CN109739238A - A kind of ship automatic berthing system and its working method - Google Patents
A kind of ship automatic berthing system and its working method Download PDFInfo
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Abstract
The invention discloses a kind of ship automatic berthing system and its working method, the system includes navigation elements, motion control unit and bank base monitoring unit.The navigation elements include ship status measurement module and environmental perception module, the motion control unit includes path planning module, by including warning module, early warning display terminal and mode switch module from pool controller module and thrust distribution module, the bank base monitoring unit.Environmental perception module of the invention can reduce influence of the environmental factors such as weather to acquired data accuracy, promote data precision collected.Path planning module of the invention has the function of path planning and Real Time Obstacle Avoiding, and ship can be made to avoid colliding with dealing ship and other barriers during by from pool, improve the safety of system.Warning module of the invention has the function of anti-collision warning, improves by the safety from pool process.Mode switch module of the invention increases the reliability and redundancy of system.
Description
Technical field
The present invention relates to intelligent ship and Ship Controling field, especially a kind of ship automatic berthing system and its work
Method.
Background technique
With the continuous breakthrough of unmanned plane and unmanned vehicle key technology, unmanned boat has become the side of the following ship development
To." the intelligent ship specification 2015 " that China Classification Society is promulgated, it is desirable that ship has automatic berthing manoeuver function.A few days ago, industrial
With information-based portion, Department of Transportation, work office, national defence section also in " the intelligent ship developing activity plan (2019-2021 of joint establishment
Year) " in clearly propose, to break through unmanned boat as early as possible and be leaned on automatically from pool technology.Currently, ship is not during ship is from pool
It only will receive the influence such as motor-driven navigation, bank effect, shallow water effect, also suffer from the shadow of harbour, other ships and barrier
It ringing, ship is generally manipulated by pilot or senior captain from pool, and large ship also needs tugboat to assist, efficiency is lower,
Higher cost, and the risk that human accident occurs is higher.Ship leans on automatically can then well solve the above problem from pool.Cause
This, inventing a kind of ship automatic berthing system and its working method has important engineering significance and realistic meaning.
207529224 U of Chinese patent CN discloses a kind of automatic docking system of ship, by camera in all directions by code
The real-time condition that head stops edge is conveyed to berthing control system, by berthing control system according to the corresponding number of harbour real-time condition
According to propulsion system is adjusted, driving ship realizes automatic berthing；But the accuracy of the information of camera acquisition is only relied upon by day
The such environmental effects such as gas are larger.107065878 A of Chinese patent CN discloses a kind of automatic docking system of ship and method,
Including measuring subsystem, autonomous control subsystem, boat-carrying executing agency, system starting and stopping mechanism；The acquisition of measurement subsystem is simultaneously real-time
Handle ship berthing needed for ship's speed and angle-data, autonomous control subsystem control ship executing agency with realize ship from
Dynamic berthing；But the measurement subsystem of the patent only includes laser range finder and GPS, and data precision collected is up for being promoted.
And above-mentioned patent does not consider path planning problem, cannot achieve ship from during pool to ships other in port and barrier
Collision prevention.
Summary of the invention
To solve the above-mentioned problems of the prior art, the present invention will propose a kind of ship automatic berthing system and its work
Make method, the data precision of influence and promotion acquisition of the such environmental effects such as weather to accuracy can be reduced, and effectively
Improve accuracy of the ship from pool and safety.
To achieve the above object, technical scheme is as follows: a kind of ship automatic berthing system, including navigation is single
Member, motion control unit and bank base monitoring unit.
The navigation elements include ship status measurement module and environmental perception module.The ship status measures mould
Block is made of Beidou receiver, compass and Inertial Measurement Unit；The Beidou receiver acquisition vessel oceangoing ship position signal, it is described
Compass acquires ship yaw angle signal, and the Inertial Measurement Unit acquires yawing, the rolling, angular velocity in pitch signal of ship,
Vessel position and bow for correcting Beidou receiver and compass acquisition is to signal, to obtain accurate vessel position and bow to letter
Number.The environmental perception module includes laser radar, radar, sonar, visual sensor, ship automatic identification system and offline
Electronic chart；The echo-signal of the laser radar, radar, the barrier in sonar acquisition port and quayside edge, it is described
Visual sensor acquires the vision signal of ship ambient enviroment, the ship automatic identification system provide in port Ship Types and
Movement state information, the offline e sea chart provide sea area geographical environment information；The environmental perception module karr
Graceful filtering algorithm merges laser radar, radar, sonar signal collected, and with ship automatic identification system and offline
The information that electronic chart provides carries out Data Matching, to obtain accurate barrier and scene information.
The motion control unit includes path planning module, by from pool controller module and thrust distribution module.Institute
The path planning module stated according to from ship status measurement module vessel position and bow to signal and come from environment sensing
Each obstacle information and scene information in the port of module cook up ship from pool expected path in real time；Described leaning on is controlled from pool
Device module processed, according to the ship from path planning module from pool expected path and ship from ship status measurement module
Position and bow provide ship edge and lean on needed for from pool expected path traveling from pool control resultant force and torque signals to signal；Institute
The thrust distribution module stated is leaned on according to by what is provided from pool controller module from pool control resultant force and torque signals, and it is excellent to carry out thrust
Change distribution, the expectation tach signal that the expectation revolving speed and angular signal, each bow side for providing each all-direction propeller push away.
The bank base monitoring unit includes warning module, early warning display terminal and mode switch module.The early warning
Module each barrier and field into the port of signal and environmental perception module according to the vessel position and bow of ship status measurement module
Scape information, according to ship between each barrier at a distance from and relative velocity judge whether that warning information should be issued；The early warning
Display terminal shows warning information；The mode switch module is by bank base operator's remote command ship automatic berthing system
It is switched between automatic mode and remote control mode.
A kind of working method of ship automatic berthing system, includes the following steps:
A1, ship status measurement module acquire by Beidou receiver, compass and Inertial Measurement Unit and handle ship position
Set with bow to signal and be sent respectively to path planning module, warning module and by from pool controller module.
A2, environmental perception module are believed by each barrier in laser radar, radar, sonar acquisition port and quayside along echo
Number, the vision signal of ship ambient enviroment is acquired by visual sensor, and by Kalman filtering algorithm to letter collected
It number is merged, then the information provided with ship automatic identification system and offline e sea chart carries out Data Matching, obtains accurate
Barrier and scene information, and be sent respectively to path planning module, warning module.
A3, path planning module receive vessel position from ship status measurement module and bow to signal and environment sensing
Each obstacle information and scene information of module are cooked up ship from pool expected path in real time, and are sent to by controlling from pool
Device module.
A4, judge whether there is barrier on expected path, if it is, going to A5；Otherwise, turn A12.
A5, warning module reception vessel position and bow from ship status measurement module to signal and come from environment sensing
Each obstacle information and scene information in the port of module, according to ship between each barrier at a distance from and relative velocity judge whether
Warning information should be issued, and shows warning information on early warning display terminal.
If A6, warning module issue warning information, A7 is gone to；If not issuing warning information, A12 is gone to.
A7, bank base operator judge that ship and each barrier are sent out according to the warning information being shown on early warning display terminal
A possibility that raw collision, decide whether opening remote control mode.
If A8, bank base operator think that ship has risk of collision, opening remote control mode turns A11；Otherwise, ship from
Dynamic lean on continues to keep automatic mode from pool system, turns A9.
A9, path planning module reception vessel position and bow from ship status measurement module to signal and come from environment
Each obstacle information and scene information in the port of sensing module, amendment ship are sent to from pool expected path by controlling from pool
Device module processed.
A10, road it is expected from pool avoidance from the corrected ship of path planning module by receiving from pool controller module
Diameter and vessel position from ship status measurement module and bow provide ship along needed for from pool expected path traveling to signal
By and being sent to thrust distribution module from pool control resultant force and torque signals.
Ship automatic berthing system is switched to remote control mode by mode switch module by A11, bank base operator, remotely
Ship is manipulated from pool, up to Past And Clear, then automatic mode is switched to, turns A12.
A12, by from pool controller module receive the ship from path planning module from pool expected path and come from ship
The vessel position and bow of oceangoing ship state measuring block provide ship edge by controlling from required the leaning on of pool expected path traveling from pool to signal
System resultant force and torque signals, and it is sent to thrust distribution module.
A13, thrust distribution module are received from the ship leaned on from pool controller module along by from pool expected path traveling institute
What is needed leans on from pool control resultant force and torque signals, carries out thrust and optimizes distribution, provides the revolving speed of each all-direction propeller and turns
The tach signal that angle signal and each bow side push away, is sent to the propulsion system of ship, and driving ship is moved from pool.
A14, judge whether ship is completed by manipulating from pool, manipulated if it is, terminating ship from pool；If it is not, then
Go to A1.
Compared with prior art, the invention has the following advantages:
1, environmental perception module of the invention includes laser radar, radar, sonar, visual sensor, ship automatic identification
System and offline e sea chart.In the weather such as heavy rain, heavy snow, haze, the precision of visual sensor acquisition data can obviously drop
It is low, and the electromagnetic wave of radar emission still has stronger penetration capacity under these bad weathers, acquisition data precision is passed than vision
Sensor is high；Sonar can detect underwater barrier；And the information that ship automatic identification system and offline e sea chart provide
It will not be by such environmental effects such as weather；Therefore, by fusion laser radar, radar, sonar, visual sensor signal, and with
The information that ship identification scheme and offline e sea chart provide carries out Data Matching, can reduce the environmental factors such as weather to being acquired
The influence of data accuracy promotes data precision collected.
2, path planning module of the invention has the function of path planning and Real Time Obstacle Avoiding, and ship can be made by from mooring
It avoids colliding with dealing ship and other barriers in journey, improves the safety of system.
3, warning module of the invention has the function of anti-collision warning, allows bank base operator to have time enough to do emergency anti-
It answers, can avoid the collision of ship and each barrier, improve by the safety from pool process.
4, mode switch module of the invention has the function of control mode switch, can be by bank base operator's remote command ship
Automatic berthing system switches between automatic mode and remote control mode.When being in an emergency, bank base operator can be direct
Ship automatic berthing system is switched to remote control mode by mode switch module, increases the reliability and redundancy of system
Property.
Detailed description of the invention
Fig. 1 is ship automatic berthing system working principle diagram.
Fig. 2 is ship automatic berthing system work flow diagram.
Specific embodiment
The present invention is further described through with reference to the accompanying drawing.As shown in Figs. 1-2, ship of the invention lean on automatically from
In automatic mode, path planning module is according to the vessel position and bow from ship status measurement module received for pool system
Each barrier and scene information to signal and in the port from environmental perception module cook up ship expectation by from pool path, and
It is sent to by from pool controller module；By receiving the ship expectation from path planning module from pool controller module by from Bo Lu
Diameter and vessel position from ship status measurement module and bow to signal, calculate ship from control resultant force needed for pool and
Torque, and it is sent to thrust distribution module；Thrust distribution module is received from by controlling from the ship for mooring controller module from pool
System resultant force and torque, provide each propeller revolving speed and angular signal, and be sent to ship, ship is in its each propeller coordination
Driving is lower to be completed by moving from pool；If having barrier during by from pool, warning module can be according to ship and each barrier
Between distance and relative velocity judge whether that warning information should be issued, and show warning information on early warning display terminal；Bank base
Operator determines whether to according to the warning information of display through mode switch module opening remote control mode；It opens if necessary
Remote control mode, remote control manipulation ship is carried out avoidance by bank base operator, until Past And Clear switches back into automatic mode again；Such as
Fruit does not need opening remote control mode, then continues to keep automatic mode, until completing by manipulating from pool.
The present invention is not limited to the present embodiment, any equivalent concepts within the technical scope of the present disclosure or changes
Become, is classified as protection scope of the present invention.
Claims (2)
1. a kind of ship automatic berthing system, it is characterised in that: monitored including navigation elements, motion control unit and bank base single
Member；
The navigation elements include ship status measurement module and environmental perception module, the ship status measurement module by
Beidou receiver, compass and Inertial Measurement Unit composition；The Beidou receiver acquisition vessel oceangoing ship position signal, the compass
Ship yaw angle signal is acquired, yawing, the rolling, angular velocity in pitch signal of the Inertial Measurement Unit acquisition ship are used for
The vessel position and bow for correcting Beidou receiver and compass acquisition are to signal, to obtain accurate vessel position and bow to signal；
The environmental perception module includes laser radar, radar, sonar, visual sensor, ship automatic identification system and offline electricity
Sub- sea chart；The echo-signal of the laser radar, radar, the barrier in sonar acquisition port and quayside edge, the view
Feel the vision signal of sensor acquisition ship ambient enviroment, the ship automatic identification system provides Ship Types and fortune in port
Dynamic status information, the offline e sea chart provide sea area geographical environment information；The environmental perception module uses Kalman
Filtering algorithm merges laser radar, radar, sonar signal collected, and with ship automatic identification system and electric offline
The information that sub- sea chart provides carries out Data Matching, to obtain accurate barrier and scene information；
The motion control unit includes path planning module, by from pool controller module and thrust distribution module；Described
Path planning module according to from ship status measurement module vessel position and bow to signal and come from environmental perception module
Port in each obstacle information and scene information, cook up in real time ship from pool expected path；Described leans on from pool controller
Module, according to the ship from path planning module from pool expected path and vessel position from ship status measurement module
With bow to signal, provides ship edge and lean on needed for from pool expected path traveling from pool control resultant force and torque signals；Described
Thrust distribution module according to by from pool controller module provide by from pool control resultant force with torque signals, carry out thrust optimization point
Match, the expectation tach signal that the expectation revolving speed and angular signal, each bow side for providing each all-direction propeller push away；
The bank base monitoring unit includes warning module, early warning display terminal and mode switch module, the warning module
According to the vessel position of ship status measurement module and bow, into the port of signal and environmental perception module, each barrier and scene are believed
Breath, according to ship between each barrier at a distance from and relative velocity judge whether that warning information should be issued；The early warning is shown
Terminal shows warning information；The mode switch module is by bank base operator remote command ship automatic berthing system certainly
It is switched between dynamic model formula and remote control mode.
2. a kind of working method of ship automatic berthing system, characterized by the following steps:
A1, ship status measurement module by Beidou receiver, compass and Inertial Measurement Unit acquire and handle vessel position and
Bow is to signal and is sent respectively to path planning module, warning module and leans on from pool controller module；
A2, environmental perception module acquire in port each barrier and quayside along echo-signal by laser radar, radar, sonar,
By visual sensor acquire ship ambient enviroment vision signal, and by Kalman filtering algorithm to signal collected into
Row fusion, then the information provided with ship automatic identification system and offline e sea chart carry out Data Matching, obtain accurate barrier
Hinder object and scene information, and is sent respectively to path planning module, warning module；
A3, path planning module receive vessel position from ship status measurement module and bow to signal and environmental perception module
Each obstacle information and scene information, cook up in real time ship from pool expected path, and be sent to by from pool controller mould
Block；
A4, judge whether there is barrier on expected path, if it is, going to A5；Otherwise, turn A12；
A5, warning module reception vessel position and bow from ship status measurement module to signal and come from environmental perception module
Port in each obstacle information and scene information, according to ship between each barrier at a distance from and relative velocity judge whether to send out
Warning information out, and warning information is shown on early warning display terminal；
If A6, warning module issue warning information, A7 is gone to；If not issuing warning information, A12 is gone to；
A7, bank base operator judge that ship is touched with each barrier according to the warning information being shown on early warning display terminal
A possibility that hitting decides whether opening remote control mode；
If A8, bank base operator think that ship has risk of collision, opening remote control mode turns A11；Otherwise, ship leans on automatically
Continue to keep automatic mode from pool system, turns A9；
A9, path planning module reception vessel position and bow from ship status measurement module to signal and come from environment sensing
Each obstacle information and scene information in the port of module, amendment ship are sent to from pool expected path by from pool controller
Module；
A10, by from pool controller module receive from the corrected ship of path planning module from pool avoidance expected path and
Vessel position and bow from ship status measurement module provide ship and lean on along needed for from pool expected path traveling to signal
From pool control resultant force and torque signals, and it is sent to thrust distribution module；
Ship automatic berthing system is switched to remote control mode, remote control by mode switch module by A11, bank base operator
Ship up to Past And Clear, then is switched to automatic mode, turns A12 from pool；
A12, by from pool controller module receive the ship from path planning module from pool expected path and come from ship shape
The vessel position and bow of state measurement module provide ship along by expected path traveling is required to close by controlling from pool from mooring to signal
Power and torque signals, and it is sent to thrust distribution module；
A13, thrust distribution module receive from by from pool controller module ship along by from pool expected path traveling needed for
By carrying out thrust optimization distribution from pool control resultant force and torque signals, the revolving speed and corner letter of each all-direction propeller are provided
Number and the tach signal that pushes away of each bow side, be sent to the propulsion system of ship, driving ship is moved from pool；
A14, judge whether ship is completed by manipulating from pool, manipulated if it is, terminating ship from pool；If it is not, then going to
A1。
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Application publication date: 20190510 |