CN110764080A - Millimeter wave radar-based method for detecting piloting-following ship formation target in ship lock - Google Patents
Millimeter wave radar-based method for detecting piloting-following ship formation target in ship lock Download PDFInfo
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Abstract
The invention provides a method for detecting a piloting-following ship formation target in a ship lock based on a millimeter wave radar, wherein 1 long-distance millimeter wave radar acquires the information of an obstacle right in front of a ship; the three-dimensional ship comprises a ship body, three short-distance millimeter wave radars, a ship tail and a ship tail, wherein the three short-distance; acquiring an included angle between the initial direction of the ship and the direction of the lock chamber; according to the characteristic that the reflectivity of different materials is different, the targets received by the millimeter wave radar are distinguished to be a lock wall, a navigation ship, a following ship or other interferents; carrying out angle constraint processing on the radar which does not detect the navigation ship; identifying different situations, and calculating the relative distance between a front navigation ship and the ship, the distance between the ship and the gate walls on the left side and the right side, and the distance between the ship and a rear obstacle; and judging whether the continuous sailing is in danger of collision or the possibility of losing the target. The invention can accurately track the navigation ship in front of the following ship in the ship lock.
Description
Technical Field
The invention belongs to the field of waterway traffic, and particularly relates to a method for detecting a piloting-following ship formation target in a ship lock based on a millimeter wave radar.
Background
Since navigation of the three gorges ship lock, with high-speed and high-quality development of economy in China, the water transportation capacity is rapidly increased, the passing-lock transportation capacity is continuously increased, passing-lock ships are more and more popular, and the average ship waiting time is also increased year by year. The navigation-following ship formation cooperative lockage is an important measure for improving the lockage efficiency of ships, and how to acquire the motion states (relative motion speed and direction) between the ships in the formation is the basis for realizing the formation control. The maximum water level fall of a gate chamber of a ship in the three gorges-radix angelicae sinensis dam can usually reach more than 20 meters, GNSS signals are very weak at low water level, and the motion state perception among ships is difficult to realize through GNSS positioning; the problems of signal shielding and high cost exist by adopting the indoor positioning technology.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method for detecting the formation target of the navigation-following ship in the ship lock based on the millimeter wave radar can accurately track the navigation ship in front of the following ship in the ship lock.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for detecting a piloting-following ship formation target in a ship lock based on a millimeter wave radar is characterized by comprising the following steps: for following a boat, comprising the steps of:
s1, information acquisition:
1 long-distance millimeter wave radar acquires information of an obstacle right in front of a ship; the three-dimensional ship comprises a ship body, three short-distance millimeter wave radars, a ship tail and a ship tail, wherein the three short-distance; acquiring an included angle between the initial direction of the ship and the direction of the lock chamber;
s2, obstacle distinguishing:
according to the characteristic that the reflectivity of different materials is different, the targets received by the millimeter wave radar are distinguished to be a lock wall, a navigation ship, a following ship or other interferents;
s3, carrying out angle constraint processing on the radar without detecting the navigation vessel;
s4, identifying different situations according to the information obtained in the S1, and calculating the relative distance between the front navigation ship and the ship, the distance between the ship and the gate walls on the left side and the right side of the ship, and the distance between the ship and the obstacle behind the ship;
s5, according to the result obtained in S4, it is judged whether there is a risk of collision or the possibility of missing the target while the vehicle is still underway.
According to the scheme, S1 specifically obtains the included angle between the ship initial direction and the lock chamber direction through the compass.
According to the scheme, when the millimeter wave radar is used for acquiring the obstacle information, S1 adopts the strategy of the maximum detection angle to detect the surrounding targets, and the target information returned by each millimeter wave radar is analyzed.
In the above-described scheme, in S2, the received object is distinguished by comparing the reflectance with the reflection area.
According to the above solution, in S4, the different scenarios include:
scenario 1: the advancing direction of the ship is consistent with the direction of the lock wall, namely the included angle of the ship relative to the advancing direction of the lock chamber is 0 degree; the distance d of the front ship is monitored by a long-distance millimeter wave radar arranged at the bow1At an angle of
The distance to the two side gate walls is d2、d3Distance d from the rear lock chamber4(ii) a The parameters were calculated as follows:
in the formula, c1The relative distance between the ship and the pilot ship, namely the projection of the linear distance between the ship and the pilot ship in the overall advancing direction of the ship formation;
scenario 2: the ship route has larger offset, namely the pilot ship is in a blind area detected by a long-distance millimeter wave radar following the ship bow and is detected by a short-distance millimeter wave radar on one side, the advancing direction of the pilot ship is inconsistent with the direction of the lock wall, the included angle of the ship relative to the advancing direction of the lock chamber is psi, and the distance d of the short-distance millimeter wave radar arranged on the left side of the ship and used for monitoring the foreship is2At an angle of
The distance of the obstacle measured by the short-distance millimeter wave radar on the right side is d3The rear obstacle distance is d4(ii) a The parameters were calculated as follows:
b2＝d3cosψ (4)
b4＝b2+lsinψ (5)
b1＝W-b2-wcosψ (6)
b3＝W-b4-wcosψ (7)
in the formula, c1The relative distance from the vessel to the vessel being piloted, c2The relative distance of the ship to the following ship, b1The distance from the left front end of the ship to the left end lock wall, b2The distance from the right front end of the ship to the right gate wall, b3The distance from the left back end of the ship to the left end lock wall, b4From the right back end to the left end of the shipThe distance between the lock walls, W is the width of the lock chamber, and W and l are the width and the length of the ship respectively;
scenario 3: the ship has great deviation of ship course, the advancing direction is not consistent with the direction of the lock wall, the included angle of the ship relative to the advancing direction of the lock chamber is psi, and the distance d of the ship before the ship is monitored by a short-distance millimeter wave radar arranged on the right side of the ship3At an angle of
The distance of the obstacle measured by the short-distance millimeter wave radar on the left side is d2The rear obstacle distance is d4(ii) a The parameters were calculated as follows:
b1＝d2cosψ (10)
b3＝b1+lsinψ (11)
b2＝W-b1-wcosψ (12)
b4＝W-b3-wcosψ(13)
in the formula, c1、c2、b1、b2、b3、b4W, W, l parameter definitions are the same as scenario 2;
scenario 4: the ship has a small deviation of the ship course, namely the pilot ship can be detected by a long-distance millimeter wave radar following the ship bow, but the advancing direction of the pilot ship is not consistent with the direction of the lock wall, the compass arranged in the center of the ship displays that the ship has an included angle psi relative to the advancing direction of the lock chamber, and the long-distance millimeter wave radar arranged in the front of the ship detects that the distance of the foreship is d1At an angle of
Short distance mm on right sideDistance of obstacle d measured by wave radar3The rear obstacle distance is d4(ii) a The parameters were calculated as follows:
b2＝d3cosψ (16)
b4＝b2-lsinψ 17)
b1＝W-b2-wcosψ (18)
b3＝W-b4-wcosψ (19)
in the formula, c1、c2、b1、b2、b3、b4W, l parameters are the same as scenario 2.
According to the scheme, the method further comprises the step of S7: if no pilot ship target is detected, S1-S6 is resumed.
According to the scheme, the method further comprises the step of S8: if the pilot ship target cannot be found through repeated detection for many times, the target tracking failure is defined, the navigation angle of the ship is corrected according to the included angle between the first direction of the ship and the lock chamber direction, and then detection is carried out.
The invention has the beneficial effects that: the millimeter wave radar is adopted, the method is suitable for detecting targets of ship formation in a lock chamber, has the advantages of low cost, high reliability and the like, and avoids the defects of inaccurate positioning and high indoor positioning cost in special environment of the lock chamber by using the traditional positioning device (such as GPS, Beidou and the like); the method for judging the type of the obstacle by distinguishing the reflectivity is adopted, and the detection mode of the millimeter wave radar is combined, so that whether the detected obstacle comes from a ship or a gate wall can be better distinguished; other obstacle information can be eliminated by a radar detection angle constraint mode, and the identification difficulty is reduced; the coordinate transformation formula is simple, and large errors cannot be caused.
Drawings
Fig. 1 is a schematic view of a mounting structure and a radar measurement area according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a type of view angle blind zone measured by the millimeter wave radar.
Fig. 3 is a schematic diagram of a millimeter wave radar measurement view angle blind zone type two.
Fig. 4 is a schematic diagram of a scenario 1 occurring in practical use of the present invention.
Fig. 5 is a schematic diagram of a scenario 2 occurring in the practical use of the present invention.
Fig. 6 is a schematic diagram of a scenario 3 occurring in the practical use of the present invention.
Fig. 7 is a schematic diagram of a scenario 4 occurring in the practical use of the present invention.
In the figure: 1-pilot ship, 2-own ship, 3-long-distance millimeter wave radar, 4-short-distance millimeter wave radar and 5-compass.
Detailed Description
The invention is further illustrated by the following specific examples and figures.
The invention provides a method for detecting a piloting-following ship formation target in a ship lock based on a millimeter wave radar, which is used for following ships and comprises the following steps of:
s1, information acquisition:
1 long-distance millimeter wave radar 3 acquires obstacle information right in front of the ship; the 3 short-distance millimeter wave radars 4 are respectively arranged at the center line positions of the left side of the bow, the right side of the bow and the stern, and are used for acquiring barrier information of the left side, the right side and the rear of the ship; the included angle between the initial direction of the ship and the direction of the lock chamber is obtained through a compass 5 arranged in the middle of the ship 2.
Wherein the return information of each millimeter wave radar includes: the reflection area, the target reflectivity, the target relative speed, the target angle, the target relative distance and other information of the target can effectively distinguish different types of targets (such as different reflectivity of a cement wall of a gate chamber and metal stripping of a ship and different display on a radar) by judging different reflectivity.
In fig. 1, the darker shaded area is the short range detection area (increasing the radar emission angle) of the radar, and the lighter shaded area is the long range detection area. In the pilot-following formation, it may happen that the following ship cannot track the pilot ship, i.e. the pilot ship is in the "view angle blind zone" scanned by the following ship radar, as shown in fig. 1 and 2. Wherein the darker shaded part is the short range detection zone of the radar (increasing the radar emission angle), and the lighter shaded part is the long range detection zone.
When the pilot ship is in the 'view angle blind area' of the following ship, the following ship cannot judge the specific position and speed of the pilot ship through a radar. If the following ship may lose the target and thus make a deviation in the course of the ship as shown in fig. 2; if the situation is as shown in fig. 3, the following ship may collide if it continues to travel, causing a large loss.
The emission angle of each millimeter wave radar is not restricted, the surrounding targets are explored by adopting a strategy of the maximum detection angle, and the target information returned by each radar is analyzed. As shown in fig. 1, when the transmission angle of the millimeter wave radar is not constrained, a larger detection angle can be obtained, wherein the detection angle of the short-distance millimeter wave radar is ± 28 °, the detection angle of the long-distance millimeter wave radar is ± 60 °, and thus the unconstrained transmission angle can obtain a larger detection area, so that each target around the ship can be better detected.
S2, obstacle distinguishing:
according to the characteristic that the reflectivity of different materials is different, the targets received by the millimeter wave radar are distinguished to be a lock wall, a navigation ship, a following ship or other interferents.
The invention is mainly applied to the formation detection in the ship lock, and the main radar reflection targets are as follows: the navigation boat (the material is mainly steel, and reflection area is great), the rear following boat (the material and reflection area are the same as above), the lock wall (the material is cement, and reflection area is the biggest), other interferents (surface garbage, other barriers, and the like, and the materials are different, and reflection area is less). The target which is perceived by the millimeter wave radar can be effectively distinguished by comparing the reflectivity and the reflection area.
S3, the radar which does not detect the pilot ship 1 is subjected to angle restraint processing, the detection area of the radar can be effectively reduced, the influence of other obstacles on radar detection is reduced, the detection precision of the radar is further improved, and the measurement result is more reliable. According to the measurement characteristics of the millimeter wave radar, the measurement distance and the measurement precision of the millimeter wave radar are obviously improved when the millimeter wave radar performs cluster detection, and the smaller the detection angle is, the longer the detection distance is. And the smaller the detection angle is, the fewer the targets can be detected by the detector, and other interference items are greatly reduced.
And S4, sending the target information obtained by each radar and the information of the included angle of the ship relative to the advancing direction of the lock chamber, measured by the compass, to the onboard computer, identifying different situations according to the information obtained in S1, and calculating the relative distance between the front pilot ship 1 and the ship 2, the distance between the ship 2 and the left and right lock walls, and the distance between the ship 2 and a rear obstacle.
Several possible situations in the lock room are listed below, and a localization analysis is performed for each situation.
Scenario 1: the distance d of the ship ahead is monitored by a long-distance millimeter wave radar arranged at the bow, which is approximately consistent with the direction of the ship and the direction of the lock wall (namely the included angle of the ship relative to the advancing direction of the lock chamber is approximately 0 degrees)1At an angle of
The distance to the two side gate walls is d2、d3(directly reading the distance measured by millimeter wave radar on both sides of the bow) and the distance to the rear lock chamber is d4. As shown in fig. 4.
The parameters were calculated as follows:
in the formula, c1The relative distance between the following ship and the pilot ship (the projection of the linear distance between the two ships in the overall advancing direction of the ship formation).
Scenario 2: following ship course is greatly deviated (namely the pilot ship is followingThe dead zone of the long-distance millimeter wave radar at the bow of the ship can be detected by the short-distance millimeter wave radar on one side, the advancing direction of the dead zone is not consistent with the direction of the lock wall), the compass arranged in the center of the ship displays that the included angle of the ship relative to the advancing direction of the lock chamber is psi, and the distance d of the ship ahead is detected by the short-distance millimeter wave radar arranged on the left side of the ship2At an angle of
The distance of the obstacle measured by the short-distance millimeter wave radar on the right side is d3The rear obstacle distance is d4. As shown in fig. 5. The parameters were calculated as follows:
b2＝d3cosψ (4)
b4＝b2+lsinψ (5)
b1＝W-b2-wcosψ (6)
b3＝W-b4-wcosψ (7)
in the formula, c1To follow the relative distance of the vessel to the lead vessel, c2To follow the relative distance of the ship to the following ship, b1To follow the distance from the left front end of the ship to the left end lock wall, b2To follow the distance from the right front end of the ship to the right end lock wall, b3To follow the distance from the left rear end of the vessel to the left end lock wall, b4In order to follow the distance from the right rear end of the ship to the gate wall at the left end, W is the width of the gate chamber, and W and l are the width and the length of the ship respectively.
Scenario 3: the ship-following course has large offset, its forward direction is not identical to the direction of lock wall, the compass mounted in the centre of ship can display that the ship has an included angle psi relative to the forward direction of lock chamber, and said ship-following course is mounted in the lock chamberThe distance d of the front ship monitored by the short-distance millimeter wave radar on the right side of the ship3At an angle ofThe distance of the obstacle measured by the short-distance millimeter wave radar on the left side is d2The rear obstacle distance is d4. As shown in fig. 6. The parameters were calculated as follows:
b1＝d2cosψ (10)
b3＝b1+lsinψ (11)
b2＝W-b1-wcosψ (12)
b4＝W-b3-wcosψ (13)
in the formula, c1、c2、b1、b2、b3、b4W, l parameters are defined the same as scenario 2.
Scenario 4: the ship-following course is slightly deviated (namely, the pilot ship can be detected by the long-distance millimeter wave radar at the bow of the pilot ship, but the advancing direction of the pilot ship is not consistent with the direction of the lock wall), the compass arranged in the center of the ship displays that the ship forms an included angle psi relative to the advancing direction of the lock chamber, and the long-distance millimeter wave radar arranged in the front of the ship detects that the distance of the front ship is d1At an angle of
The distance of the obstacle measured by the short-distance millimeter wave radar on the right side is d3The rear obstacle distance is d4. As shown in fig. 7. The parameters were calculated as follows:
b2＝d3cosψ (16)
b4＝b2-lsinψ (17)
b1＝W-b2-wcosψ (18)
b3＝W-b4-wcosψ (19)
in the formula, c1、c2、b1、b2、b3、b4W, l parameters are the same as scenario 2.
S5, according to the result obtained in S4, it is judged whether there is a risk of collision or the possibility of missing the target while the vehicle is still underway. The invention can set different safe distances according to different situations to judge whether the ship following air route is safe or not on different occasions, and how to adjust the air route if the ship following air route is unsafe.
Optionally, the method further includes S7: if no pilot ship target is detected, S1-S6 is resumed.
The method may further include S8: if the pilot ship target cannot be found through repeated detection for many times, the target tracking failure can be defined, the navigation angle of the ship can be corrected according to the angle information of the compass (the invention can effectively sense various obstacles in a sector area with the radius of 20 meters and the included angle of 236 degrees in front of the ship, and can effectively avoid some collision problems in the process of correcting the ship posture), and the long-distance millimeter wave radar in front of the corrected ship posture can effectively monitor the information of the pilot ship in front of the ship.
According to the invention, the millimeter wave radar is used as a sensing means, the following ship can obtain the distance and the relative movement speed of the surrounding target in real time, the relative movement state of the front navigation ship and the following ship can be accurately obtained through a design algorithm, and the reliable and accurate detection of the target of the front navigation ship is realized.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (7)
1. A method for detecting a piloting-following ship formation target in a ship lock based on a millimeter wave radar is characterized by comprising the following steps: for following a boat, comprising the steps of:
s1, information acquisition:
1 long-distance millimeter wave radar acquires information of an obstacle right in front of a ship; the three-dimensional ship comprises a ship body, three short-distance millimeter wave radars, a ship tail and a ship tail, wherein the three short-distance; acquiring an included angle between the initial direction of the ship and the direction of the lock chamber;
s2, obstacle distinguishing:
according to the characteristic that the reflectivity of different materials is different, the targets received by the millimeter wave radar are distinguished to be a lock wall, a navigation ship, a following ship or other interferents;
s3, carrying out angle constraint processing on the radar without detecting the navigation vessel;
s4, identifying different situations according to the information obtained in the S1, and calculating the relative distance between the front navigation ship and the ship, the distance between the ship and the gate walls on the left side and the right side of the ship, and the distance between the ship and the obstacle behind the ship;
s5, according to the result obtained in S4, it is judged whether there is a risk of collision or the possibility of missing the target while the vehicle is still underway.
2. The object detection method according to claim 1, characterized in that: s1 specifically, an included angle between the ship fore direction and the lock chamber direction is obtained through a compass.
3. The object detection method according to claim 1, characterized in that: s1, when the millimeter wave radar is used for obtaining the obstacle information, the strategy of the maximum detection angle is adopted to detect the surrounding targets, and the target information returned by each millimeter wave radar is analyzed.
4. The object detection method according to claim 1, characterized in that: in S2, the received target is distinguished by comparing the reflectance with the reflection area.
5. The object detection method according to claim 1, characterized in that: at S4, the different scenarios include:
scenario 1: the advancing direction of the ship is consistent with the direction of the lock wall, namely the included angle of the ship relative to the advancing direction of the lock chamber is 0 degree; the distance d of the front ship is monitored by a long-distance millimeter wave radar arranged at the bow1At an angle of
The distance to the two side gate walls is d2、d3Distance d from the rear lock chamber4(ii) a The parameters were calculated as follows:
in the formula, c1The relative distance between the ship and the pilot ship, namely the projection of the linear distance between the ship and the pilot ship in the overall advancing direction of the ship formation;
scenario 2: the ship route has larger offset, namely the pilot ship is in a blind area detected by a long-distance millimeter wave radar following the ship bow and is detected by a short-distance millimeter wave radar on one side, the advancing direction of the pilot ship is inconsistent with the direction of the lock wall, the included angle of the ship relative to the advancing direction of the lock chamber is psi, and the distance d of the short-distance millimeter wave radar arranged on the left side of the ship and used for monitoring the foreship is2At an angle of
Obstacles measured by short-range millimeter-wave radar on right sideA distance d3The rear obstacle distance is d4(ii) a The parameters were calculated as follows:
b2＝d3cosψ (4)
b4＝b2+lsinψ (5)
b1＝W-b2-wcosψ (6)
b3＝W-b4-wcosψ (7)
in the formula, c1The relative distance from the vessel to the vessel being piloted, c2The relative distance of the ship to the following ship, b1The distance from the left front end of the ship to the left end lock wall, b2The distance from the right front end of the ship to the right gate wall, b3The distance from the left back end of the ship to the left end lock wall, b4The distance from the right rear end of the ship to the left end lock wall, W is the width of the lock chamber, and W and l are the width and the length of the ship respectively;
scenario 3: the ship has great deviation of ship course, the advancing direction is not consistent with the direction of the lock wall, the included angle of the ship relative to the advancing direction of the lock chamber is psi, and the distance d of the ship before the ship is monitored by a short-distance millimeter wave radar arranged on the right side of the ship3At an angle of
The distance of the obstacle measured by the short-distance millimeter wave radar on the left side is d2The rear obstacle distance is d4(ii) a The parameters were calculated as follows:
b1＝d2cosψ (10)
b3＝b1+lsinψ (11)
b2＝W-b1-wcosψ (12)
b4＝W-b3-wcosψ (13)
in the formula, c1、c2、b1、b2、b3、b4W, W, l parameter definitions are the same as scenario 2;
scenario 4: the ship has a small deviation of the ship course, namely the pilot ship can be detected by a long-distance millimeter wave radar following the ship bow, but the advancing direction of the pilot ship is not consistent with the direction of the lock wall, the compass arranged in the center of the ship displays that the ship has an included angle psi relative to the advancing direction of the lock chamber, and the long-distance millimeter wave radar arranged in the front of the ship detects that the distance of the foreship is d1At an angle of
The distance of the obstacle measured by the short-distance millimeter wave radar on the right side is d3The rear obstacle distance is d4(ii) a The parameters were calculated as follows:
b2＝d3cosψ (16)
b4＝b2-lsinψ (17)
b1＝W-b2-wcosψ (18)
b3＝W-b4-wcosψ (19)
in the formula, c1、c2、b1、b2、b3、b4W, l parameters are the same as scenario 2.
6. The object detection method according to claim 1, characterized in that: the method also includes S7: if no pilot ship target is detected, S1-S6 is resumed.
7. The object detection method according to claim 6, characterized in that: the method also includes S8: if the pilot ship target cannot be found through repeated detection for many times, the target tracking failure is defined, the navigation angle of the ship is corrected according to the included angle between the first direction of the ship and the lock chamber direction, and then detection is carried out.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111290392A (en) * | 2020-02-29 | 2020-06-16 | 长江三峡通航管理局 | System and method for controlling formation and cooperative stop of ship passing through gate |
| CN115390055A (en) * | 2022-08-10 | 2022-11-25 | 南京远能电力工程有限公司 | Distribution network uninterrupted operation millimeter wave distance monitoring device and monitoring method thereof |
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