data; the visual display mode comprises a data table, a video window, a two-dimensional chart and a three-dimensional model;
(6) Data storage function: the method comprises the steps of locally storing received first data information, second data information, third data information and running information and state information of each subsystem;
the comprehensive evaluation subsystem 33 analyzes and quantitatively scores the first data information, the system operation information and the state information transmitted by the tested boat according to the evaluation calculation model, and generates an evaluation result report;
the integrated evaluation subsystem 33 performs the following functions:
(1) Data evaluation model management function: designing and realizing an evaluation method mathematical model, and standardizing an input/output interface; realizing the configuration management function of the evaluation method; realizing the mathematical model loading/unloading function of the evaluation method;
(2) And (3) an evaluation analysis result data management function: the storage and query functions of the evaluation analysis result data are realized;
(3) And (3) evaluating and analyzing the result to show the functions: comprehensively displaying evaluation analysis result information by using a histogram, a pie chart, a line chart and a graph;
(4) Evaluation report generation function: realizing the management function of the evaluation report template; automatically collecting calculation result data according to a template report selected by a user and generating a final evaluation result report;
the information network management subsystem 34 is configured to receive the first data information, the second data information, the third data information, and the operation information and the status information of each subsystem sent by the tested boat, the buoy, and the test boat;
the complex disc subsystem 35 for complete reproduction of the test procedure; the shore-based evaluation system performs online comprehensive processing evaluation according to the current subject setting condition, a preset evaluation rule and an index system, and performs whole-course multi-disc analysis after collecting data of each subsystem offline;
the multiple disc subsystem 35 performs the following functions:
(1) The replay data preparation function of the multiplex disk: inquiring process replay data according to conditions input by a user, checking the validity and the integrity of the data, and providing basic data support for process replay;
(2) And (3) a multi-disc data display function: comprehensively processing the process replay data, and comprehensively displaying the process execution condition by using a data table, a video window, a two-dimensional chart and a three-dimensional model;
(3) And (3) a replay control function of the multiplex disk: play, fast forward, fast backward, pause and stop functions in the replay process are realized;
the test boat allocation subsystem 4 is arranged on the test boat and is used for acquiring third data information generated in the test process of the test boat and transmitting the acquired third data information to the shore-based assessment subsystem 3;
the test boat distribution subsystem 4 comprises a data acquisition subsystem 41, an information network subsystem 42 and a task management subsystem 43;
the data acquisition subsystem 41 is configured to acquire third data information according to a preset acquisition mode and an acquisition frequency through optics, beidou/GPS navigation, attitude measurement and strain gauges arranged on the test boat, wherein the third data information comprises any one or any combination of the following: navigation information, gesture information, visible light information, infrared light information and current speed;
the information network subsystem 42 is connected with the tested boat control system through a wired network on the boat and is used for monitoring system operation information and state information according to a control instruction sent by the received tested boat control system;
the information network subsystem is also connected with the shore-based assessment system through an on-board wireless network, and is used for returning and collecting third data information, system operation information and state information in real time, receiving and executing a task scheduling instruction and a tested boat emergency control instruction which are sent by the shore-based assessment system;
A task management subsystem 43 for monitoring the operation states of the information network subsystem and the data acquisition subsystem in the test process and storing third data information, system operation information and state information generated in the test process; after the test is finished, the third data information, the system operation information and the state information are sent to the shore-based assessment system according to a preset data packet export mode;
the third data information comprises real-time navigational speed, position and attitude data of the tested boat, and is acquired through an acceleration sensor, a Beidou/GPS, an attitude sensor and laser;
in the test process, the tested boat subsystem 1, the test boat subsystem 4 and the buoy subsystem 2 independently collect and store various data, and intensively collect the data to the shore-based assessment subsystem 3.
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| CN115471782B (en) * | 2022-09-22 | 2023-06-16 | 中国人民解放军国防科技大学 | Unmanned ship-oriented infrared ship target detection method and device |
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