CN119573744B - Path planning and optimizing system for offshore wind power mine sweeping operation - Google Patents
Path planning and optimizing system for offshore wind power mine sweeping operation Download PDFInfo
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Abstract
The invention relates to the technical field of path planning, in particular to a path planning and optimizing system for offshore wind power mine sweeping operation. According to the invention, accurate magnetic field data processing and space correlation analysis are realized by detecting the magnetic field intensity of an operation area in real time and eliminating interference of environmental noise, abnormal points are identified by a gradient analysis method and magnetic dipole characteristic extraction and physical characteristic comparison are carried out, the accuracy of target identification is improved, the classification process is optimized, more accurate distinguishing effect is ensured, and in the aspect of path planning optimization, the cost and efficiency double optimization is realized by combining the space characteristic analysis of a metal thunder explosion device with real-time environmental data such as water flow speed and wind speed and dynamically adjusting path planning, and the operation risk is effectively reduced and the mine sweeping operation efficiency is improved by a method of comprehensively considering data analysis and environmental factors.
Description
Technical Field
The invention relates to the technical field of path planning, in particular to a path planning and optimizing system for offshore wind power mine sweeping operation.
Background
The technical field of path planning is mainly used for determining the optimal path from a starting point to an end point. The technology is widely applied to logistics, automatic driving automobiles, unmanned aerial vehicle navigation, robot technology and motion control in complex industrial environments, and key challenges of path planning include path optimization, obstacle avoidance, dynamic environment adaptation and real-time path updating, and the core aims are improving efficiency, reducing cost and optimizing paths under specific constraints.
The system for planning and optimizing the path of the offshore wind power mine sweeping operation is used for ensuring that potential ocean lightning areas or other obstacles can be safely and efficiently cleared when wind power maintenance and expansion are carried out on the sea. By using the geographic information system, the system can analyze marine environment data, plan an optimal route for avoiding obstacles, optimize the navigation path of the mine sweeping ship, reduce the operation time, reduce the risk and improve the operation and maintenance efficiency of the wind farm, and the technology is important for guaranteeing the safety of the construction and maintenance of the offshore wind farm and is beneficial to promoting the sustainable development of renewable energy sources.
When facing a dynamic complex marine environment, the conventional optimization system is difficult to respond to environmental changes in real time by a path planning technology, and is difficult to accurately identify and classify potential lightning areas or other obstacles on the seabed. For example, the lack of comprehensive consideration of real-time environment variables in the conventional system, such as failure to fully integrate information such as wind speed and water flow speed, results in low efficiency, high cost and potential safety hazard in actual operation of path planning. The defects can influence the construction and maintenance work of the wind power plant, prolong the operation time, increase the economic cost and the potential safety risk, and restrict the sustainable development of the renewable energy source field.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a path planning and optimizing system for offshore wind power mine sweeping operation.
In order to achieve the purpose, the invention adopts the following technical scheme that the system for planning and optimizing the path of the offshore wind power mine sweeping operation comprises:
The magnetic anomaly data processing module is used for detecting the magnetic field intensity value of an operation area in real time based on marine magnetometer equipment, screening the magnetic field data of each measuring point, eliminating the influence of environmental noise, matching the magnetic field intensity with the geographic position, constructing a continuous magnetic field distribution map and obtaining magnetic field distribution information;
The target identification and classification module marks potential abnormal areas by comparing magnetic field intensity gradients of adjacent data points based on the magnetic field distribution information, extracts signal characteristics of the marked abnormal points, and distinguishes the metal thunder explosion device from the waste metal objects by comparing the marked abnormal points with a preset target physical characteristic database to obtain a target distribution and classification result;
The path planning optimization module analyzes the spatial distribution characteristics of the metal thunder explosion device based on the target distribution classification result, integrates the geographic position data of each target point, performs comparative analysis with the boundary of the wind power area, analyzes the shortest distance and the optimal access sequence, constructs a basic thunder sweeping path, and selects a target path according to real-time environment data including water flow speed and wind speed to obtain an optimized path sequence;
And the path simulation verification module loads the space data of each path node and the target point location in the simulation environment based on the optimized path sequence, performs coverage analysis, verifies whether the path of each node covers the target area, and performs path node adjustment on the uncovered area to obtain a path coverage verification result.
The invention improves, the step of eliminating the influence of environmental noise is as follows:
Based on marine magnetometer equipment, detecting the magnetic field intensity value of an operation area in real time, and collecting basic magnetic field intensity data of each measuring point to obtain basic magnetic field data record;
based on the basic magnetic field data record, performing signal processing on the basic magnetic field data, and removing low-frequency and high-frequency environmental noise by using a band-pass filter to obtain filtered magnetic field data;
based on the filtered magnetic field data, the formula is used:
;
calculating the calibrated magnetic field intensity data to obtain optimized magnetic field data;
Wherein, Representing the data of the intensity of the basic magnetic field,Average noise value representing ambient noiseIndicating the calibrated magnetic field strength data.
The invention improves that the magnetic field distribution information is obtained by the following steps:
Combining the magnetic field intensity information with the geographic position data of the corresponding measuring points by adopting a geographic information system technology based on the optimized magnetic field data to obtain geographic position matched magnetic field data;
Based on the geographic position matched magnetic field data, carrying out spatial correlation analysis on the geographic position matched magnetic field data, detecting position points with the lack of magnetic field intensity, and utilizing the magnetic field data of the adjacent position points to pass through the formula:
;
calculating the magnetic field intensity value of the interpolation point;
Wherein, The magnetic field strength value representing the interpolation point,Represent the firstThe magnetic field strength of the individual locations is such that,Represent the firstThe spatial distance of the individual positions from the interpolation point,In order to smooth the parameters of the image,Representing the total number of adjacent location points;
and constructing a spatially continuous magnetic field distribution map based on the magnetic field intensity value of the interpolation point and combining the magnetic field data matched with the geographic position to obtain magnetic field distribution information.
The invention is improved in that the step of marking potential abnormal areas comprises the following steps:
Based on the magnetic field distribution information, analyzing the magnetic field intensity difference between each data point and the adjacent points by the formula:
;
calculating magnetic field gradient values between adjacent data points;
Wherein, Represents the firstThe magnetic field strength of the data points is calculated,Represents the firstThe magnetic field strength of the data points is calculated,Representing the physical distance between two data points,Is the magnetic field gradient value;
and based on the magnetic field gradient values between the adjacent data points, comparing the magnetic field gradient values with a preset gradient threshold value, screening the data points with the magnetic field gradient values larger than the preset gradient threshold value, and marking potential abnormal areas to obtain an abnormal area identification result.
The invention improves that the acquisition steps of the target distribution classification result are as follows:
based on the abnormal region identification result, performing magnetic dipole analysis on each marked abnormal point, and extracting the intensity and spatial distribution characteristics of the magnetic dipoles to obtain magnetic dipole characteristic data of the abnormal points;
comparing the magnetic dipole characteristic data based on the abnormal points with a preset target physical characteristic database, and passing through the formula:
;
Calculating a feature matching score;
Wherein, Representing the first extracted from the outlierThe characteristic value of the individual magnetic dipoles,Representing the first object of the databaseThe value of the characteristic is a value of,Is the firstThe weight coefficient of each feature is calculated,Is the firstThe standard deviation of the individual features is used,For the feature matching score to be a score,Representing the total number of features;
Based on the feature matching score, selecting the object type with the largest score as a matching type according to the score, and distinguishing each abnormal point from a metal thunder explosion device and a waste metal object to obtain a target distribution classification result.
The invention improves, the step of constructing basic mine sweeping path is:
based on the target distribution classification result, extracting the position of each metal thunder explosion device, and integrating corresponding geographic position data to obtain the space distribution information of the metal thunder explosion devices;
Based on the space distribution information of the metal thunder explosion device, comparing with boundary data of a wind power area, and passing through the formula:
;
Calculating the total distance of the shortest path;
Wherein, For the total distance of the shortest path,Is the firstThe geographical coordinates of the individual nodes are used,Representing the total number of nodes in the path,,Is thatGeographic coordinates of the individual nodes;
And extracting the corresponding node access sequence based on the shortest path total distance, and marking key turning points and necessary nodes to obtain basic mine sweeping path construction information.
The invention improves that the acquisition steps of the optimized path sequence are as follows:
Collecting real-time environmental data of a target sea area, including water flow speed and wind speed, based on the basic mine sweeping path construction information to obtain environmental impact data;
Based on the environmental impact data, the following formula:
;
Calculating path cost;
Wherein, Representing the total number of nodes in the path,In order to be a cost of the path,Is the firstThe wind speed of the individual nodes,Is the firstThe included angle between the wind speed of each node and the direction of the path,Is the firstThe water flow rate of the individual nodes,Is the firstThe included angle between the water flow of each node and the path direction,In order to achieve an optimum running speed, the vehicle is provided with a control device,Is a slave nodeTo the point ofIs a path segment length of (a);
And extracting a path with the lowest cost based on the path cost, comparing the construction information of the basic mine sweeping path, and selecting a target path according to the current mine sweeping requirement to obtain an optimized path sequence.
The invention improves that the acquisition steps of the path coverage verification result are as follows:
Based on the optimized path sequence, importing the optimized path sequence into a simulation environment, and combining spatial data of each node and target point positions associated with the path to obtain spatial mapping data of the path and the target point positions;
Based on the space mapping data of the paths and the target points, carrying out coverage analysis, verifying whether each path node covers a preset target area, and identifying and recording an uncovered area to obtain a coverage analysis result;
Based on the coverage analysis result, according to the identified uncovered area, the position and sequence of the path nodes are adjusted, the path is optimized, each target point position is covered, and the path coverage verification result is obtained.
Compared with the prior art, the invention has the advantages and positive effects that:
According to the invention, the magnetic field intensity of an operation area is detected in real time, the interference of environmental noise is eliminated, the accurate magnetic field data processing and space correlation analysis are realized, the construction of a magnetic field distribution diagram is more continuous and finer, the abnormal points are identified by a gradient analysis method, the magnetic dipole characteristic extraction and the physical characteristic comparison are carried out, the accuracy of target identification is improved, the classification process is optimized, the more accurate distinguishing effect is ensured, and in the aspect of path planning optimization, the path planning is dynamically adjusted by combining the real-time environmental data such as the water flow speed and the wind speed through the space characteristic analysis of the metal thunder explosion device, the double optimization of cost and efficiency is realized, and the operation risk is effectively reduced and the mine sweeping operation efficiency is improved through a method of comprehensively considering the data analysis and the environmental factors.
Drawings
FIG. 1 is a system flow diagram of the present invention;
FIG. 2 is a flow chart of the present invention for rejecting the effects of ambient noise;
FIG. 3 is a flow chart of the present invention for obtaining magnetic field distribution information;
FIG. 4 is a flow chart of the present invention for marking potential anomaly areas;
FIG. 5 is a flow chart of the method for obtaining the target distribution classification result;
FIG. 6 is a flow chart of the present invention for constructing a basic minesweeping path;
FIG. 7 is a flow chart of the present invention for obtaining an optimized path sequence;
fig. 8 is a flowchart of the present invention for obtaining a path coverage verification result.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the invention and simplify description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, in the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to FIG. 1, the invention provides a technical scheme of a path planning and optimizing system for offshore wind power mine sweeping operation, the system comprises:
the magnetic anomaly data processing module is used for detecting the magnetic field intensity value of an operation area in real time based on marine magnetometer equipment, screening magnetic field data of each measuring point, eliminating the influence of environmental noise, carrying out spatial correlation analysis on the magnetic field data, matching the magnetic field intensity with a geographic position, carrying out spatial distribution reconstruction on the matched data, and constructing a continuous magnetic field distribution map to obtain magnetic field distribution information;
The target identification classification module detects abnormal points of magnetic field data based on magnetic field distribution information by using a gradient analysis method, marks potential abnormal areas by comparing magnetic field intensity gradients of adjacent data points, extracts signal characteristics of the marked abnormal points, extracts magnetic dipole intensity and distribution characteristics of each abnormal point, classifies the abnormal points by comparing the abnormal points with a preset target physical characteristic database, and distinguishes a metal thunder explosion device from waste metal objects to obtain a target distribution classification result;
The path planning optimization module analyzes the spatial distribution characteristics of the metal thunder explosion device based on the target distribution classification result, integrates the geographic position data of each target point, performs comparison analysis with the boundary of the wind power area, analyzes the shortest distance and the optimal access sequence, constructs a basic thunder sweeping path, analyzes the path cost according to real-time environment data including the water flow speed and the wind speed, and selects a target path to obtain an optimized path sequence;
The path simulation verification module loads space data of each path node and a target point location in a simulation environment based on an optimized path sequence, performs coverage analysis, verifies whether the path of each node covers a target area, adjusts path nodes of the uncovered area, and effectively covers the optimized target point location to obtain a path coverage verification result;
The magnetic field distribution information comprises magnetic field intensity information and geographic coordinate information, the target distribution classification result comprises metal thunder explosion device identification information, waste metal object identification information and magnetic dipole characteristics, the optimized path sequence comprises path cost evaluation information, security level evaluation information and environment adaptability adjustment information, and the path coverage verification result comprises coverage integrity analysis, node adjustment record and target coverage state.
Referring to fig. 2, the step of eliminating the influence of environmental noise is as follows:
Based on marine magnetometer equipment, detecting the magnetic field intensity value of an operation area in real time, and collecting basic magnetic field intensity data of each measuring point to obtain basic magnetic field data record;
The magnetic characteristics of a metal or geological structure are determined by using a high-precision magnetometer based on marine magnetometer equipment, the magnetometer can capture magnetic field data of each measuring point, the positioning precision and the measuring frequency of the magnetometer are key parameters, the magnetometer must be precisely adjusted to adapt to different depths and ocean conditions, in practical operation, the equipment is usually arranged on a ship body and scans on a preset route, the selection of sampling points is based on a preset grid mode so as to ensure that a specific area is covered, the sampling frequency and the running speed of the equipment can be adjusted according to the ocean fluidity and the complexity of the ocean floor geology, so that high-quality data are ensured to be obtained, and the initial processing of the data comprises basic cleaning and correction so as to exclude the magnetic field interference and other potential error sources of the equipment.
Based on the basic magnetic field data record, performing signal processing on the basic magnetic field data, and removing low-frequency and high-frequency environmental noise by utilizing a band-pass filter to obtain filtered magnetic field data;
The collected basic magnetic field data needs to be subjected to signal processing to remove noise, a band-pass filter technology is mainly used in the process, a band-pass filter allows signals in a specific frequency range to block other frequency signals, which is important for improving the data quality, in practical operation, the low-frequency and high-frequency cut-off thresholds of filtering are required to be determined, the thresholds are set according to the characteristics of the magnetic field data and noise data, for example, if a target magnetic field signal is mainly concentrated between 0.1Hz and 10Hz, the low-frequency and high-frequency thresholds can be respectively set to be 0.05Hz and 15Hz, the setting of the thresholds is based on-site data analysis and frequency response testing performed in advance, and in this way, low-frequency noise caused by natural environment factors such as sea waves and wind speed change and high-frequency noise possibly caused by improper operation of electronic equipment can be effectively removed, so that the accuracy and reliability of the data are ensured.
Based on the filtered magnetic field data, the formula is used:
;
calculating the calibrated magnetic field intensity data to obtain optimized magnetic field data;
Wherein, Representing the data of the intensity of the basic magnetic field,An average noise value representing the ambient noise,Representing the calibrated magnetic field strength data;
The formula:
;
The formula has the advantages that by applying the formula, the pure magnetic field signal can be accurately extracted from the original magnetic field data containing noise, wherein Representing the magnetic field data after the bandpass filtering process,By an average value of ambient noise measured without the influence of a magnetic field sourceIndicating the calibrated magnetic field strength data.
Formula details and formula calculation derivation process:
providing raw magnetic field data collected from marine magnetometers After the processing of the band-pass filter, the obtained product is obtained. Examples of the data set are(In nT, natesla). Measurement data of ambient noise under the same measurement conditionsIs that(Unit: nT). For a pair ofAveraging to obtainnT。
The calculation process comprises the following steps:
Solving for Average value of (2):
;
Calculation of :
When (when)At nT:;
When (when) At nT:;
When (when) At nT:;
When (when) At nT:;
The calculation result shows that the purer magnetic field signal can be effectively extracted from the original data through the noise elimination technology.
Referring to fig. 3, the magnetic field distribution information is obtained by:
Based on the optimized magnetic field data, combining the magnetic field intensity information with the geographic position data of the corresponding measuring points by adopting a geographic information system technology to obtain geographic position matched magnetic field data;
The geographic information system technology corresponds the magnetic field intensity data of each measuring point to the geographic position information based on a coordinate matching algorithm, key operations in the process comprise selection and conversion of a coordinate system, synchronization of the data and correction of errors, in actual implementation, the magnetic field data are usually provided in a theodolite form, the geographic information system needs to select WGS84 or other geographic coordinate systems according to project requirements, the coordinate conversion relates to a mathematical conversion formula and a geophysical model, the model considers the influence of irregular shapes and local geographic features of the earth, accurate correspondence of the data is ensured, a spatial database in the geographic information system stores and manages the data, support is provided for subsequent analysis and visualization, and the data are visually displayed through professional geographic information system software to provide a visual geographic position matching magnetic field distribution diagram for a user.
Based on the magnetic field data matched with the geographic position, carrying out spatial correlation analysis on the magnetic field data matched with the geographic position, detecting the position point with the magnetic field intensity missing, and utilizing the magnetic field data of the adjacent position point, wherein the spatial correlation analysis comprises the following steps:
;
calculating the magnetic field intensity value of the interpolation point;
Wherein, The magnetic field strength value representing the interpolation point,Represent the firstThe magnetic field strength of the individual locations is such that,Represent the firstThe spatial distance of the individual positions from the interpolation point,In order to smooth the parameters of the image,Representing the total number of adjacent location points;
The formula:
;
The formula has the advantages that the magnetic field data is optimized through a spatial interpolation method, the continuity and the integrity of the data are enhanced, and for the geographic position with the data loss, the reasonable magnetic field intensity value can be effectively estimated, wherein The magnetic field strength value representing the interpolation point,Represent the firstThe magnetic field strength of the adjacent location,Is the firstThe spatial distance of the individual position points to the interpolation point,Is a smoothing parameter for controlling the intensity of the influence of the distance,Is the total number of neighboring location points.
Formula details and formula calculation derivation process:
for each geographical position with data missing, selecting adjacent position points in a certain range, and for the magnetic field intensity of each adjacent position point Sum distanceMeasuring with 4 adjacent points with magnetic field intensity of respectivelyNT, distances are respectivelyRice, smoothing parameterSet to 10 meters for eachCalculation ofThe specific calculation is as follows:
;
The result shows that by the calculation method, a reasonable magnetic field intensity value after smoothing treatment can be obtained, which is helpful for filling the blank of data, ensuring the space continuity and the integrity of magnetic field data and providing a foundation for further geographic magnetic field analysis.
Based on the magnetic field intensity value of the interpolation point, combining the magnetic field data matched with the geographic position, constructing a spatially continuous magnetic field distribution map, and obtaining magnetic field distribution information;
the geographic information system technology performs gridding treatment on magnetic field intensity data through a space analysis tool, then various visualization technologies such as color gradient, contour lines or thermal point diagrams are applied to convert the data into graphic representations which are easy to understand, the operation comprises the steps of setting layer attributes, adjusting visual effects and optimizing user interaction, in practical application, graphics are usually used for displaying geographic distribution characteristics of a magnetic field, helping researchers identify abnormal areas, and the key of the steps is to select a proper rendering method and adjust graphic parameters so as to achieve optimal visual effects and data accuracy.
Referring to fig. 4, the step of marking the potential abnormal region is:
Based on the magnetic field distribution information, the magnetic field intensity difference between each data point and the adjacent points is analyzed by the formula:
;
calculating magnetic field gradient values between adjacent data points;
Wherein, Represents the firstThe magnetic field strength of the data points is calculated,Represents the firstThe magnetic field strength of the data points is calculated,Representing the physical distance between two data points,Is the magnetic field gradient value;
The formula:
;
The formula is beneficial in that the accurate position of the underwater structure change can be effectively identified by calculating the magnetic field gradient between adjacent data points, wherein AndRespectively represent the firstAnd (d)The magnetic field strength of the data points is calculated,For the physical distance between these two points,Is the calculated magnetic field gradient value.
Formula details and formula calculation derivation process:
In an actual measurement scenario, there are consecutive data points, NT andNT, and the distance between the two pointsMeter, the gradient is calculated as follows:
;
The result shows that the change rate of the magnetic field intensity between each point can be quantified by the method, so that the potential geological or environmental abnormal area can be marked accurately;
based on magnetic field gradient values between adjacent data points, comparing the magnetic field gradient values with a preset gradient threshold value, screening the data points with the magnetic field gradient values larger than the preset gradient threshold value, and marking potential abnormal areas to obtain an abnormal area identification result;
The method comprises the steps of comparing a data point with a preset gradient threshold, screening the data points with the magnetic field gradient value larger than the preset gradient threshold, setting the magnetic field gradient threshold, and automatically scanning all the calculated gradient values, marking potential abnormal areas, highlighting marked points on a map by using a geographic information system and a data visualization tool, and providing the marked points for researchers and decision makers to analyze.
Referring to fig. 5, the target distribution classification result is obtained by the steps of:
based on the abnormal region identification result, carrying out magnetic dipole analysis on each marked abnormal point, extracting the intensity and spatial distribution characteristics of the magnetic dipoles, and obtaining magnetic dipole characteristic data of the abnormal points;
The method is characterized in that based on the abnormal region identification result, abnormal point data are obtained through a high-precision magnetometer, magnetic dipole characteristics of each abnormal point are extracted, wherein the magnetic dipole characteristics comprise intensity and spatial distribution characteristics, key technologies comprise establishment of a magnetic dipole model and parameter estimation, parameters are usually determined by physical properties such as magnetism, conductivity and geological structure, the magnetic dipole characteristic data of each abnormal point are obtained through a comprehensive geographic information system and geophysical measurement data, spatial interpolation and modeling are carried out on magnetic field data, dipole parameters are estimated through a statistical method, noise and uncertainty of the data are considered in the analysis process, and filtering and data smoothing technologies are adopted to improve data quality and analysis precision.
Comparing the magnetic dipole characteristic data based on the abnormal points with a preset target physical characteristic database, and passing through the formula:
;
Calculating a feature matching score;
Wherein, Representing the first extracted from the outlierThe characteristic value of the individual magnetic dipoles,Representing the first object of the databaseThe value of the characteristic is a value of,Is the firstThe weight coefficient of each feature is calculated,Is the firstThe standard deviation of the individual features is used,For the feature matching score to be a score,Representing the total number of features;
The formula:
;
the formula is beneficial in that the matching degree between the magnetic dipole characteristics and the physical characteristics recorded in the target database can be quantified, so that the underwater objects can be effectively identified and classified, and the formula is characterized in that Representing the first magnetic dipole extracted from the anomalyThe value of the characteristic is a value of,Is the first corresponding object in the databaseThe value of the characteristic is a value of,Is a weighting coefficient for the feature, affects the contribution of each feature in the total score,Is the standard deviation, is used to normalize the scale of feature differences, to reduce the impact of dimension and range,Is the calculated feature matching score.
The detailed description of the formula and the calculation and deduction process of the formula are that 3 characteristics are arranged for matching, correspondingThe values are [150, 200, 250],Values of [145, 205, 245], weightsRespectively [0.3, 0.4, 0.3], standard deviationFor [5, 5, 5], the calculation procedure is as follows:
;
A quantitative score can be provided for the similarity between the magnetic dipole signature of each outlier and the signature of the known object, providing basis for identification and classification.
Based on the feature matching score, selecting the object type with the largest score as a matching type according to the score, and distinguishing each abnormal point from a metal thunder explosion device and a waste metal object to obtain a target distribution classification result;
the characteristic matching score of each abnormal point is calculated through the computing platform, then the score is compared with a preset threshold value, the object type most likely to be of each abnormal point is determined, and usually, various possibility comparison and selection are involved, such as a metal thunder explosion device or a waste metal object, in this way, the type of the underwater object can be effectively distinguished, so that more accurate evaluation and management can be carried out on the underwater environment, in addition, the analysis result can provide decision support for geological exploration, environment monitoring or military application, and the classification process depends on a data analysis technology and a decision algorithm, so that the accuracy and reliability of the result are ensured.
Referring to fig. 6, the steps of constructing a basic minesweeping path are:
Based on the target distribution classification result, extracting the position of each metal thunder explosion device, and integrating corresponding geographic position data to obtain the space distribution information of the metal thunder explosion devices;
The integration process of the geographic position data comprises the steps of collecting the accurate coordinates of each marked metal thunder explosion device, and is usually completed by integrating the marked metal thunder explosion device with the existing map data in a geographic information system, point data are converted into a visual space distribution diagram by utilizing geographic information system software, so that the analysis and understanding of the space layout of the thunder explosion device are facilitated, the quality control and the correction of coordinate accuracy of the data are included, the extracted position information is ensured to be accurate, the acquisition of the space distribution information is realized by the archiving and analysis of the geographic coordinates, and the basic data input and editing and the complicated space data processing and analyzing technology are included.
Based on the space distribution information of the metal thunder explosion device, comparing with boundary data of a wind power area, and passing through the formula:
;
Calculating the total distance of the shortest path;
Wherein, For the total distance of the shortest path,Is the firstThe geographical coordinates of the individual nodes are used,Representing the total number of nodes in the path,,Is thatGeographic coordinates of the individual nodes;
The formula:
;
the formula has the advantages that by calculating the shortest distance of all possible paths, the most economical path can be effectively planned, the consumption of resources and time is reduced, and the method comprises the following steps AndRepresent the firstGeographical coordinates of individual nodesAndIs the firstThe geographical coordinates of the individual nodes are used,Is the total number of nodes in the path.
Equation details and equation calculation derivation procedure coordinates provided with three nodes are (1, 2), (3, 5), and (6, 7), respectively, the path calculation procedure is as follows:
;
;
;
The result shows that the total length of the shortest path of the connecting point can be obtained, which is helpful for planning an effective path so as to ensure that all key areas are covered without repeated travelling, and a scientific path planning basis is provided for subsequent mine sweeping or monitoring activities.
Based on the shortest path total distance, extracting a corresponding node access sequence, and marking key turning points and necessary nodes to obtain basic mine sweeping path construction information;
By using the path calculation result, the geographic information system and the path planning software can automatically extract the optimal sequence of the access nodes, the software can also identify and mark key turning points and necessary nodes in the path, the nodes are usually key in path decision, such as turning points possibly related to road intersections, terrain obstacles or other important landmarks, the necessary nodes are unavoidable points in the path, such as important monitoring areas or specific geographic structures, and the analysis also comprises fine adjustment of the path so as to avoid potential dangerous areas or unstable terrains, and the sweeping or monitoring path generated by the process not only considers efficiency, but also considers safety and feasibility, and ensures successful execution of the operation.
Referring to fig. 7, the acquisition steps of the optimized path sequence are:
based on basic mine sweeping path construction information, collecting real-time environment data of a target sea area, including water flow speed and wind speed, and obtaining environment influence data;
The collection of the environmental data comprises real-time monitoring of the water flow speed and the wind speed, and is usually completed through various sensor networks installed in the sea area, the sensors can transmit data to a central monitoring platform in real time, the collected data need to be subjected to preliminary processing including data cleaning and calibration so as to ensure the accuracy and the reliability of the collected data, the obtained environmental impact data after the data processing can provide key input for path optimization, the data are not only used for understanding the current environmental conditions, but also can predict the environmental change trend in a short period, and therefore, the basis is provided for path planning of mine sweeping ships.
Based on the environmental impact data, the following formula:
;
Calculating path cost;
Wherein, Representing the total number of nodes in the path,In order to be a cost of the path,Is the firstThe wind speed of the individual nodes,Is the firstThe included angle between the wind speed of each node and the direction of the path,Is the firstThe water flow rate of the individual nodes,Is the firstThe included angle between the water flow of each node and the path direction,In order to achieve an optimum running speed, the vehicle is provided with a control device,Is a slave nodeTo the point ofIs a path segment length of (a);
The formula:
;
The formula is beneficial in that the influence of wind speed and water flow speed on path cost can be comprehensively considered, and the path is optimized to reduce energy consumption and time, wherein AndRespectively represent at the nodeIs used for controlling the wind speed and the water flow speed of the water pump,AndThe wind speed and the included angle between the water flow and the path direction are respectively,For an optimal speed of travel of the watercraft,For the distance between two continuous nodes, the formula is detailed and the formula calculates the deduction process, namely, assuming that a path consists of two nodes, the distance between the nodes is 100 meters, the wind speed is 2 m/s, the water flow speed is 1 m/s, the included angles between the wind and water flow directions and the path direction are 45 degrees, and the optimal running speed is 5 m/s, the path cost is calculated as follows:
;
The results show that the additional energy consumption and time extension due to adverse environmental conditions can be significantly reduced by optimizing the path.
Based on the path cost, extracting the path with the lowest cost, comparing basic mine sweeping path construction information, and selecting a target path according to the current mine sweeping requirement to obtain an optimized path sequence;
By analyzing all possible path variables, the selected path is compared with the existing basic mine sweeping path, so that the selected path is ensured to be lowest in cost and meet the current mine sweeping requirement, and in addition, the final selection of the path also needs to consider the safety and the execution feasibility, including checking whether the path passes through a possible dangerous area or a sensitive ecological environment, outputting an optimized path sequence, providing specific navigation information for mine sweeping actions and ensuring efficient and safe execution of tasks.
Referring to fig. 8, the path coverage verification result is obtained by the steps of:
based on the optimized path sequence, importing the optimized path sequence into a simulation environment, and combining the spatial data of each node and the target point position associated with the path to obtain spatial mapping data of the path and the target point position;
The importing of the path sequence is completed through geographic information system software, the software can process and analyze path data and visualise the path data, and an operator needs to ensure the consistency of all data coordinates in combination with the spatial data of each node and target point position related to the path so as to ensure the accurate mapping of the spatial data.
Based on the space mapping data of the paths and the target points, carrying out coverage analysis, verifying whether each path node covers a preset target area, and identifying and recording an uncovered area to obtain a coverage analysis result;
by using a space analysis tool such as a coverage analysis tool in ArcGIS, it is possible to verify whether each path node covers a predetermined target area, which involves comparing the geographical information of the target area with the geographical information of the path node, identifying covered and uncovered areas, where all uncovered areas are recorded and marked for subsequent path adjustment, and in addition, the coverage analysis result provides a basis for path optimization, and also provides support for feasibility assessment of the final operation plan, ensuring that all critical target areas can be effectively covered.
Based on the coverage analysis result, according to the identified uncovered area, the position and sequence of the path nodes are adjusted, the path is optimized, each target point location is covered, and the path coverage verification result is obtained.
And (3) according to the identified uncovered areas, re-sequencing and position adjustment of path nodes are carried out by using path optimization software, a genetic algorithm, ant colony optimization or other heuristic algorithms are involved to find an optimal solution, coverage analysis is needed to be carried out again for each adjustment, each adjustment is ensured to approach to a comprehensive coverage target, the final optimized path not only covers all target points, but also takes cost, time and safety into consideration, actual feasibility and high efficiency of the path are ensured, the integrity of coverage and the effectiveness of execution of the optimized path are confirmed through re-simulation verification, and the obtained path coverage verification result provides a solid foundation for subsequent actual operation.
The present invention is not limited to the above embodiments, and any equivalent embodiments which can be changed or modified by the technical disclosure described above can be applied to other fields, but any simple modification, equivalent changes and modification made to the above embodiments according to the technical matter of the present invention will still fall within the scope of the technical disclosure.
Claims (8)
1. The utility model provides a path planning and optimizing system of marine wind-powered electricity generation sweeping operation which characterized in that, the system includes:
The magnetic anomaly data processing module is used for detecting the magnetic field intensity value of an operation area in real time based on marine magnetometer equipment, screening the magnetic field data of each measuring point, eliminating the influence of environmental noise, matching the magnetic field intensity with the geographic position, constructing a continuous magnetic field distribution map and obtaining magnetic field distribution information;
The target identification and classification module marks potential abnormal areas by comparing magnetic field intensity gradients of adjacent data points based on the magnetic field distribution information, extracts signal characteristics of the marked abnormal points, and distinguishes the metal thunder explosion device from the waste metal objects by comparing the marked abnormal points with a preset target physical characteristic database to obtain a target distribution and classification result;
The path planning optimization module analyzes the spatial distribution characteristics of the metal thunder explosion device based on the target distribution classification result, integrates the geographic position data of each target point, performs comparative analysis with the boundary of the wind power area, analyzes the shortest distance and the optimal access sequence, constructs a basic thunder sweeping path, and selects a target path according to real-time environment data including water flow speed and wind speed to obtain an optimized path sequence;
And the path simulation verification module loads the space data of each path node and the target point location in the simulation environment based on the optimized path sequence, performs coverage analysis, verifies whether the path of each node covers the target area, and performs path node adjustment on the uncovered area to obtain a path coverage verification result.
2. The path planning and optimization system for offshore wind turbine operation according to claim 1, wherein the step of eliminating the influence of environmental noise is:
Based on marine magnetometer equipment, detecting the magnetic field intensity value of an operation area in real time, and collecting basic magnetic field intensity data of each measuring point to obtain basic magnetic field data record;
based on the basic magnetic field data record, performing signal processing on the basic magnetic field data, and removing low-frequency and high-frequency environmental noise by using a band-pass filter to obtain filtered magnetic field data;
based on the filtered magnetic field data, the formula is used:
;
calculating the calibrated magnetic field intensity data to obtain optimized magnetic field data;
Wherein, Representing the data of the intensity of the basic magnetic field,An average noise value representing the ambient noise,Indicating the calibrated magnetic field strength data.
3. The path planning and optimizing system for offshore wind power mine sweeping operation according to claim 2, wherein the step of obtaining the magnetic field distribution information is:
Combining the magnetic field intensity information with the geographic position data of the corresponding measuring points by adopting a geographic information system technology based on the optimized magnetic field data to obtain geographic position matched magnetic field data;
Based on the geographic position matched magnetic field data, carrying out spatial correlation analysis on the geographic position matched magnetic field data, detecting position points with the lack of magnetic field intensity, and utilizing the magnetic field data of the adjacent position points to pass through the formula:
;
calculating the magnetic field intensity value of the interpolation point;
Wherein, The magnetic field strength value representing the interpolation point,Represent the firstThe magnetic field strength of the individual locations is such that,Represent the firstThe spatial distance of the individual positions from the interpolation point,In order to smooth the parameters of the image,Representing the total number of adjacent location points;
and constructing a spatially continuous magnetic field distribution map based on the magnetic field intensity value of the interpolation point and combining the magnetic field data matched with the geographic position to obtain magnetic field distribution information.
4. The path planning and optimization system for offshore wind sweeping operation of claim 1, wherein the step of marking potential anomaly areas is:
Based on the magnetic field distribution information, analyzing the magnetic field intensity difference between each data point and the adjacent points by the formula:
;
calculating magnetic field gradient values between adjacent data points;
Wherein, Represents the firstThe magnetic field strength of the data points is calculated,Represents the firstThe magnetic field strength of the data points is calculated,Representing the physical distance between two data points,Is the magnetic field gradient value;
and based on the magnetic field gradient values between the adjacent data points, comparing the magnetic field gradient values with a preset gradient threshold value, screening the data points with the magnetic field gradient values larger than the preset gradient threshold value, and marking potential abnormal areas to obtain an abnormal area identification result.
5. The system for planning and optimizing a path for a wind power mine sweeping operation at sea according to claim 4, wherein the step of obtaining the target distribution classification result is:
based on the abnormal region identification result, performing magnetic dipole analysis on each marked abnormal point, and extracting the intensity and spatial distribution characteristics of the magnetic dipoles to obtain magnetic dipole characteristic data of the abnormal points;
comparing the magnetic dipole characteristic data based on the abnormal points with a preset target physical characteristic database, and passing through the formula:
;
Calculating a feature matching score;
Wherein, Representing the first extracted from the outlierThe characteristic value of the individual magnetic dipoles,Representing the first object of the databaseThe value of the characteristic is a value of,Is the firstThe weight coefficient of each feature is calculated,Is the firstThe standard deviation of the individual features is used,For the feature matching score to be a score,Representing the total number of features;
Based on the feature matching score, selecting the object type with the largest score as a matching type according to the score, and distinguishing each abnormal point from a metal thunder explosion device and a waste metal object to obtain a target distribution classification result.
6. The path planning and optimization system for offshore wind sweeping operation according to claim 1, wherein the step of constructing a basic sweeping path comprises the steps of:
based on the target distribution classification result, extracting the position of each metal thunder explosion device, and integrating corresponding geographic position data to obtain the space distribution information of the metal thunder explosion devices;
Based on the space distribution information of the metal thunder explosion device, comparing with boundary data of a wind power area, and passing through the formula:
;
Calculating the total distance of the shortest path;
Wherein, For the total distance of the shortest path,Is the firstThe geographical coordinates of the individual nodes are used,Representing the total number of nodes in the path,,Is thatGeographic coordinates of the individual nodes;
And extracting the corresponding node access sequence based on the shortest path total distance, and marking key turning points and necessary nodes to obtain basic mine sweeping path construction information.
7. The system for planning and optimizing a path for a wind power sweeping operation at sea according to claim 6, wherein the step of obtaining the optimized path sequence is:
Collecting real-time environmental data of a target sea area, including water flow speed and wind speed, based on the basic mine sweeping path construction information to obtain environmental impact data;
Based on the environmental impact data, the following formula:
;
Calculating path cost;
Wherein, Representing the total number of nodes in the path,In order to be a cost of the path,Is the firstThe wind speed of the individual nodes,Is the firstThe included angle between the wind speed of each node and the direction of the path,Is the firstThe water flow rate of the individual nodes,Is the firstThe included angle between the water flow of each node and the path direction,In order to achieve an optimum running speed, the vehicle is provided with a control device,Is a slave nodeTo the point ofIs a path segment length of (a);
And extracting a path with the lowest cost based on the path cost, comparing the construction information of the basic mine sweeping path, and selecting a target path according to the current mine sweeping requirement to obtain an optimized path sequence.
8. The system for planning and optimizing a path for a wind power sweeping operation at sea according to claim 1, wherein the step of obtaining the path coverage verification result is:
Based on the optimized path sequence, importing the optimized path sequence into a simulation environment, and combining spatial data of each node and target point positions associated with the path to obtain spatial mapping data of the path and the target point positions;
Based on the space mapping data of the paths and the target points, carrying out coverage analysis, verifying whether each path node covers a preset target area, and identifying and recording an uncovered area to obtain a coverage analysis result;
Based on the coverage analysis result, according to the identified uncovered area, the position and sequence of the path nodes are adjusted, the path is optimized, each target point position is covered, and the path coverage verification result is obtained.
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