CN110262483A - A kind of unmanned boat course heading control method and unmanned boat - Google Patents

Abstract

The invention relates to the technical field of ships, and provides an unmanned ship course control method and an unmanned ship; by calculating the safe course angle set of the unmanned ship safely passing through the obstacle area, the next time course change angle set of the unmanned ship is obtained, without The manned ship controls the course of the unmanned ship according to the angle in the set of course change angles at the next moment. Since the course control angle is within the safe navigation range, it has an angle surplus, avoids frequent adjustment of the course angle, and reduces the energy consumption of the unmanned ship; and Since the safe heading angle is a set, as long as the sailing angle of the unmanned ship is within the set range, there is no need to calculate repeatedly, reducing the occupancy rate of computing resources.

Description

A kind of course control method of unmanned ship and unmanned ship

technical field

The present invention relates to the technical field of ships, and more specifically, relates to a method for controlling the course of an unmanned ship and the unmanned ship.

Background technique

In recent years, unmanned ships have been widely used in military and civilian fields such as anti-submarine, marine environment monitoring, autonomous positioning monitoring, and maritime search and rescue due to their advantages such as high degree of automation, strong mobility, and strong anti-interference capabilities, effectively avoiding human factors and The impact of bad weather has greatly improved work efficiency, so it has a wide range of application prospects.

At present, the autonomous navigation of unmanned ships has always been a research hotspot in the field of intelligent ship control, and heading control is one of the key technical issues to realize the intelligent autonomous navigation of unmanned ships. When an unmanned ship encounters an obstacle, it needs to accurately control the course of the unmanned ship and adjust it in real time according to the obtained obstacle data; the frequent adjustment of the course of the unmanned ship requires frequent calculations, which takes up a lot of computing resources and Unmanned ship energy.

Contents of the invention

The purpose of the present invention is to provide an unmanned ship course control method and an unmanned ship. By calculating the safe course angle set of the unmanned ship passing through the obstacle area safely, the next moment course change angle set of the unmanned ship is obtained. The angles in the course change angle set at the next moment control the course of the unmanned ship. Since the course control angle is within the safe navigation range, it has an angle surplus, avoids frequent adjustment of the course angle, and reduces the energy consumption of the unmanned ship; and because the safe course The angle is a set. As long as the sailing angle of the unmanned ship is within the set range, there is no need for repeated calculations, reducing the occupancy rate of computing resources.

In order to achieve the above object, the technical scheme adopted in the present invention is:

Determine that there are obstacles on the route of the unmanned ship; determine the passage course angle when the unmanned ship actually passes through the obstacle area, and the set of safe course angles for the unmanned ship to safely pass through the obstacle area; determine whether the pass course angle is within the set If the passing course angle is not in the set of safe course angles, then calculate the course change angle set of the unmanned ship at the next moment; notify the unmanned ship according to the course change angle set at the next moment The angle to control the course of the unmanned ship.

By calculating the set of safe heading angles for the unmanned ship to safely pass through the obstacle area, the set of heading change angles for the next moment of the unmanned ship is obtained. The unmanned ship controls the heading of the unmanned ship according to the angle in the set of heading change angles at the next moment. The course control angle is within the range of the safe navigation range, which has an angle surplus, avoids frequent adjustment of the course angle, and reduces the energy consumption of the unmanned ship; and because the safe course angle is a set, as long as the unmanned ship's navigation angle is within the set range, there is no need to repeat Computing, reducing computing resource usage.

Further, the real-time heading angle of the unmanned ship, the real-time navigation speed of the unmanned ship, and weather information are obtained, and the passing heading angle of the unmanned ship passing through the obstacle area is determined.

Further, according to the minimum safe course angle in the set of safe course angles and the unmanned ship's passing course angle, a first course angle difference is calculated, and the first course angle difference is used as the course of the unmanned ship at the next moment Transform the lower limit of the set of angles; according to the maximum safe course angle in the set of safe course angles and the passage course angle of the unmanned ship, calculate the second course angle difference, and use the second course angle difference as the next step of the unmanned ship The upper limit of the time heading change angle set.

The sailing course of the unmanned ship is easily affected by the weather information. The weather information is used to calculate the heading angle of the unmanned ship when it passes through the obstacle area, so that the course control of the unmanned ship is more accurate.

Further, determine the minimum safe distance radius for avoiding the obstacle to pass safely, and the maximum distance that the unmanned ship allows to yaw; the unmanned ship passes the tangent angle of the circle corresponding to the minimum safe distance radius, which is the safe heading angle The lower limit of the course angle in the set; the maximum distance allowed by the unmanned ship to yaw as the tangent angle of the circle corresponding to the radius is the upper limit of the course angle in the set of safe course angles.

Determine the upper limit of the course angle in the set of safe course angles according to the maximum distance allowed by the unmanned ship to yaw, which can not only meet the needs of the unmanned ship to avoid obstacles safely, but also meet the requirements of the unmanned ship not to yaw.

Further, there are two or more obstacles on the route of the unmanned ship, and the obstacles are located on one side of the route; then respectively determine the tangent angle of the circle corresponding to the minimum safe distance radius through each obstacle, and take all The intersection of the tangent angles of the circle tangent angles corresponding to the obstacle, and the lower limit of the intersection of the tangent angles is used as the lower limit of the heading angles in the set of safe heading angles.

Further, there are two or more obstacles on the route of the unmanned ship, and the obstacles are located on both sides of the route; respectively determine the tangent angle of the circle corresponding to the minimum safe distance radius through each obstacle; The tangent angle intersection of the circumferential tangent angles corresponding to all obstacles on the left side is used as the first tangent angle intersection, and the lower limit of the first tangent angle intersection is used as the lower limit of the heading angle in the safe heading angle set of the left route, and determined The set of safe heading angles on the left; the intersection of the tangent angles of the circular tangent angles corresponding to all the obstacles on the right side of the airway is used as the second intersection of tangent angles, and the lower limit of the intersection of the second tangent angles is used as the set of safe heading angles of the right airway Set the lower limit of the middle course angle and determine the safe course angle set on the right side.

Further, calculate the left course transition angle set corresponding to the unmanned ship at the next moment according to the left safe course angle set; calculate the right course transition corresponding to the unmanned ship at the next moment according to the right safe course angle set collection of angles.

Further, compare the median angle in the set of left heading transition angles at the next moment with the median angle in the set of right heading transition angles at the next moment, and select the one with the smaller median angle The set is used as the set of heading transition angles of the unmanned ship at the next moment.

When there are multiple obstacles on the route of the unmanned ship, the safe course angle set of the unmanned ship is calculated according to the minimum safe distance of multiple obstacles, and the set of course change angles at the next moment minimizes the course adjustment of the unmanned ship frequency.

Further, determine the median angle in the set of heading transition angles at the next moment; calculate the third heading angle difference according to the median angle in the set of heading transition angles at the next moment, and the real-time heading angle of the unmanned ship value, and use the third course angle difference as the next moment course transition angle of the unmanned ship; notify the unmanned ship to control the course of the unmanned ship according to the next moment course transition angle.

Calculate the course change angle of the unmanned ship at the next moment according to the median angle in the set of course change angles at the next moment of the unmanned ship, so that there is a certain difference between the adjusted route angle of the unmanned ship and the lower limit of the safe course angle set, which can be Reduced the number of course adjustments for unmanned ships.

The solution also includes an unmanned ship, which controls the course angle by any one of the above-mentioned unmanned ship course control methods.

Compared with the prior art, the beneficial effect of the unmanned ship course control method provided by the present invention is: by calculating the safe course angle set of the unmanned ship safely passing through the obstacle area, the next moment course change angle set of the unmanned ship is obtained, and the unmanned ship The ship controls the course of the unmanned ship according to the angle in the set of course change angles at the next moment. Since the course control angle is within the safe navigation range, it has an angle surplus, avoids frequent adjustment of the course angle, and reduces the energy consumption of the unmanned ship; and because The safe heading angle is a set. As long as the unmanned ship's navigation angle is within the set range, it does not need to be calculated repeatedly, reducing the occupancy rate of computing resources.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only of the present invention. For some embodiments, those skilled in the art can also obtain other drawings according to these drawings without paying creative efforts.

Fig. 1 is a schematic diagram of a method for controlling the course of an unmanned ship provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of a specific method for controlling the course of the first unmanned ship provided by an embodiment of the present invention;

Fig. 3 is a schematic diagram of a second specific method for unmanned ship heading control provided by an embodiment of the present invention;

Fig. 4 is a schematic diagram of a third specific method for heading control of an unmanned ship provided by an embodiment of the present invention.

Detailed ways

In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

In order to illustrate the technical solutions of the present invention, specific examples are used below to illustrate.

It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and/or components, but does not exclude one or more other features. , whole, step, operation, element, component and/or the presence or addition of a collection thereof.

It should also be understood that the terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural referents unless the context clearly dictates otherwise.

It should also be further understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations .

As used in this specification and the appended claims, the term "if" may be construed as "when" or "once" or "in response to determining" or "in response to detecting" depending on the context . Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be construed, depending on the context, to mean "once determined" or "in response to the determination" or "once detected [the described condition or event] ]” or “in response to detection of [described condition or event]”.

In addition, in the description of the present application, terms such as "first", "second", and "third" are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

In order to illustrate the technical solution of the present invention, the following will be described in detail in conjunction with specific drawings and embodiments.

As shown in Figure 1, it is a kind of unmanned ship course control method in the embodiment of the present invention, and this method comprises:

Step 101: Determine that there are obstacles on the route of the unmanned ship;

Preferably, it is determined whether there is one obstacle or more than one obstacle on the route of the unmanned ship; if the number of obstacles is multiple, then it is determined whether the plurality of obstacles are distributed on one side of the route or on the side of the route. sides.

Step 102: Determine the passage heading angle when the unmanned ship actually passes through the obstacle area, and the set of safe heading angles for the unmanned ship to safely pass through the obstacle area;

Preferably, the real-time heading angle of the unmanned ship, the real-time sailing speed of the unmanned ship, and meteorological information are obtained to determine the passing heading angle of the unmanned ship when it actually passes through the obstacle area. Since meteorological information, such as wind direction, wind speed, water velocity, ocean currents, tides, etc., have a great influence on the course of the unmanned ship, it is more accurate to determine the heading angle of the unmanned ship when it actually passes through the obstacle area through meteorological information.

Preferably, if there is only one obstacle on the route of the unmanned ship, determine the minimum safe distance radius to avoid the obstacle and the maximum distance allowed by the unmanned ship to yaw; The tangent angle is the lower limit of the course angle in the set of safe course angles; the maximum allowable yaw distance of the unmanned ship is taken as the tangent angle of the circle corresponding to the radius, which is the upper limit of the course angle in the set of safe course angles.

If there are two or more obstacles on the route of the unmanned ship, and the obstacles are located on one side of the route; respectively determine the tangent angle of the circle corresponding to the minimum safe distance radius passing through each obstacle, and take the circle corresponding to all obstacles The tangent angle intersection of the tangent angle, the lower limit of the tangent angle intersection is used as the lower limit of the course angle in the safe course angle set; the maximum allowable yaw distance of the unmanned ship is taken as the tangent angle of the circle corresponding to the radius, which is the upper limit of the course angle in the safe course angle set .

If there are two or more obstacles on the route of the unmanned ship, and the obstacles are located on both sides of the route; the intersection of the tangent angles of the circumferential tangent angles corresponding to all obstacles on the left side of the route is taken as the first intersection of tangent angles , and take the lower limit of the first tangent angle intersection as the lower limit of the course angle in the safe course angle set of the left route, and the maximum allowable yaw distance of the unmanned ship as the tangent angle of the circle corresponding to the radius, which is the safe course angle of the left route Set the upper limit of heading angles in the set, and determine the set of safe heading angles on the left; take the tangent angle intersection of the circular tangent angles corresponding to all obstacles on the right side of the route as the second tangent angle intersection, and use the lower limit of the second tangent angle intersection as The lower limit of the course angle in the safe course angle set of the right route, the maximum distance allowed by the unmanned ship as the tangent angle of the circle corresponding to the radius, is the upper limit of the course angle in the safe course angle set of the right route, and the right safe course is determined collection of angles.

Step 103: Determine whether the passing heading angle of the unmanned ship passing through the obstacle area is within the set of safe heading angles;

Preferably, if there are two or more obstacles on the route of the unmanned ship, and the obstacles are located on both sides of the route; respectively determine whether the navigation angle of the unmanned ship passing through the obstacle area is on the left safe course In the angle set, or in the right safe heading angle set.

Step 104: If the passing course angle is not in the set of safe course angles, calculate the set of course transition angles of the unmanned ship at the next moment;

Preferably, if the unmanned ship detects one obstacle, or detects two or more obstacles, and multiple obstacles are on the same side of the route, then according to the minimum safe heading angle in the set of safe heading angles, the unmanned Calculate the first course angle difference, and use the first course angle difference as the lower limit of the course change angle set of the unmanned ship at the next moment; according to the maximum safe course angle in the safe course angle set, the unmanned ship pass course angle , calculate the second course angle difference, and use the second course angle difference as the upper limit of the course transition angle set of the unmanned ship at the next moment.

If the unmanned ship detects two or more obstacles, and multiple obstacles are distributed on both sides of the route, calculate the left course change angle set corresponding to the unmanned ship at the next moment according to the left safe course angle set; According to the safe course angle set on the right side, the right course transition angle set corresponding to the unmanned ship at the next moment is calculated. Compare the median angle in the left course change angle set at the next moment with the median angle in the right course change angle set at the next moment, and use the set with the smaller median angle as the next step of the unmanned ship. Time heading change angle set.

Step 105: Notify the unmanned ship to control the course of the unmanned ship according to the angles in the set of heading transition angles at the next moment.

Preferably, determine the angle median in the course transition angle set at the next moment; according to the angle median in the course transition angle set in the next moment, the real-time course angle of the unmanned ship, calculate the third course angle difference, and The third course angle difference is used as the course change angle of the unmanned ship at the next moment; the unmanned ship is notified to control the course of the unmanned ship according to the course change angle at the next moment.

As shown in Figure 2, it is the first specific method for unmanned ship course control in the embodiment of the present invention, the method includes:

Step 201: Determine that there is an obstacle on the route of the unmanned ship;

Step 202: Determine the navigation heading angle when the unmanned ship actually passes through the obstacle area;

Step 203: Determine the minimum safe distance radius for avoiding the obstacle and the maximum allowable yaw distance for the unmanned ship;

Step 204: Use the tangent angle of the circle corresponding to the minimum safe distance radius of the unmanned ship as the lower limit of the heading angle in the set of safe heading angles;

Step 205: Take the maximum allowable yaw distance of the unmanned ship as the tangent angle of the circle corresponding to the radius, as the upper limit of the heading angle in the set of safe heading angles;

Step 206: Determine whether the navigation heading angle of the unmanned ship passing through the obstacle area is within the set of safe heading angles;

Step 207: If the passing heading angle is not in the set of safe heading angles, then calculate the first heading angle difference according to the minimum safe heading angle in the safe heading angle set and the passing heading angle of the unmanned ship, and use the first heading angle difference as none The lower limit of the set angle of course change of the manned ship at the next moment;

Step 208: Calculate the second course angle difference according to the maximum safe course angle in the safe course angle set and the unmanned ship's passing course angle, and use the second course angle difference as the upper limit of the course change angle set of the unmanned ship at the next moment;

Step 209: Determine the median angle in the set of heading transition angles at the next moment;

Step 210: Calculate the third course angle difference according to the median angle in the set of course transition angles at the next moment and the real-time course angle of the unmanned ship, and use the third course angle difference as the course transition angle of the unmanned ship at the next moment ;

Step 211: Notify the unmanned ship to control the course of the unmanned ship according to the next course change angle.

As shown in Figure 3, it is the second specific method for unmanned ship heading control in the embodiment of the present invention, the method includes:

Step 301: Determine that there are multiple obstacles on the route of the unmanned ship, and the obstacles are distributed on one side of the route;

Step 302: Determine the navigation heading angle when the unmanned ship actually passes through the obstacle area;

Step 303: respectively determine the minimum safe distance radius for avoiding each obstacle and the maximum allowable yaw distance for the unmanned ship;

Step 304: respectively determine the tangent angle of the circle corresponding to the minimum safety distance radius passing through each obstacle;

Step 305: Take the tangent angle intersection of the circumferential tangent angles corresponding to all obstacles, and use the lower limit of the tangent angle intersection as the lower limit of the heading angle in the set of safe heading angles;

Step 306: Use the maximum allowable yaw distance of the unmanned ship as the tangent angle of the circle corresponding to the radius, as the upper limit of the course angle in the set of safe course angles;

Step 307: Determine whether the passing heading angle of the unmanned ship passing through the obstacle area is within the set of safe heading angles;

Step 308: If the passing heading angle is not in the set of safe heading angles, then calculate the first heading angle difference according to the minimum safe heading angle in the safe heading angle set and the passing heading angle of the unmanned ship, and use the first heading angle difference as none The lower limit of the set angle of course change of the manned ship at the next moment;

Step 309: Calculate the second course angle difference according to the maximum safe course angle in the safe course angle set and the unmanned ship's passing course angle, and use the second course angle difference as the upper limit of the course change angle set of the unmanned ship at the next moment;

Step 310: Determine the median angle in the set of heading transition angles at the next moment;

Step 311: Calculate the third course angle difference according to the median angle in the set of course transition angles at the next moment and the real-time course angle of the unmanned ship, and use the third course angle difference as the course transition angle of the unmanned ship at the next moment ;

Step 312: Notify the unmanned ship to control the course of the unmanned ship according to the next course change angle.

As shown in Figure 4, it is the third specific method for unmanned ship course control in the embodiment of the present invention, the method includes:

Step 401: Determine that there are multiple obstacles on the route of the unmanned ship, and the obstacles are distributed on both sides of the route;

Step 402: Determine the navigation heading angle when the unmanned ship actually passes through the obstacle area;

Step 403: Determine the minimum safe distance radius for avoiding each obstacle and the maximum allowable yaw distance for the unmanned ship;

Step 404: Determine the tangent angle of the circle corresponding to the minimum safety distance radius passing through each obstacle;

Step 405: Intersect the tangent angles of the circumferential tangent angles corresponding to all obstacles on the left side of the airway as the first tangent angle intersection;

Step 406: Use the lower limit of the first tangent angle intersection as the lower limit of the heading angle in the safe heading angle set of the left airway;

Step 407: Take the maximum allowable yaw distance of the unmanned ship as the tangent angle of the circle corresponding to the radius, and use it as the upper limit of the course angle in the safe course angle set of the left route;

Step 408: Intersect the tangent angles of the circumferential tangent angles corresponding to all the obstacles on the right side of the route as the second intersection of tangent angles;

Step 409: Use the lower limit of the second tangent angle intersection as the lower limit of the heading angle in the safe heading angle set of the right airway;

Step 410: take the maximum allowable yaw distance of the unmanned ship as the tangent angle of the circle corresponding to the radius, and use it as the upper limit of the course angle in the safe course angle set of the right route;

Step 411: respectively determine whether the passing course angle of the unmanned ship passing through the obstacle area is within the set of safe course angles on the left side or within the set of safe course angles on the right side;

Step 412: Determine that the passing heading angle is not in the set of safe heading angles on the left, and not in the set of safe heading angles on the right;

Step 413: According to the set of safe course angles on the left side, calculate the set of left course transition angles corresponding to the unmanned ship at the next moment;

Step 414: Calculate the right course transition angle set corresponding to the unmanned ship at the next moment according to the right safe course angle set;

Step 415: Compare the median angle in the left course transition angle set at the next moment with the median angle in the right course transition angle set at the next moment, and use the set with the smaller median angle as unmanned The ship's heading change angle set at the next moment;

Step 416: Calculate the third course angle difference according to the median angle in the set of course transition angles at the next moment and the real-time course angle of the unmanned ship, and use the third course angle difference as the course transition angle of the unmanned ship at the next moment ;

Step 417: Notify the unmanned ship to control the course of the unmanned ship according to the heading change angle at the next moment.

The embodiment of the present invention also includes an unmanned ship, which controls the course of the unmanned ship by using any of the above-mentioned course control methods.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the above system, reference may be made to the corresponding process in the foregoing method embodiments, and details will not be repeated here.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal equipment and method may be implemented in other ways. For example, the device/terminal device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

If the integrated module/unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (Read-Only Memory, ROM for short) ), random access memory (Random Access Memory, RAM for short), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, computer-readable media Excludes electrical carrier signals and telecommunication signals.

The above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still carry out the foregoing embodiments Modifications to the technical solutions recorded in the examples, or equivalent replacement of some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should be included in within the protection scope of the present invention.

Claims (10)

1. A method for controlling the heading of an unmanned ship, characterized in that the method comprises: Determine that there are obstacles on the route of the unmanned ship; Determine the passing heading angle when the unmanned ship actually passes through the obstacle area, and the set of safe heading angles for the unmanned ship to safely pass through the obstacle area; determining whether the pass heading angle is within the set of safe heading angles; If the passing course angle is not in the set of safe course angles, then calculate the course change angle set of the unmanned ship at the next moment; The unmanned ship is notified to control the course of the unmanned ship according to the angles in the set of heading transition angles at the next moment. 2. The unmanned ship course control method as claimed in claim 1, wherein said determination of the passage course angle of the unmanned ship actually passing through the obstacle zone specifically includes: Obtain the real-time heading angle of the unmanned ship, the real-time sailing speed of the unmanned ship, and weather information, and determine the passing heading angle when the unmanned ship actually passes through the obstacle area. 3. The unmanned ship course control method as claimed in claim 2, wherein the calculation of the next moment course transition angle set of the unmanned ship specifically includes: According to the minimum safe heading angle in the set of safe heading angles and the passing heading angle of the unmanned ship, calculate the first heading angle difference, and use the first heading angle difference as the next moment heading transition angle set of the unmanned ship lower limit; According to the maximum safe heading angle in the set of safe heading angles and the passing heading angle of the unmanned ship, calculate the second heading angle difference, and use the second heading angle difference as the next moment heading transition angle set of the unmanned ship upper limit. 4. The unmanned ship course control method as claimed in claim 1, wherein said calculating the safe course angle set of the unmanned ship passing through the obstacle zone safely includes: Determine the minimum safe distance radius to avoid the obstacle and pass through safely, and the maximum distance allowed by the unmanned ship to yaw; The unmanned ship passes through the tangent angle of the circle corresponding to the minimum safe distance radius, which is the lower limit of the heading angle in the set of safe heading angles; The maximum distance allowed by the unmanned ship to yaw is taken as the tangent angle of the circle corresponding to the radius, which is the upper limit of the heading angle in the set of safe heading angles. 5. The unmanned ship course control method as claimed in claim 4, wherein said calculating the safe course angle set of the unmanned ship passing through the obstacle area safely includes: There are two or more obstacles on the route of the unmanned ship, and the obstacles are located on one side of the route; Then respectively determine the tangent angle corresponding to the circle through the minimum safe distance radius of each obstacle, and take the intersection of the tangent angles of the circle tangent angles corresponding to all obstacles, and use the lower limit of the intersection of the tangent angles as the heading in the set of safe heading angles Angle lower limit. 6. The unmanned ship course control method according to claim 4, wherein the calculation of the set of safe course angles for the unmanned ship to avoid the obstacle to safely pass through includes: There are two or more obstacles on the route of the unmanned ship, and the obstacles are located on both sides of the route; Then determine the tangent angle of the circle corresponding to the minimum safety distance radius through each obstacle; The intersection of the tangent angles of the circular tangent angles corresponding to all obstacles on the left side of the route is taken as the first intersection of tangent angles, and the lower limit of the intersection of the first tangent angles is used as the lower limit of the heading angle in the set of safe heading angles of the left path, And determine the set of safe heading angles on the left side; The intersection of the tangent angles of the circular tangent angles corresponding to all obstacles on the right side of the airway is used as the second intersection of tangent angles, and the lower limit of the intersection of the second tangent angles is used as the lower limit of the heading angle in the safe heading angle set of the right airway, and determined Set of safe heading angles on the right side. 7. The unmanned ship course control method as claimed in claim 6, wherein the calculation of the next moment course transition angle set of the unmanned ship specifically includes: According to the set of safe course angles on the left side, calculate the set of left course transition angles corresponding to the unmanned ship at the next moment; Calculate the right course transition angle set corresponding to the unmanned ship at the next moment according to the right safe course angle set. 8. The unmanned ship course control method as claimed in claim 7, wherein the calculation of the next moment course transition angle set of the unmanned ship specifically includes: Compare the median angle in the set of left course transition angles at the next moment with the median angle in the set of right course transition angles at the next moment, and use the set with the smaller median angle as the set Describe the set of heading change angles of the unmanned ship at the next moment. 9. The unmanned ship course control method according to any one of claims 1-8, wherein the notified unmanned ship controls the course of the unmanned ship according to the angle in the next moment course transition angle set , including: Determine the median angle in the set of heading transition angles at the next moment; According to the angle median in the set of heading change angles at the next moment, the real-time heading angle of the unmanned ship, calculate the third heading angle difference, and use the third heading angle difference as the next moment heading change of the unmanned ship angle; The unmanned ship is notified to control the course of the unmanned ship according to the heading change angle at the next moment. 10. An unmanned ship, characterized in that, the unmanned ship performs heading angle control through the unmanned ship heading control method according to any one of claims 1-9.