CN106909145A - Unmanned hydrographical survey ship barrier real-time perception obstacle avoidance system and method - Google Patents

Unmanned hydrographical survey ship barrier real-time perception obstacle avoidance system and method Download PDF

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Publication number
CN106909145A
CN106909145A CN201710096327.7A CN201710096327A CN106909145A CN 106909145 A CN106909145 A CN 106909145A CN 201710096327 A CN201710096327 A CN 201710096327A CN 106909145 A CN106909145 A CN 106909145A
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ship
time
barrier
map
planning
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CN106909145B (en
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吴青
骆天骄
谢朔
初秀民
陈德山
余必秀
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Abstract

The present invention provides a kind of unmanned hydrographical survey ship barrier Real Time Obstacle Avoiding system, and it includes ship's fix unit；Environment sensing unit utilizes at least 2 kinds a range of obstacle informations of environment sensing sensor senses, the obstacle information that each environment sensing sensor is detected is carried out into data fusion, object matching and superposition are carried out to the region that detection overlaps, and combine ship real-time coordinates, dyspoiesis thing map, centered on the Obstacle Position for detecting, the barrier zone of influence that border circular areas can not pass through as path planning circuit is set using certain radius, so as to constitute the map for path planning；Path planning unit, according to the map for path planning, carries out planning driving path on the course line for setting；Control unit controls ship to be navigated by water according to the driving path planned.The present invention enables unmanned boat independently to travel, independently perception, contexture by self, automatic obstacle avoiding and independently return course line, improves unmanned hydrographical survey ship safety coefficient and operating efficiency.

Description

Unmanned hydrographical survey ship barrier real-time perception obstacle avoidance system and method
Technical field
The invention belongs to environment sensing and path planning field, and in particular to a kind of unmanned hydrographical survey ship barrier is real-time Obstacle avoidance system and method.
Background technology
In recent years, with the development of science and technology increasing new technology is applied in water course survey operation, greatly carry The efficiency of water course survey high.Water course survey is by measuring underwater topography landforms for marine navigator provides the reef in navigation channel etc. The position of barrier and height, it is unimpeded to shipping safety most important.Most of water course survey work at present are thrown by being accomplished manually The manpower and materials for entering are big, inefficiency, and easily cause human safety issues when being measured to shoal, depression, have The water course survey unit unmanned boat that takes the lead in being manipulated using someone carry out water course survey work, but it needs special messenger to be controlled at bank end Whether platform monitoring front has barrier, then needs to be transferred to manual manipulation if barrier, is allowed for access certainly after circumventing barrier Dynamic transport condition.This mode be unable to do without the supervision of people, easily causes accident because console personnel are absent minded, it is difficult to The functions such as course line are independently returned after realizing autonomous environment sensing, automatic obstacle avoiding and avoidance.
The content of the invention
The technical problem to be solved in the present invention is：A kind of unmanned hydrographical survey ship barrier Real Time Obstacle Avoiding system and side are provided Method, can perceptual positioning water hazard thing, autonomous cut-through thing and return measurement course line continue measure work.
The present invention is for the solution technical scheme taken of above-mentioned technical problem：A kind of unmanned hydrographical survey ship barrier reality When obstacle avoidance system, it is characterised in that：It includes：
Ship's fix unit, for being positioned in real time to ship, obtains ship real-time coordinates；
Environment sensing unit, for utilizing at least 2 kinds a range of obstacle informations of environment sensing sensor senses, By each environment sensing sensor detect obstacle information carry out data fusion, to detection overlap region carry out object matching and Superposition, and combine ship real-time coordinates, dyspoiesis thing map, centered on the Obstacle Position for detecting, with certain radius The barrier zone of influence that border circular areas can not pass through as path planning circuit is set, so as to constitute the ground for path planning Figure；
Path planning unit, in the course line for setting, according to the map for path planning, carries out planning traveling Path；
Control unit, for controlling ship to be navigated by water according to the driving path planned.
By said system, described path planning unit is specifically on the course line between departure point and air terminal Several nodes are set gradually, be set to present node when time starting point since departure point by ship, and next node is set to When secondary terminal, map is updated；Using algorithm of exploring the way when time starting point between time terminal to when a step is planned, step-length is preset value； When ship reaches the position of step planning, update map and plan next step, until ship running is reached when time terminal；Update When secondary starting point and when time terminal, will present node be set to when time starting point, next node is set to when time terminal, continues to plan Traveling, until reaching air terminal.
By said system, each step in described path planning unit planning present node to the path of next node When, minimum cost is selected, cost formula is as follows：
F=g+h+ α w α ∈ { 0,1 },
Wherein f is cost value, and g is the cost spent from present node to next node, and h is estimated from current point to terminal Cost, w is weight of drifting off the course, and assignment mode is w=kL, and k is proportionality coefficient, and L is off-line distance；When in going home α=1 during state, it is non-go home state when α=0；
Avoidance mode is to set cost weight high to barrier influence area during path planning, to other regions Low cost weight is set, makes programme path cut-through thing；Then enter state of going home after the success of ship avoidance, by assigning The different weight of each point makes programme path return on course line on map.
By said system, described environment sensing unit is included for perceiving 60 meters to 3200 meters of thunders apart from barrier Up to, for perceive 80 meters within apart from barrier laser radar and for perceive 5 meters to the 1500 meters shootings of barrier Head.
A kind of unmanned hydrographical survey ship barrier Real-time Obstacle Avoidance Method, it is characterised in that：It is comprised the following steps：
S1, positioned in real time to ship, obtained ship real-time coordinates；
S2, using at least 2 kinds a range of obstacle informations of environment sensing sensor senses, each environment sensing is passed The obstacle information of sensor detection carries out data fusion, carries out object matching and superposition to the region that detection overlaps, and combine ship Oceangoing ship real-time coordinates, dyspoiesis thing map centered on the Obstacle Position for detecting, sets border circular areas and makees with certain radius It is the barrier zone of influence that path planning circuit can not pass through, so as to constitute the map for path planning；
S3, on the course line for setting, according to the map for path planning, carry out planning driving path；
S4, control ship are navigated by water according to the driving path planned.
As stated above, described S3 is specially：If being set gradually on the course line between departure point and air terminal Be set to present node when time starting point since departure point by dry node, ship, and next node is set to when time terminal, Update map；Using algorithm of exploring the way when time starting point between time terminal to when a step is planned, step-length is preset value；When ship is reached During the position of step planning, update map and plan next step, until ship running is reached when time terminal；Update when time starting point and When secondary terminal, will present node be set to when time starting point, next node is set to when time terminal, continues to plan traveling, until Reach air terminal.
As stated above, when planning present node is to each step in the path of next node, minimum cost, generation are selected Valency formula is as follows：
F=g+h+ α w α ∈ { 0,1 },
Wherein f is cost value, and g is the cost spent from present node to next node, and h is estimated from current point to terminal Cost, w is weight of drifting off the course, and assignment mode is w=kL, and k is proportionality coefficient, and L is off-line distance；When in going home α=1 during state, it is non-go home state when α=0；
Avoidance mode is to set cost weight high to barrier influence area during path planning, to other regions Low cost weight is set, makes programme path cut-through thing；Then enter state of going home after the success of ship avoidance, by assigning The different weight of each point makes programme path return on course line on map.
As stated above, described environment sensing sensor is included for perceiving 60 meters to 3200 meters of thunders apart from barrier Up to, for perceive 80 meters within apart from barrier laser radar and for perceive 5 meters to the 1500 meters shootings of barrier Head.
Beneficial effects of the present invention are：Multisensor carries out environment sensing, obtains the more accurate ground with barrier Figure, then carry out rational path planning, unmanned boat is independently travelled, independently perceptions, contexture by self, automatic obstacle avoiding and oneself Main recurrence course line, improves unmanned hydrographical survey ship safety coefficient and operating efficiency, reduces use cost, makes hydrographical survey ship Can safely and smoothly be worked in compared with complex environment.
Brief description of the drawings
Fig. 1 is water course survey operation setup course line and avoidance course line example.
Fig. 2 is environment sensing workflow.
The unmanned hydrographical survey ship working condition system flow charts of Fig. 3.
Specific embodiment
With reference to instantiation and accompanying drawing, the present invention will be further described.
The present invention provides a kind of unmanned hydrographical survey ship barrier Real Time Obstacle Avoiding system, and it includes：
Ship's fix unit, for being positioned in real time to ship, obtains ship real-time coordinates.In the present embodiment, use GPS and inertial navigation system.
Environment sensing unit, as shown in Fig. 2 for a range of using at least 2 kinds environment sensing sensor senses Obstacle information, data fusion is carried out by the obstacle information that each environment sensing sensor is detected, the region that detection overlaps is entered Row object matching and superposition, and combine ship real-time coordinates, dyspoiesis thing map, in being with the Obstacle Position for detecting The heart, sets the barrier zone of influence that border circular areas can not pass through as path planning circuit, so as to constitute be used for using certain radius The map of path planning.In the present embodiment, environment sensing unit is included for perceiving 60 meters to 3200 meters of thunders apart from barrier Up to, for perceive 80 meters within apart from barrier laser radar and for perceive 5 meters to the 1500 meters shootings of barrier Head.
Path planning unit, in the course line for setting, according to the map for path planning, carries out planning traveling Path；It is specific as shown in figure 1, set gradually several nodes on course line between departure point and air terminal, ship from Departure point starts, and present node is set to when time starting point, and next node is set to, when time terminal, update map；Using spy When time starting point between time terminal to when a step is planned, step-length is preset value to road algorithm；When ship reaches the position of step planning When, update map and plan next step, until ship running is reached when time terminal；Update when time starting point and when time terminal, will Present node is set to when time starting point, and next node is set to when time terminal, continues to plan traveling, until reaching air terminal. When present node is planned to each step in the path of next node, minimum cost is selected, cost formula is as follows：
F=g+h+ α w α ∈ { 0,1 },
Wherein f is cost value, and g is the cost spent from present node to next node, and h is estimated from current point to terminal Cost, w is weight of drifting off the course, and assignment mode is w=kL, and k is proportionality coefficient, and L is off-line distance；When in going home α=1 during state, it is non-go home state when α=0；
Avoidance mode is to set cost weight high to barrier influence area during path planning, to other regions Low cost weight is set, makes programme path cut-through thing；Then enter state of going home after the success of ship avoidance, by assigning The different weight of each point makes programme path return on course line on map.
Control unit, for controlling ship to be navigated by water according to the driving path planned.
A kind of unmanned hydrographical survey ship barrier Real-time Obstacle Avoidance Method, it is comprised the following steps：
S1, positioned in real time to ship, obtained ship real-time coordinates.
S2, using at least 2 kinds a range of obstacle informations of environment sensing sensor senses, each environment sensing is passed The obstacle information of sensor detection carries out data fusion, carries out object matching and superposition to the region that detection overlaps, and combine ship Oceangoing ship real-time coordinates, dyspoiesis thing map centered on the Obstacle Position for detecting, sets border circular areas and makees with certain radius It is the barrier zone of influence that path planning circuit can not pass through, so as to constitute the map for path planning.In the present embodiment, ring Border detecting sensor include for perceiving 60 meters to 3200 meters radars apart from barrier, for perceiving 80 meters within apart from obstacle The laser radar of thing and for perceive 5 meters to the 1500 meters cameras of barrier.
S3, on the course line for setting, according to the map for path planning, carry out planning driving path；Risen in course line Several nodes are set gradually on course line between point and air terminal, ship is set present node since departure point It is that, when time starting point, next node is set to, when time terminal, update map；Using explore the way algorithm when time starting point to when time terminal it Between plan a step, step-length is preset value；When ship reaches the position of step planning, update map and plan next step, until Ship running is reached when time terminal；Update when time starting point and when time terminal, will present node be set to when time starting point, Xia Yijie Point is set to when time terminal, continues to plan traveling, until reaching air terminal.
When planning present node is to each step in the path of next node, minimum cost is selected, cost formula is as follows：
F=g+h+ α w α ∈ { 0,1 },
Wherein f is cost value, and g is the cost spent from present node to next node, and h is estimated from current point to terminal Cost, w is weight of drifting off the course, and assignment mode is w=kL, and k is proportionality coefficient, and L is off-line distance；When in going home α=1 during state, it is non-go home state when α=0；
Avoidance mode is to set cost weight high to barrier influence area during path planning, to other regions Low cost weight is set, makes programme path cut-through thing；Then enter state of going home after the success of ship avoidance, by assigning The different weight of each point makes programme path return on course line on map.
As shown in figure 3, the present embodiment course line by starting point, air terminal and between set several adjacent nodes (node 1, Node 2 ..., node 6) line composition；Then a upper node is set to when ship is between the node of two, course line Starting point, next node is set to terminal；Map is updated, according to the step of algorithmic rule one of exploring the way between origin-to-destination；Work as ship When reaching the position of step planning, update map and plan next step；In this way until ship traveling is reached home (i.e. course line On next node to be reached)；Starting and terminal point is now updated, terminal is set to starting point, next node is set to terminal, In this way until reaching air terminal.
S4, control ship are navigated by water according to the driving path planned.
Be used for for radar, laser radar and camera three different environment sensing equipment and GPS, inertial navigation system by the present invention In unmanned hydrographical survey ship Robot dodge strategy, unmanned boat is independently travelled, independently perception, contexture by self, automatic obstacle avoiding and from Main recurrence course line, improves unmanned hydrographical survey ship safety coefficient and operating efficiency, reduces use cost.
Above example is merely to illustrate design philosophy of the invention and feature, its object is to make technology in the art Personnel will appreciate that present disclosure and implement according to this that protection scope of the present invention is not limited to above-described embodiment.So, it is all according to The equivalent variations made according to disclosed principle, mentality of designing or modification, within protection scope of the present invention.

Claims (8)

1. a kind of unmanned hydrographical survey ship barrier Real Time Obstacle Avoiding system, it is characterised in that：It includes：
Ship's fix unit, for being positioned in real time to ship, obtains ship real-time coordinates；
Environment sensing unit, for utilizing at least 2 kinds a range of obstacle informations of environment sensing sensor senses, will be each The obstacle information of environment sensing sensor detection carries out data fusion, object matching is carried out to the region that detection overlaps and is folded Plus, and ship real-time coordinates are combined, dyspoiesis thing map centered on the Obstacle Position for detecting, is set with certain radius The barrier zone of influence that border circular areas can not pass through as path planning circuit is put, so as to constitute the map for path planning；
Path planning unit, in the course line for setting, according to the map for path planning, carries out planning traveling road Footpath；
Control unit, for controlling ship to be navigated by water according to the driving path planned.
2. unmanned hydrographical survey ship barrier Real Time Obstacle Avoiding system according to claim 1, it is characterised in that：Described road , specifically for setting gradually several nodes on the course line between departure point and air terminal, ship is from boat for footpath planning unit Line starting point starts, and present node is set to when time starting point, and next node is set to, when time terminal, update map；Using exploring the way When time starting point between time terminal to when a step is planned, step-length is preset value to algorithm；When ship reaches the position of step planning, Update map and plan next step, until ship running is reached when time terminal；Update when time starting point and when time terminal, will be current Node is set to when time starting point, and next node is set to when time terminal, continues to plan traveling, until reaching air terminal.
3. unmanned hydrographical survey ship barrier Real Time Obstacle Avoiding system according to claim 2, it is characterised in that：Described road When footpath planning unit plans present node to each step in the path of next node, minimum cost is selected, cost formula is such as Under：
F=g+h+ α w α ∈ { 0,1 },
Wherein f is cost value, and g is the cost spent from present node to next node, estimated generations of the h from current point to terminal Valency, w is weight of drifting off the course, and assignment mode is w=kL, and k is proportionality coefficient, and L is off-line distance；When in shape of going home α=1 during state, it is non-go home state when α=0；
Avoidance mode is to set cost weight high to barrier influence area during path planning, and other regions are set Low cost weight, makes programme path cut-through thing；Then enter state of going home after the success of ship avoidance, by assigning map The different weight of upper each point makes programme path return on course line.
4. unmanned hydrographical survey ship barrier Real Time Obstacle Avoiding system as claimed in any of claims 1 to 3, its feature It is：Described environment sensing unit is included for perceiving 60 meters to 3200 meters radars apart from barrier, for perceiving 80 meters Within apart from barrier laser radar and for perceive 5 meters to the 1500 meters cameras of barrier.
5. a kind of unmanned hydrographical survey ship barrier Real-time Obstacle Avoidance Method, it is characterised in that：It is comprised the following steps：
S1, positioned in real time to ship, obtained ship real-time coordinates；
S2, using at least 2 kinds a range of obstacle informations of environment sensing sensor senses, by each environment sensing sensor The obstacle information of detection carries out data fusion, object matching and superposition is carried out to the region that detection overlaps, and combine ship reality When coordinate, dyspoiesis thing map centered on the Obstacle Position for detecting, border circular areas sets as road using certain radius The barrier zone of influence that footpath planning circuit can not pass through, so as to constitute the map for path planning；
S3, on the course line for setting, according to the map for path planning, carry out planning driving path；
S4, control ship are navigated by water according to the driving path planned.
6. unmanned hydrographical survey ship barrier Real-time Obstacle Avoidance Method according to claim 5, it is characterised in that：Described S3 Specially：Set gradually several nodes on course line between departure point and air terminal, ship since departure point, Present node is set to when time starting point, next node is set to, when time terminal, update map；Using exploring the way, algorithm rises when secondary To when a step is planned between time terminal, step-length is preset value to point；When ship reaches the position of step planning, update map and advise Next step is drawn, until ship running is reached when time terminal；Update when time starting point and when time terminal, will present node be set to work as Secondary starting point, next node is set to when time terminal, continues to plan traveling, until reaching air terminal.
7. unmanned hydrographical survey ship barrier Real-time Obstacle Avoidance Method according to claim 6, it is characterised in that：Planning is current When node is to each step in the path of next node, minimum cost is selected, cost formula is as follows：
F=g+h+ α w α ∈ { 0,1 },
Wherein f is cost value, and g is the cost spent from present node to next node, estimated generations of the h from current point to terminal Valency, w is weight of drifting off the course, and assignment mode is w=kL, and k is proportionality coefficient, and L is off-line distance；When in shape of going home α=1 during state, it is non-go home state when α=0；
Avoidance mode is to set cost weight high to barrier influence area during path planning, and other regions are set Low cost weight, makes programme path cut-through thing；Then enter state of going home after the success of ship avoidance, by assigning map The different weight of upper each point makes programme path return on course line.
8. the unmanned hydrographical survey ship barrier Real-time Obstacle Avoidance Method according to any one in claim 5 to 7, its feature It is：Described environment sensing sensor is included for perceiving 60 meters to 3200 meters radars apart from barrier, for perceiving 80 Apart from the laser radar of barrier and for perceiving 5 meters to the 1500 meters cameras of barrier within rice.
CN201710096327.7A 2017-02-22 2017-02-22 Real-time obstacle sensing and avoiding system and method for unmanned channel survey vessel Expired - Fee Related CN106909145B (en)

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