CN110162048A - Motion compensation process and system between a kind of ship - Google Patents
Motion compensation process and system between a kind of ship Download PDFInfo
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- CN110162048A CN110162048A CN201910427468.1A CN201910427468A CN110162048A CN 110162048 A CN110162048 A CN 110162048A CN 201910427468 A CN201910427468 A CN 201910427468A CN 110162048 A CN110162048 A CN 110162048A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The present invention relates to motion compensation process and system between a kind of ship, system includes: tender, is recharged ship, Stewart platform, intelligent handling facilities, Position and attitude sensor, the first measuring device and master control set.The present invention uses sensor fusion algorithm and convolutional neural networks algorithm, in conjunction with the Position and attitude sensor and untouchable measuring device being mounted on tender, realizes that tender is tracked with the relative motion for being arbitrarily recharged ship；Stewart platform is installed on tender, realizes to tender motion compensation, keeps the industrial robot base position for being mounted on Stewart upper mounting plate relatively stable；It in conjunction with the dynamic movement with suspended load of shipping is recharged, using kinematics solution, controls six degree of freedom intelligence handling facilities and carries out motion compensation to ship is recharged, make transhipment load and be recharged shipping and is dynamic servo-actuated.Compensation precision of the present invention is high, and installation is easy, flexible operation, the operation on the sea suitable for higher sea situation and high requirement.
Description
Technical field
The present invention relates to motion compensation process and systems between compensation of undulation technical field more particularly to a kind of ship.
Background technique
Naval vessel can generate the movement of swaying, surging, heave, rolling, pitching and yawing six degree of freedom under wave effect, right
The safety and precision of seaborne supply operation, which have, to be seriously affected.With the development that ocean development and naval build, seaborne supply is appointed
Business becomes increasingly complex, and the requirement of compensation of undulation technology is also higher and higher.It is existing that six degree of freedom compensating platform is studied mostly
Rest on theoretical research stage.To guarantee the safe and efficient progress of seaborne supply, need through six degree of freedom compensation of undulation technology
To realize that transshipment cargo posture and movement are not influenced by naval vessel relative motion and swing.
Existing wave compensation system only has the function of heave movement or rolling, pitching and heaving movement compensation mostly, no
Have six degree of freedom relative motion compensation and swing and inhibits function.The six degree of freedom compensating platform compensation precision to come into operation on a small quantity
Poor, application is poor.Not can be carried out safety in inclement weather, accurately load is transported, and needs that preferably weather conditions is waited
Execute replenishment operation, poor for applicability, higher cost.And movement supply needs to be fed between particular boat between spot ship,
It can not achieve supply of the tender to any one vessel.
Summary of the invention
To solve the above-mentioned problems, the invention proposes motion compensation process and systems between a kind of ship, make reality between ship
Existing more efficient safely replenishment operation.
Concrete scheme is as follows:
Motion compensating system between a kind of ship, comprising: tender, be recharged ship, Stewart platform, intelligent handling facilities,
Position and attitude sensor, the first measuring device and master control set；
The Stewart platform and Position and attitude sensor are fixedly installed on tender；
First measuring device is fixedly installed relative to tender, for measuring the posture information for being recharged ship；
The intelligence handling facilities include fixing end and the tache motorice relative to fixed end motion, and the fixing end fixation is set
It is placed in the upper end of Stewart platform, the tache motorice is moved according to receiving from the control signal of master control set accordingly；
The master control set is electrically connected in Stewart platform, Position and attitude sensor, the first measuring device and intelligence dress
Equipment is unloaded, the signal measured is sent to master control set respectively by Position and attitude sensor, the first measuring device, and master control set is according to meter
It calculates result control Stewart platform and intelligent handling facilities carries out corresponding sports.
It further, further include hoisting mechanism, suspended load and the second measuring device；The second measuring device fixation is set
It is placed in the tache motorice of intelligent handling facilities, for measuring the posture information of suspended load；The suspended load passes through hoisting mechanism
It is connected to the tache motorice of intelligent handling facilities；The master control set is also electrically connected at the second measuring device and hoisting mechanism, the
The signal measured is sent to master control set by two measuring devices, and master control set controls hoisting mechanism according to calculated result and carries out phase
It should move.
Further, first measuring device includes laser radar and binocular vision.
Further, first measuring device is fixedly installed on Stewart platform upper and close to being recharged the one of ship
Side.
Further, second measuring device includes binocular vision.
Motion compensation process between a kind of ship, based on system described in the embodiment of the present invention, comprising:
Step 1: the six-freedom motion information of Position and attitude sensor detection tender simultaneously sends it to master control set；
Step 2: after master control set receives the six-freedom motion information of tender, carrying out kinematics analysis calculating
The stroke of each driving unit in Stewart platform, and control each driving unit and moved, so that Stewart platform is upper
Platform is kept constant；
Step 3: the detection of the first measuring device is recharged the motion pose information of ship and sends it to master control set；
Step 4: master control set is according to the motion pose information for being recharged ship, computational intelligence handling facilities amount of exercise, in turn
Intelligence handling facilities movement is controlled, the end of the tache motorice of intelligent handling facilities is made move servo-actuated, realization with ship is recharged
Relative motion compensation between two ships.
Motion compensation process between a kind of ship, based on system described in the embodiment of the present invention, comprising:
Step 1: the six-freedom motion information of Position and attitude sensor detection tender simultaneously sends it to master control set；
Step 2: after master control set receives the six-freedom motion information of tender, carrying out kinematics analysis calculating
The stroke of each driving unit in Stewart platform, and control each driving unit and moved, so that Stewart platform is upper
Platform is kept constant；
Step 3: the detection of the first measuring device is recharged the motion pose information of ship and sends it to master control set；
Step 4: the real-time pose information of the second measuring device detection suspended load simultaneously sends it to master control set；
Step 5: master control set is calculated according to the real-time pose information for the motion pose information and suspended load for being recharged ship
The amount of exercise of intelligent handling facilities and hoisting mechanism, and then intelligent handling facilities and hoist engine movement are controlled, it loads and unloads intelligence and sets
Standby tache motorice and suspended load realizes that movement is servo-actuated with ship is recharged.
Further, the motion pose information of the first measuring device detection is laser radar point cloud, stereoscopic parallax and colour
Image.
Further, the specific calculating process of step 4 are as follows:
After master control set carries out sensor fusion algorithm fusion according to the motion pose information for being recharged ship, it is recharged
The untouchable motion pose of ship measures；The algorithm combined using depth convolutional neural networks and long neural network in short-term is to being mended
Short-term prediction is carried out to the motion pose of ship, obtains the short-term prediction motion pose for being recharged ship；Further according to being recharged the short of ship
When predicted motion pose to intelligent handling facilities carry out kinematic calculation, obtain intelligent handling facilities amount of exercise.
Further, it first carries out carrying out after inverse kinematic obtains more solutions of movable joint headed by the kinematic calculation
Forward kinematics solution is verified, and the optimal solution of obtained movable joint is intelligent handling facilities amount of exercise.
The present invention uses technical solution as above, and has the advantages that
(1) sensor fusion algorithm and convolutional neural networks algorithm are used, in conjunction with the pose sensing being mounted on tender
Device and untouchable measuring system realize that tender is tracked with the relative motion for being arbitrarily recharged ship；
(2) Stewart platform is installed on tender, is realized to tender motion compensation, makes to be mounted on and be put down on Stewart
The base position of the intelligent handling facilities of platform is relatively stable；
(3) it combines and is recharged the dynamic and suspended movement of shipping, using kinematics solution, controlling six degree of freedom, intelligently handling are set
It is servo-actuated for ship progress motion compensation is recharged, making transhipment load and being recharged shipping to move；
(4) compensation precision is high, and installation is easy, flexible operation, the operation on the sea suitable for higher sea situation and high requirement.
Detailed description of the invention
Fig. 1 show the system schematic of the embodiment of the present invention one.
Fig. 2 show the method flow schematic diagram of the embodiment.
Fig. 3 show the schematic diagram of Stewart platform in the embodiment.
Fig. 4 show the structural schematic diagram of intelligent handling facilities in the embodiment.
Fig. 5 show the schematic diagram of the artis projection rotation of intelligent handling facilities in the embodiment.
Fig. 6 show the plane double link elbow structure schematic diagram of intelligent handling facilities in the embodiment.
Fig. 7 show 3D motion model of the suspended load based on Eulerian angles in the embodiment.
Fig. 8, which is shown in the embodiment, is recharged ship real time kinematics position-pose measurement structural schematic diagram.
Fig. 9, which is shown in the embodiment, is recharged ship motion pose prediction algorithm structural schematic diagram in short-term.
Figure 10 show suspended load real-time pose Measurement Algorithm structural schematic diagram in the embodiment.
Specific embodiment
To further illustrate that each embodiment, the present invention are provided with attached drawing.These attached drawings are that the invention discloses one of content
Point, mainly to illustrate embodiment, and the associated description of specification can be cooperated to explain the operation principles of embodiment.Cooperation ginseng
These contents are examined, those of ordinary skill in the art will be understood that other possible embodiments and advantages of the present invention.
Now in conjunction with the drawings and specific embodiments, the present invention is further described.
Embodiment one:
As shown in Figure 1, the embodiment of the present invention one provides motion compensating system between a kind of ship, including tender, mended
To ship, Stewart platform (SPs), intelligent handling facilities, hoisting mechanism, suspended load, Position and attitude sensor, the first measuring device,
Second measuring device and main control computer.
It the tender and is recharged ship and substantially stops side by side.
The Stewart platform and Position and attitude sensor are fixedly installed on tender.In the embodiment, the pose sensing
Device is Inertial Measurement Unit (IMU), in other embodiments or other commonly used equipments, such as gyroscope, accelerometer, fortune
The sensor of one or more sensor fusions such as dynamic reference unit (MRU), herein with no restrictions.
First measuring device is fixedly installed on Stewart platform.In the embodiment, first measuring device is excellent
Choosing includes laser radar and binocular vision.Laser radar can provide accurate depth information, but its cloud density is excessively dilute
Dredge, the picture point less than sum 6% be only provided, can not all obvious objects in covering scene, and colouring information can not be obtained, it is right
Understand and perception 3D scene is very unfavorable.Binocular vision can provide dense depth information, but it calculates complicated and accuracy
It is lower.Therefore the deep learning method merged using laser radar and binocular vision information, to untouchable detection method
Advantage complementation is carried out, realizes the accurate real-time detection to the motion pose for being recharged ship.
The intelligence handling facilities include fixing end and tache motorice, and the fixing end is fixedly installed on Stewart platform
Upper end, the tache motorice are moved according to receiving from the control signal of main control computer accordingly.In the embodiment, the intelligence
Energy handling facilities are six degree of freedom, and the mechanical arm of six degree of freedom is tache motorice.
Second measuring device is fixedly installed on the tache motorice of the intelligent handling facilities.In the embodiment, described
Two measuring devices include binocular vision.
It should be noted that first measuring device and the second measuring device may each be reference others independently of two
The untouchable measuring device of outboard replaces, such as visual sensor, 3D sensor, ultrasonic sensor, laser sensor.
The suspended load is connected to the tache motorice of the intelligent handling facilities by hoisting mechanism.In the embodiment, institute
Stating hoisting mechanism includes hoist engine and lifting rope.
The main control computer is related to real time kinematics control and mass data processing and calculates, and needs using high-performance calculation
Machine.
The master control set is electrically connected to be surveyed in Stewart platform, Position and attitude sensor, the first measuring device, second
Equipment, hoisting mechanism and intelligent handling facilities are measured, Position and attitude sensor, the first measuring device, the second measuring device respectively will measurements
To signal be sent to master control set, master control set controls Stewart platform, hoisting mechanism and intelligence according to calculated result and loads and unloads
Equipment carries out corresponding sports.
With reference to Fig. 2, which can realize two kinds of functions according to the demand of user:
Function one: relative motion compensation between two ships is realized
When realizing the function, hoisting mechanism, suspended load and the second measuring device in system be then not required to it is to be used,
Its motion compensation process realized are as follows:
Step 1: Position and attitude sensor obtains the six-freedom motion information of tender and passes it to main control computer.
The movement that boat deck can be fed with real-time detection using the Position and attitude sensor being mounted on tender, obtains tender
Real-time six-freedom motion pose.
Step 2: after main control computer receives the six-freedom motion information of tender, kinematics analysis calculating is carried out
The stroke of each driving unit in Stewart platform is obtained, and controls each driving unit real time kinematics, so that Stewart platform
Upper mounting plate is kept constant, and realizes the motion compensation of tender.
The Stewart platform is parallel robot, and inverse solution is unique, therefore can get each electric cylinders by Inverse Kinematics solution
Unique motion solution.
The detailed process of the kinematics analysis are as follows: calculate the specific control of each driving unit (being electric cylinders in the embodiment)
Corresponding relationship between the position of target processed and platform stance, velocity and acceleration, and according to the six-freedom motion of tender
Information and expected pose (keeping constant) obtain the control parameter of each driving unit by inverse kinematic.Use PID control
Each electric cylinders movement of device real-time control, compensates tender movement, keeps constant the upper mounting plate of stewart platform, realize
The motion compensation of tender.
As shown in figure 3, being the structure diagram of Stewart platform, coordinate system W is to maintain the coordinate system of constant plane, coordinate
It is P is in the reference frame of dynamic plane, the coordinate of the platform coordinate system is that origin is p0(x,y,z)T。ai(x, y, z) and bi
(x, y, z) is respectively two platforms, six twisted points relative to the coordinate points under W coordinate system.
Six variables set q=s (x, y, z, φ, θ, ψ) of the coordinate system W relative to the position and direction of coordinate system PT, (φ, θ,
It ψ) is one group of Eulerian angles that posture is indicated using ZXZ Eulerian angles.It can be by tabling look-up to obtain the rotational transformation matrix of Two coordinate systemWRP。
It can obtain: ai=x+WRP Pai。
WhereinPai=(xai,yai,zai)TFor moving platform twisted point aiIt is the coordinate vector relative to coordinate system P, x is initial shape
Coordinate value of the moving platform coordinate system relative to W coordinate system under state.Then joint space coordinate vector l is defined as l=(l1,l2,l3,
l4,l5,l6)T, wherein LiFor bar long vector, liFor the length of i=1 to six, the 6 platform electronic cylinder rods of number, position-based routing passes through
Upper lower platform hinge coordinate vector, which subtracts each other modulus, can be obtained the elongation of six cylinders:
Li=ai-bi
Angular velocity omega=(ω by moving platform relative to coordinate system Wx,ωy,ωz)TWith angular acceleration=(αx,αy,αz)T
Be expressed as the single order of Eulerian angles and Jacobian matrix and the function of second dervative, solve each electronic cylinder rod inverse kinematics speed and
Acceleration.
Step 3: the first measuring device obtains the motion pose information for being recharged ship, and the motion pose information is sent
To main control computer.
In order to feed to various ships, need to study untouchable measurement to detect the motion bit for being recharged ship
Appearance.Add the untouchable measurement method of binocular vision to detect the movement for being recharged ship using laser radar in the embodiment, makes
3D laser radar point cloud is obtained with laser radar, obtains stereoscopic parallax and color image using binocular vision.
Step 4: main control computer is according to the motion pose information for being recharged ship, computational intelligence handling facilities amount of exercise, into
And control intelligent handling facilities movement, make the end of the tache motorice of intelligent handling facilities and be recharged ship to carry out movement servo-actuated, it is real
Relative motion compensation between existing two ships.
Specifically: master control set according to be recharged ship motion pose information carry out neural network fusion algorithm, obtain by
The untouchable motion pose of tender measures；The algorithm pair combined using depth convolutional neural networks and long neural network in short-term
The motion pose for being recharged ship carries out short-term prediction, obtains the short-term prediction motion pose for being recharged ship；Further according to being recharged ship
Short-term prediction motion pose to intelligent handling facilities carry out kinematic calculation, obtain intelligent handling facilities amount of exercise.The fortune
Dynamic is calculated as carrying out first after inverse kinematic obtains more solutions of movable joint, is carried out forward kinematics solution and is verified, is obtained
The optimal solution of movable joint be intelligent handling facilities amount of exercise.
In the embodiment, according to the stereo-picture that binocular camera generates, Stereo Matching Algorithm (such as SGM, MC- are used
CNN dense disparity map) is generated；According to the 3D laser radar point cloud that laser radar generates, obtained from sparse laser radar point cloud
LIDAR sparse depth figure.Two disparity maps and binocular camera left color image are recharged respectively using YOLO algorithm
Ship detection carries out laser radar-stereo vision sensor fusion, carries out feature extraction and non-maximum by depth convolutional network
Restrainable algorithms (NMS), output are recharged ship real time kinematics pose.Its neural network structure is as shown in Figure 8.
Using based on depth convolution length, neural network carries out being recharged the dynamic prediction of pose in short-term of shipping in short-term in the embodiment.
In the algorithm that depth convolution CNN and shot and long term memory network (LSTM) combine, CNN is suitble to extract the space of data
Feature reduces data dimension；And multilayer shot and long term memory network is suitble to obtain the temporal characteristics of data, has long-term memory function
Can, it is suitble to processing time series；The predictive ability of model is improved using depth convolution sum multilayer shot and long term memory network.
It is t (x, y, z, α, β, γ) that a certain moment t, which is recharged ship athletic posture,T, t is a certain specific moment for being spaced T, t+
N be t moment backward the n interval T at the time of, take the ship athletic posture that is recharged at (t ..., t+n) moment to be recharged shipping for one group
Dynamic time series.T value should be less than 0.5s, and n should be greater than 10.To be recharged the input of ship athletic posture time series as network,
The time series data of input is successively generated into characteristic pattern using the mode of sliding window, the characteristic pattern of input is also in temporal sequence
Arrangement, pre- measured frequency should be lower than 0.5s.Depth convolution CNN designs the convolutional layer that is of five storeys, and every layer includes convolution sum pond, most laggard
Row flattening operation (Flatten) compresses data into one-dimensional vector array.Multilayer shot and long term memory network, which designs, 2 layers, most
The vector of specified format is exported by full articulamentum afterwards, i.e. subsequent time is recharged ship athletic posture.Its neural network structure
Model is as shown in Figure 9.
Function two: further including realizing the cargo rocking-prevention function for being recharged ship in addition to function one
It to realize the function, needs using all devices into the system, first three steps and function in implementation step
One first three steps are identical, variant since four steps, it may be assumed that
Step 4: the second measuring device obtains the real-time pose information of suspended load, and is transferred to main control computer.
In the embodiment, the real-time pose information of suspended load is obtained using binocular vision.
Step 5: real-time pose information of the master control set according to the motion pose information and suspended load for being recharged ship, benefit
With the amount of exercise of Inverse Kinematics solution computational intelligence handling facilities and hoisting mechanism, and then control intelligent handling facilities and hoist engine
It moves, is servo-actuated the tache motorice of intelligent handling facilities and suspended load with ship realization movement is recharged, is transported relatively between two ships of realization
Dynamic compensation and the swing of suspended load inhibit, that is, realize the cargo rocking-prevention function for being recharged ship.
In this step, the stereo-picture generated according to binocular camera uses Stereo Matching Algorithm (such as SGM, MC-
CNN dense disparity map) is generated.Suspended load is carried out to disparity map and binocular camera left color image respectively using YOLO algorithm
Detection carries out feature extraction and non-maxima suppression algorithm (NMS) by depth convolutional network, exports the real-time position of suspended load
Appearance.Its neural network structure is as shown in Figure 10.
Main control computer combines the short-term prediction motion pose for being recharged ship, and intelligent handling facilities are calculated and suspension carries
The expected pose of lotus carries out the inverse kinematic of intelligent handling facilities and suspended load, then carries out forward kinematics solution verifying, obtain
To optimal motion solution, the cotton rope folding and unfolding of the articulation and hoisting mechanism of intelligent handling facilities is controlled using PID controller, makes intelligence
Energy handling facilities end realizes that movement is servo-actuated with ship is recharged, two ship relative motion compensations of realization, and keeps suspended load swing fast
Speed decaying realizes that suspended swing inhibits.
Since intelligent handling facilities are serial manipulators, inverse kinematic has more solutions, and normal solution has unique solution.Therefore, right
Forward kinematics solution verifying, available optimal joint movement solution are carried out after the more solutions for the movable joint that inverse kinematic obtains.
Intelligent handling facilities kinematics analysis process is illustrated below:
Using six degree of freedom intelligence handling facilities, principle is similar to sixdegree-of-freedom simulation, fully meets marine handling
Equipment precision and freedom degree requirement.Rear three joint lockings of intelligent handling facilities can be made to remove three degree of freedom
It obtains equipment and offshore crane is even more like.Kinematics analysis is carried out to Three Degree Of Freedom serial mechanism, for handling facilities end
Expected pose is solved using inverse kinematics space geometry method, is carried out positive kinematics verifying using D-H parametric method, is made intelligence
Handling facilities quickly and accurately compensate relative motion between two ships in real time.
A) direct kinematics
Direct kinematics are the poses that end effector is determined according to each joint angles.For industrial robot, need to look for
To one group of equation, the Angle Position in joint is can be used in these equations, and velocity and acceleration describes the position of artis as input
It sets, velocity and acceleration.Carry out the direct kinematics for serial manipulator usually using Denavit-Hartenberg (DH) method
Analysis, is with the common method for describing artis pose based on joint angles.
With reference to Fig. 4, DH parameter list is constructed in each set joint part right-handed coordinate system, the wherein rotation of z-axis and joint
Axis alignment.It may then pass through with each homogeneous transform matrix Ai of the product representation of four basic transformations come constructing variable table:
Ai=Rz(θi)Tz(di)Tx(ai)Rx(αi)
In formula, θiIt is the rotation angle of joint i, di, ai, αiIt is connecting rod offset distance, length of connecting rod and connecting rod corner respectively.C and
S is the abbreviation of cos and sin expression formula respectively.This 4 D-H parameters are (to be commonly held within pass by two selected coordinate systems
Save angle on) between relationship determine, thus constitute D-H parameter list, replace forearm with L=d4+d6+dt, obtain machine
Transformation matrix of person joint's point relative to global coordinate system are as follows:
Transformation matrixDirectional information comprising joint of robot point relative to global coordinate system, first three rows first three columns
Element constitutes spin matrix
Transformation matrixIt is relative to global coordinate system that first three element of last column, which describes joint of robot point,
Position is to get the direct kinematics equation for having arrived artis position.
It can the speed of artis position shown of handy Jacobian matrix and joint angular velocimeter to the derivation of positive kinematics formula
Component.Introduce the derivative of Jacobian matrix, the acceleration of available artis position, to solve to obtain by positive kinematics
The position of artis, velocity and acceleration information.
B) inverse kinematics
Inverse kinematics give desired joint of robot point position and derive to joint angles.It is decoupled using geometry
Method derives inverse kinematics.Each joint coordinate system of three-freedom mechanical arm and spatial point projection relation will be as shown in figure 5, wherein will
Body joint point coordinate ZtProject to global coordinate system (x0, y0, z0) X/Y plane.
According to projection relation, robot base is relative to global coordinate system (x0, y0, z0) rotation angle be θ1, size can
To indicate are as follows:
θ1=-a tan2 (yt, xt)
According to the structure of industrial robot it is found that since its forearm relative to elbow joint has an offset distance, and consider work
Industry robot is analyzed by taking the above mode of ancon as an example in the embodiment mostly with the ancon above mode work, specific to tie
Structure is as shown in fig. 6, fixed length can be obtained
Tool coordinates point vector is relative to shoulder joint coordinate system (x2, y2, z2) representation in components be (xt', yt'):
It can obtain:
By the cosine law it is found that in triangle BCa2In: C2=a2 2+B2-2a2B cos(π-α)
And because are as follows: cos2α+sin2α=1
It solves: α=atan2 (sin α, cos α)
So as to derive θAAnd θBAngle:
θA=atan2 (yt', xt′)
θB=atan2 (B sin α, a2+B cosα)
And then the angle in joint 2 can be obtained:
It similarly, can be according to geometrical relationship Derivation joint angle θ3。
The analysis of 3 suspended load 3D modelings:
Suspended load is connected to intelligent handling facilities end by the cotton rope of hoisting mechanism.Using it is assumed hereinafter that outstanding to construct
The three-dimensional motion model of carry lotus.Kinematics analysis of the suspension load based on position, speed, acceleration etc. is carried out based on this model
With derivation.
Payload is assumed the particle with known weight.
Assuming that line is the rigid rod of massless.
The deflection and elongation of line are ignored.
Ignore the friction between cotton rope and artis.
Fig. 7 shows 3D motion model of the suspended load based on Eulerian angles.Suspended load p with quality m1Pass through cotton rope
L is connected to intelligent handling facilities end P0.During exercise, starting is surrounded the rotation angle of x-axis by suspended loadAndAxis rotates angleWithIt is by first rotation angleThe new coordinate system of creation.
The position p of suspended load is expressed based on 3D motion model shown in Fig. 71And speed
By deriving the kinetic energy of suspended load, suspended load dynamic motion equation is formulated using lagrangian.Pass through
Eulerian anglesWithTo indicate and control the pose of suspended load.
The present embodiment the utility model has the advantages that
1) between the ship to come into operation at present motion compensating system be mostly heave compensation system and the degree of automation, precision not
Height not can be carried out replenishment operation between ship under higher job requirements and higher sea situation.The present embodiment uses Stewart platform
Motion compensation is carried out to tender, motion compensation is carried out to ship is recharged using six degree of freedom intelligence handling facilities, realizes higher
Operation between ship under job requirements and higher sea situation.
2) replenishment operation is only applicable to particular vessel between spot ship, and this patent obtains quilt using untouchable measurement method
The motion pose of tender realizes the motion detection for being arbitrarily recharged ship.
3) the real-time fortune for obtaining with neural network algorithm and being recharged ship is merged with laser radar sensor using binocular vision
Dynamic pose carries out short-term prediction to ship athletic posture is recharged by the long neural network algorithm combined in short-term of depth convolution sum,
It realizes and is efficiently recharged the untouchable detection of ship athletic posture in real time.
4) real-time pose that suspended load is obtained using binocular vision and convolutional neural networks algorithm, makes the pendulum of suspended load
Dynamic detection is more quickly accurate, inhibits research significant the swing of suspended load.
5) the present embodiment applies also for developing the security functions such as anticollision emergency stop in motion compensating system between ship.
Although specifically showing and describing the present invention in conjunction with preferred embodiment, those skilled in the art should be bright
It is white, it is not departing from the spirit and scope of the present invention defined by the appended claims, it in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (10)
1. motion compensating system between a kind of ship characterized by comprising tender is recharged ship, Stewart platform, intelligence
Handling facilities, Position and attitude sensor, the first measuring device and master control set；
The Stewart platform and Position and attitude sensor are fixedly installed on tender；
First measuring device is fixedly installed relative to tender, for measuring the posture information for being recharged ship；
The intelligence handling facilities include fixing end and the tache motorice relative to fixed end motion, and the fixing end is fixedly installed on
The upper end of Stewart platform, the tache motorice are moved according to receiving from the control signal of master control set accordingly；
The master control set is electrically connected to be set in Stewart platform, Position and attitude sensor, the first measuring device and intelligence handling
Standby, the signal measured is sent to master control set respectively by Position and attitude sensor, the first measuring device, and master control set is tied according to calculating
Fruit controls Stewart platform and intelligent handling facilities carry out corresponding sports.
2. system according to claim 1, it is characterised in that: further include that hoisting mechanism, suspended load and the second measurement are set
It is standby；Second measuring device is fixedly installed on the tache motorice of intelligent handling facilities, for measuring the posture information of suspended load；
The suspended load is connected to the tache motorice of intelligent handling facilities by hoisting mechanism；The master control set is also electrically connected at
The signal measured is sent to master control set by two measuring devices and hoisting mechanism, the second measuring device, and master control set is according to meter
It calculates result control hoisting mechanism and carries out corresponding sports.
3. system according to claim 1, it is characterised in that: first measuring device includes laser radar and binocular vision
Feel.
4. system according to claim 1, it is characterised in that: it is flat that first measuring device is fixedly installed on Stewart
Platform top and the close side for being recharged ship.
5. system according to claim 2, it is characterised in that: second measuring device includes binocular vision.
6. motion compensation process between a kind of ship, it is characterised in that: based on the system any in Claims 1 to 5, packet
It includes:
Step 1: the six-freedom motion information of Position and attitude sensor detection tender simultaneously sends it to master control set；
Step 2: after master control set receives the six-freedom motion information of tender, carrying out kinematics analysis and calculate Stewart
The stroke of each driving unit in platform, and control each driving unit and moved, so that the upper mounting plate of Stewart platform is kept
It is constant；
Step 3: the detection of the first measuring device is recharged the motion pose information of ship and sends it to master control set；
Step 4: master control set is controlled according to the motion pose information for being recharged ship, computational intelligence handling facilities amount of exercise
Intelligent handling facilities movement makes the end of the tache motorice of intelligent handling facilities move servo-actuated, two ships of realization with ship is recharged
Between relative motion compensation.
7. according to the method described in claim 6, it is characterized by: the specific calculating process of step 4 are as follows:
After master control set carries out sensor fusion algorithm fusion according to the motion pose information for being recharged ship, obtain being recharged ship
Untouchable motion pose measurement；The algorithm combined using depth convolutional neural networks and long neural network in short-term is to being recharged ship
Motion pose carry out short-term prediction, obtain the short-term prediction motion pose for being recharged ship；Further according to being recharged the pre- in short-term of ship
It surveys motion pose and kinematic calculation is carried out to intelligent handling facilities, obtain intelligent handling facilities amount of exercise.
8. according to the method described in claim 7, being obtained it is characterized by: first carrying out inverse kinematic headed by the kinematic calculation
It to after more solutions of movable joint, carries out forward kinematics solution and is verified, the optimal solution of obtained movable joint is that intelligence handling are set
Received shipment momentum.
9. motion compensation process between a kind of ship, it is characterised in that: based on system described in claim 2 or 5, comprising:
Step 1: the six-freedom motion information of Position and attitude sensor detection tender simultaneously sends it to master control set；
Step 2: after master control set receives the six-freedom motion information of tender, carrying out kinematics analysis and calculate Stewart
The stroke of each driving unit in platform, and control each driving unit and moved, so that the upper mounting plate of Stewart platform is kept
It is constant；
Step 3: the detection of the first measuring device is recharged the motion pose information of ship and sends it to master control set；
Step 4: the real-time pose information of the second measuring device detection suspended load simultaneously sends it to master control set；
Step 5: real-time pose information of the master control set according to the motion pose information and suspended load for being recharged ship, computational intelligence
The amount of exercise of handling facilities and hoisting mechanism, and then intelligent handling facilities and hoist engine movement are controlled, make intelligent handling facilities
Tache motorice and suspended load are servo-actuated with ship realization movement is recharged.
10. method according to claim 6 or 9, it is characterised in that: the first measuring device detection motion pose information be
Laser radar point cloud, stereoscopic parallax and color image.
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