CN110658826A - Autonomous berthing method of under-actuated unmanned surface vessel based on visual servo - Google Patents
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Abstract
The invention discloses an under-actuated unmanned surface vessel autonomous berthing method based on visual servo, which comprises 3 steps: a visual system carried by an unmanned surface vessel is used for acquiring a berth scene, and a berth marker is extracted from the berth scene and is used as an object for visual tracking; calculating a course deviation angle by using the geometric parameters of the marker image and the expected image, calculating the position relation between the marker and the unmanned ship through the marker image, solving a virtual air route, and further obtaining a yaw distance; and selecting the course deviation angle and the yaw distance as control variables, and adjusting the course and the speed of the unmanned surface vehicle in real time by a control system to drive the unmanned surface vehicle to the berth to complete the autonomous berthing task. The unmanned ship self-berthing device has the advantages of high self-berthing precision of the unmanned ship, low requirement on hardware equipment such as a camera, a computer and the like, and easiness in realization and popularization.
Description
The technical field is as follows:
the invention belongs to the field of unmanned surface craft, and relates to an unmanned surface craft autonomous berthing method and system based on vision.
Background art:
an Unmanned Surface Vessel (USV) is a novel overwater intelligent carrier which is Unmanned in the current science and technology era, and is suitable for executing tasks which are not suitable for being executed by an Unmanned ship, such as danger, dryness and the like. Through the rapid development of nearly twenty years, the autonomous navigation technology of the unmanned surface vehicle in the open water area is mature day by day and widely applied, and the autonomous navigation of the unmanned surface vehicle in the open water area is widely applied.
Autonomous berthing control tasks for ships are mainly classified into three types: the unmanned water surface boat is mainly used for autonomous berthing aiming at the underactuated water surface unmanned boat without the side thruster, and the autonomous berthing is mainly realized by adopting a berth external stabilizing mode. The autonomous berthing task of the unmanned ship can be completed by two parts, namely berth detection and motion control. Existing docking solutions are described in the literature [ patent No.: CN108267955A ] uses algorithms such as millimeter wave radar and convolutional neural network, but this method requires that docking release devices such as electromagnets are installed at the tail and the shore of the unmanned surface vehicle in advance, and has a large limitation on the environment, and there are documents [ patent No.: CN108459602A ] considers autonomous berthing of an underactuated unmanned ship in a multi-obstacle complex environment, but the scheme mainly aims at the aspect of motion control of the unmanned ship, and does not specifically consider the aspect of environmental perception, and proposes that a sensor needs to acquire the position coordinate of a target berth first, but how the sensor acquires the position coordinate is not described in detail. The motion control technology of the existing under-actuated unmanned ship is relatively mature, and environmental perception is always a difficult point for the technical development of the unmanned ship and is a key point for measuring the intelligent level of the unmanned ship. The proposal of the automatic ship berthing and leaving system scheme and the mixed control strategy thereof proposes that the autonomous berthing of the unmanned ship is carried out through a GPS device, but the signal of the GPS is influenced by weather climate, tall buildings and sheltering buildings, the berthing cost of the unmanned ship is inevitably increased by the GPS device with higher precision, and the berthing is carried out according to the absolute position of the unmanned ship through the GPS signal, thereby neglecting the complexity of specific water surface environment when the unmanned ship is berthed, in particular neglecting the environmental perception problem of the unmanned ship when the unmanned ship is berthed near the shore, and the scheme is difficult to ensure higher berthing precision. Therefore, in view of the above problems, it is particularly desirable to provide a stable and feasible autonomous berthing method that can ensure berthing accuracy and reduce berthing cost. Based on the needs, the present invention provides a method for detecting berthing and performing autonomous berthing tasks using vision.
The invention content is as follows:
the invention provides an autonomous berthing method of an under-actuated unmanned surface vessel based on visual servo, which utilizes a berth marker to carry out autonomous berthing. The technical scheme adopted by the invention comprises the following steps:
step 1: a visual system carried by an unmanned surface vessel is used for acquiring a berth scene, and a berth marker is extracted from the berth scene and is used as an object for visual tracking;
step 2: calculating a course deviation angle by using the geometric parameters of the marker image and the expected image, calculating the position relation between the marker and the unmanned ship through the marker image, solving a virtual air route, and further obtaining a yaw distance;
and step 3: selecting a course deviation angle and a yaw distance as control variables, adjusting the course and the speed of the unmanned surface vehicle in real time by a control system to enable the unmanned surface vehicle to drive to a berth, and completing an autonomous berthing task when the difference value between a marker image and an expected image is smaller than a set threshold value;
in the above autonomous berthing method of the under-actuated unmanned surface vehicle based on the visual servo, the specific detection method of the intelligent berthing marker in the step 1 is as follows:
in order to better identify the berth marker from the berth scene and ensure that the characteristics of the marker are not easily influenced by factors such as illumination and the like, the method takes the color as an important characteristic to detect the marker. The HSV color space is a uniform color space that allows people to better identify colors, so when feature extraction of a marker is performed, a parking marker image is first converted from an RGB color space to an HSV color space. Then, carrying out binarization processing on the obtained HSV space image, filtering by using a median filter taking 3 multiplied by 3 as an inner core, and then eliminating small interference by using morphological operation; and finally, searching the maximum connected domain in the morphologically processed image to eliminate the interference of reflection in marker water.
In the above-mentioned method for autonomous berthing of the under-actuated unmanned surface vehicle based on visual servoing, the heading deviation angle in step 2 is defined as the angle of the unmanned surface vehicle deviating from the center of the marker. When the berthing mode of the ship is berth outside stabilization, the berth is always expected to be right ahead of the ship, and at the moment, the ship only needs to directly drive towards the berth diameter without adjusting the course. According to the invention, the stack mark line is defined as a virtual air route which is vertical to the surface of the berth marker, and the size of the unmanned surface vessel deviating from the virtual air route is defined as a yaw distance.
To better illustrate the method provided herein, the invention selects a rectangular canvas as the marker (the marker is not limited to a rectangle), the camera is installed in the center of the hull, and the optical axis of the camera is consistent with the heading of the unmanned boat. The autonomous berthing type is berth outside stability, a position 1.5-2.5 meters away from the front of the berth marker is selected as a berthing area, the center of the area is an expected position, and the course vertical to the surface of the marker is an expected course. The control variable of the input controller consists of a course deviation angle and a yaw distance.
The deviation angle represents the point P on the marker image and the geometric center P of the desired image of the markereThe ratio of the difference in the X-axis direction to the focal length of the camera.
The deviation angle θ is defined as:
θ＝arctan((x-xe)/f) (1)
wherein x is the abscissa of the point p; x is the number ofeIs peThe abscissa of (a); f is the camera focal length.
When x is the geometry of the marker imageHeart pcAbscissa x ofcWhen x is equal to xcThe obtained deviation angle is defined as the course deviation angle thetac。
According to the pinhole imaging model, under the condition that lens distortion and other factors are not considered, the distance z from the camera to a point p on an actual marker along the optical axis direction can be calculated according to the geometric relationship by the actual height of the marker, the image height of the marker and the focal length of the camera, and the calculation formula is as follows:
wherein H is the actual height of the berth marker; h is the number of pixel points on the marker image which are the same as the abscissa of the point P, and P is an image coordinate point corresponding to the point P on the marker.
As the camera is arranged at the center of the ship body, the geometric center point p of the image of the berth marker can be respectively calculated through the deviation angle theta and the distance zcPoints p on the left and right edges of the marker imagel、prCoordinate p in hull coordinate systemc、pl、prWherein p isc、pl、prAre equal on the abscissa. The calculation method is as follows:
because the virtual air route is vertical to the surface of the marker, the virtual air route can pass through the boundary points p on the left side and the right side of the marker under the ship body coordinate systeml、prDetermining a virtual air route, and further obtaining the yaw distance D from the unmanned surface vessel to the virtual air route, wherein the specific calculation method comprises the following steps:
considering a ship body coordinate system, wherein O is the origin of the ship body coordinate system; b is a point on the virtual route. When the marker is in the field range of the camera, the position relation between the unmanned surface vessel and the marker is considered, and when D >0, the unmanned surface vessel is indicated to be on the left side of the virtual air route; when D <0, it means that the unmanned ship is on the right side of the virtual course.
In the above-mentioned method for autonomous berthing of an under-actuated unmanned surface vessel based on visual servoing, the input of the control system is a desired image of the markers. Firstly, a camera acquires a parking scene, and an image acquisition and processing module extracts a parking marker as an object of visual navigation; calculating a heading deviation angle theta through the geometric centers of the marker image and the expected marker imageCCalculating the position of the marker in a ship body coordinate system through the marker image so as to obtain the distance D from the unmanned surface vessel to the virtual air route; will thetaCAnd D is used as a control variable and input into the PD controller, the PD controller adjusts the navigational speed and the course of the unmanned surface vessel in real time by adjusting the voltage of the propulsion motors at two sides to drive the unmanned surface vessel to the berth, when the area difference value of the marker image and the expected image is less than a certain threshold value, the autonomous berthing task is completed, and the moment is marked as Tend. Wherein the output voltage U of the propulsion motors at the left and right sides of the PD controllerlAnd UrThe calculation is as follows:
wherein k is a proportionality coefficient, w is a rotation angular velocity of the unmanned ship, and UoIs the reference voltage.
The differential control is carried out by the propulsion motors at the left side and the right side, so that the response capability is strong; when the external interference is large, the camera suddenly loses the tracking of the berth marker, so that the condition cannot adopt the formula (5) as a navigation control rule, and when the marker is not in the field of view, the following control rule is adopted:
wherein theta isCAnd (t-1) is the heading deviation angle at the last moment.
Description of the drawings:
fig. 1 is an exemplary diagram of autonomous berthing of an unmanned surface vessel in the method for autonomous berthing of an under-actuated unmanned surface vessel based on visual servoing.
Fig. 2 is a schematic diagram of the position relationship between the unmanned surface vehicle and the marker in the under-actuated unmanned surface vehicle autonomous berthing method based on visual servoing.
Fig. 3 is a schematic diagram of the relationship between the center positions of the marker image and the expected image in the autonomous berthing method of the under-actuated unmanned surface vessel based on visual servoing.
Fig. 4 is a control system block diagram of the autonomous berthing method of the under-actuated unmanned surface vehicle based on visual servoing.
Fig. 5 is a graph of experimental trajectories when k is different in time in the autonomous berthing method of the under-actuated unmanned surface vessel based on visual servoing.
FIG. 6 shows that D is the autonomous berthing method of the under-actuated unmanned surface vessel based on visual servoing0Example graph of the change of the control amount with time when k is 30 and 15 m.
FIG. 7 shows a T in the autonomous berthing method of the under-actuated unmanned surface vessel based on visual servoingendThe state diagram of the unmanned ship.
The specific implementation mode is as follows:
in one embodiment, the implementation scenario is as shown in fig. 1, the optical center of the camera is at the same horizontal plane as the center of the marker, the focal length f of the camera is 1050, the image resolution is 1280 × 1024, the rectangular canvas is selected as the marker, and the size of the rectangular marker is 200cm and 100 cm. Setting the central coordinates of the red rectangular marker to be (21, 45), and setting the expected position of the unmanned surface vessel to be (21, 43); the unmanned surface vessel is driven to berths at different starting points, the starting points are selected to be (5, 0) and (33, 0), the initial course angles are all 90 degrees, and the rectangular canvas is selected as the optical axis of the marker camera to be vertical to the surface of the marker, so that autonomous berthing is carried out.
Step 1: the method comprises the following steps of collecting a berth scene through a visual system carried by an unmanned surface vessel, extracting a berth marker from the berth scene, and taking the berth marker as a visual tracking object: the parking marker image is first converted from the RGB color space to the HSV color space. And then carrying out binarization processing on the obtained HSV space image, filtering by using a median filter which is used as a kernel, and then eliminating small interference by using morphological operation. And finally, searching the maximum connected domain in the morphologically processed image to eliminate the interference of reflection in marker water.
Step 2: and calculating a course deviation angle by using the geometric parameters of the marker image and the expected image, calculating the position relation between the marker and the unmanned ship through the marker image, solving a virtual air route, and further obtaining a yaw distance. The heading deviation angle is defined as the angle of the unmanned surface vehicle deviating from the center of the marker, and the virtual course is defined as the size of the unmanned surface vehicle deviating from the virtual course. To better illustrate the method provided herein, the invention selects a rectangular canvas as the marker (the marker is not limited to a rectangle), the camera is installed in the center of the hull, and the optical axis of the camera is consistent with the heading of the unmanned boat. The autonomous berthing type is berth outside stability, a position 1.5-2.5 meters away from the front of the berth marker is selected as a berthing area, the center of the area is an expected position, and the course vertical to the surface of the marker is an expected course. The control variable of the input controller consists of a course deviation angle and a yaw distance.
The deviation angle represents the point P on the marker image and the geometric center P of the desired image of the markereThe ratio of the difference in the X-axis direction to the focal length of the camera is shown in fig. 3.
The deviation angle θ is defined as:
θ＝a tan((x-xe)/f) (1)
wherein x is the abscissa of the point p; x is the number ofeIs peThe abscissa of (a); f is the camera focal length.
When x is the geometric center p of the marker imagecAbscissa x ofcWhen x is equal to xcThe obtained deviation angle is defined as the course deviation angle thetac。
According to the pinhole imaging model, under the condition that lens distortion and other factors are not considered, the distance z from the camera to a point p on an actual marker along the optical axis direction can be calculated according to the geometric relationship by the actual height of the marker, the image height of the marker and the focal length of the camera, and the calculation formula is as follows:
wherein H is the actual height of the berth marker; h is the number of pixel points on the marker image that are the same as the abscissa of the point P, and P is the image coordinate point corresponding to the point P on the marker, as shown in fig. 3.
As the camera is arranged at the center of the ship body, the geometric center point p of the image of the berth marker can be respectively calculated through the deviation angle theta and the distance zcPoints p on the left and right edges of the marker imagel、prCoordinate p in hull coordinate systemc、pl、prWherein p isc、pl、prAre equal on the abscissa as shown in fig. 3. The calculation method is as follows:
because the virtual air route is vertical to the surface of the marker, the virtual air route can pass through the boundary points p on the left side and the right side of the marker under the ship body coordinate systeml、prDetermining a virtual air route, and further obtaining a yaw distance D from the unmanned surface vessel to the virtual air route, wherein as shown in FIG. 2, the specific calculation method comprises the following steps:
considering a ship body coordinate system, wherein O is the origin of the ship body coordinate system; b is a point on the virtual route. When the marker is in the field range of the camera, the position relation between the unmanned surface vessel and the marker is considered, and when D >0, the unmanned surface vessel is indicated to be on the left side of the virtual air route; when D <0, it means that the unmanned ship is on the right side of the virtual course.
And step 3: selecting a course deviation angle and a yaw distance as control variables, adjusting the course and the speed of the unmanned surface vehicle in real time by a control system to enable the unmanned surface vehicle to drive to a berth, and completing an autonomous berthing task when the difference value between a marker image and an expected image is smaller than a set threshold value. The block diagram of the control system in step 3 is shown in FIG. 4, and the input of the control system is labeledA desired image of the object. Firstly, a camera acquires a parking scene, and an image acquisition and processing module extracts a parking marker as an object of visual navigation; calculating a course deviation angle theta c through the geometric centers of the marker image and the marker expected image, and calculating the position of the marker image in a ship body coordinate system to further obtain the distance D from the unmanned surface vessel to the virtual air route; and the theta c and the D are used as control variables and input into a PD controller, the PD controller adjusts the speed and the course of the unmanned surface vehicle in real time by adjusting the voltage of the propulsion motors at two sides to drive the unmanned surface vehicle to a berth, when the area difference value of the marker image and the expected image is less than a certain threshold value, an autonomous berthing task is completed, and the moment is marked as Tend. Wherein the output voltage U of the propulsion motors at the left and right sides of the PD controllerlAnd UrThe calculation is as follows:
wherein k is a proportionality coefficient, w is a rotation angular velocity of the unmanned ship, and UoIs the reference voltage.
According to the invention, differential control is carried out through the left and right propelling motors, so that the response capability is strong, and when the camera is greatly interfered by the outside, the camera suddenly loses the tracking of the berth marker, so that the formula (5) can not be used as a navigation control rule when the situation occurs, and the following control rule is adopted when the marker is not in a visual field:
wherein theta isCAnd (t-1) is the heading deviation angle at the last moment.
A trajectory diagram of the unmanned vehicle relative to the virtual route when different starting points are set in the autonomous berthing task and the proportionality coefficient k takes different values is shown in fig. 5. It can be seen from the figure that the speed at which the unmanned ship trajectory converges on the virtual course is faster as k is smaller because the weight occupied by the control variable D is larger when k is smaller, and thus converges on the virtual course faster. Wherein the parameters for adjusting the PD controller are: k is a radical ofp＝10，kd＝8；
Setting an initial yaw distance D0The change of the control parameters in the autonomous berthing process of the unmanned ship is shown in fig. 6 when k is 30 and 15 m; the unmanned ship is on the left side of the virtual air route at the initial moment and the geometric center of the marker image is on the right side of the camera window D>0、θc>0, so Δ u>0，Ul>UrThe unmanned surface vessel moves rightwards and rapidly approaches the virtual air route, and the position of the marker image on the camera window gradually moves leftwards; during the movement thetacGradually decrease when thetac<0 and | θC|>D/30, thetacControl action greater than that of D,. DELTA.u<0，Ul<UrThe unmanned ship adjusts the course to drive towards the direction of the geometric center of the marker and the speed of approaching the virtual air route becomes slow, and the position of the marker image in the window gradually moves to the right. And finally, gradually driving the unmanned boat to the marker and approaching the virtual route, and stopping the berthing task when the area difference value of the marker image and the expected image is smaller than a set threshold value.
FIG. 7 is a schematic diagram of the berthing state of the unmanned ship when different proportionality coefficients k are set, wherein the arrow direction is the unmanned ship TendThe heading of the time. From the figure, T can be seenendThe positions of the unmanned surface vehicles are all in the berthing area, the maximum position error with the expected position is 0.663m, the average position error is 0.3m, the maximum course error is 5.02, and the average course error is 3.57, so that the berthing requirement of the unmanned surface vehicles is met.
Claims (1)
1. An under-actuated unmanned surface vessel autonomous berthing method based on visual servo utilizes a berth marker to carry out autonomous berthing, and is characterized by comprising the following steps:
the method comprises the following steps of firstly, acquiring a berth scene through a visual system carried by an unmanned surface vessel, extracting a berth marker from the berth scene, and taking the berth marker as a visual tracking object: firstly, converting a parking marker image from an RGB color space to an HSV color space; then, carrying out binarization processing on the obtained HSV space image, filtering by using a median filter which is used as a kernel, and then eliminating small interference by using morphological operation; finally, searching the maximum connected domain in the morphologically processed image to eliminate the interference of reflection in the marker water;
calculating a course deviation angle by using the geometric parameters of the marker image and the expected image, calculating the position relation between the marker and the unmanned ship through the marker image, and solving a virtual air route to further obtain a yaw distance; the course deviation angle is defined as the angle of the unmanned surface vehicle deviating from the center of the marker, and the virtual course is defined as the size of the unmanned surface vehicle deviating from the virtual course;
selecting a course deviation angle and a yaw distance as control variables, adjusting the course and the speed of the unmanned surface vehicle in real time by a control system to enable the unmanned surface vehicle to drive to a berth, and completing an autonomous berthing task when the difference value between a marker image and an expected image is smaller than a set threshold value; firstly, a camera acquires a parking scene, and an image acquisition and processing module extracts a parking marker as an object of visual navigation; calculating a course deviation angle theta c through the geometric centers of the marker image and the marker expected image, and calculating the position of the marker image in a ship body coordinate system to further obtain the distance D from the unmanned surface vessel to the virtual air route; and the theta c and the D are used as control variables and input into a PD controller, the PD controller adjusts the speed and the course of the unmanned surface vehicle in real time by adjusting the voltage of the propulsion motors at two sides to drive the unmanned surface vehicle to a berth, when the area difference value of the marker image and the expected image is less than a certain threshold value, an autonomous berthing task is completed, and the moment is marked as Tend(ii) a Wherein the output voltage U of the propulsion motors at the left and right sides of the PD controllerlAnd UrThe calculation is as follows:
wherein k is a proportionality coefficient, w is a rotation angular velocity of the unmanned ship, and U0Is a reference voltage;
fourthly, differential control is carried out through the left propelling motor and the right propelling motor, so that the response capability is strong, when the camera is greatly interfered by the outside, the camera suddenly loses the tracking of the berth marker, so that the formula (1) can not be used as a navigation control rule when the situation occurs, and the following control rule is adopted when the marker is not in a view field:
wherein theta iscAnd (t-1) is the heading deviation angle at the last moment.
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| CN115268459A (en) * | 2022-08-12 | 2022-11-01 | 中国船舶集团有限公司第七一六研究所 | Unmanned ship autonomous berthing control method based on double water-jet propellers |
| CN115268459B (en) * | 2022-08-12 | 2024-05-24 | 中国船舶集团有限公司第七一六研究所 | Unmanned ship autonomous berthing control method based on double-water-jet propeller |
| CN115407786A (en) * | 2022-11-01 | 2022-11-29 | 中国船舶集团有限公司第七〇七研究所 | Method, device, equipment and medium for deciding automatic navigation of ship in full voyage |
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