CN111090279A - Automatic navigation system based on sonar monitoring and avoidance - Google Patents
Automatic navigation system based on sonar monitoring and avoidance Download PDFInfo
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- CN111090279A CN111090279A CN201811247221.3A CN201811247221A CN111090279A CN 111090279 A CN111090279 A CN 111090279A CN 201811247221 A CN201811247221 A CN 201811247221A CN 111090279 A CN111090279 A CN 111090279A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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Abstract
The invention provides an automatic navigation system based on sonar monitoring and avoidance, which comprises: the sonar monitoring and avoiding module is used for monitoring the navigation direction by using sonar, generating images of position information and distance information of obstacles, judging whether a navigation line needs to be avoided according to the navigation requirement of a ship, planning a steering position if the navigation line needs to be avoided, steering according to a certain steering radius, and smoothly steering to an arc-shaped returning initial navigation path; the navigation priority of the sonar monitoring and avoiding module is the highest priority. According to the automatic navigation system based on sonar monitoring and avoidance, when an obstacle is encountered in the navigation process, the avoidance navigation is started to avoid the obstacle, the obstacle is avoided, sonar short-distance monitoring is used, when the obstacle appears in the navigation direction, the automatic navigation system automatically avoids steering, and the curved surface steering form is modified into a correct course; fine adjustment of a short-distance route is realized; and (4) avoiding marine garbage.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to an automatic navigation system based on sonar monitoring and avoidance.
Background
The automation of the ship is realized, computers are widely applied to ships in the 70 th 20 th century, and the automation of the ship cabin becomes a trend from the situation that a centralized control room is arranged in a cabin of the ship to the remote control and remote measurement of a host by an unmanned cabin and a driving platform. In 1970, the completion of "starlight pill" in japan created a new era of the integration of driving and driving, and was called "super-automatic ship" at that time. The automation of the ship enables the personnel to be approximately halved, and the operation cost is reduced. The new ships built in the last 10 years are basically called automated ships, and some of the ships with high automation degree are called "high technology ships". Ship automation goes from cabin automation to driving automation.
However, in the process of automatic navigation, the existing ship is influenced by wind power and ocean current, and the navigation direction is easy to deviate, so that the side length of a course is long, and time and resources are wasted.
And the navigation process, intelligent degree is not enough, needs navigating mate to observe whether navigation direction has the barrier, can not realize avoiding of marine rubbish automatically.
Disclosure of Invention
According to the navigation process that proposes, intelligent degree is not enough, needs navigating mate to observe whether the navigation direction has the barrier, can not realize the technical problem of the evasion of marine rubbish automatically, and provides an automatic navigation based on sonar monitoring evasion. The method mainly utilizes a sonar monitoring and avoiding module, monitors the navigation direction by using sonar, generates images of position information and distance information of obstacles, judges whether a course needs to be avoided according to the navigation requirement of a ship, plans a steering position if the course needs to be avoided, steers at a certain steering radius, and smoothly steers to an arc shape to return to an initial course channel; the navigation priority of the sonar monitoring and avoiding module is the highest priority, so that when encountering an obstacle in the navigation process, the sonar monitoring and avoiding module starts the avoiding navigation to start, and the obstacle is avoided.
The technical means adopted by the invention are as follows:
an automatic navigation system based on sonar monitoring evasion, includes: and the channel planning module is used for acquiring a navigation starting port and a navigation destination port, generating a main channel route and sending the main channel route to the route planning module.
And the navigation section route planning module acquires information of a submerged reef sea area and an unknown sea area around the main channel route, avoids the submerged reef sea area and the unknown sea area to divide the main channel route into a plurality of navigation sections according to a straight line navigation principle, enables each navigation section to keep straight line navigation, and sends navigation section planning information to the navigation module.
The navigation module adjusts the navigation direction to start navigation based on the first flight segment, synchronizes GPS positioning information once every 10 minutes of navigation, compares the navigation state of the first flight segment, judges whether the flight path deviates, sends an instruction to adjust a steering rudder if the flight path deviates, and replans the flight segment route, so that the flight path can be connected with the flight path initial segment of the second flight segment, and the corrected navigation of the second flight segment, the third flight segment to the final flight segment is realized in sequence.
The navigation section butt joint turns to the monitoring module, and when the last navigation section is about to finish navigating, the navigation of entering next navigation section, according to the navigation section course planning, judge whether there is a big turn angle bend, if not, then continue navigating, if, then plan and turn to the strategy, control the steering rudder of hull, begin to turn to in advance, turn to with certain radius of turning to, the smooth steering enters the navigation of next navigation section.
The navigation early warning module synchronizes GPS positioning information, judges the navigation progress of the air route, judges the residual supply reserve a and predicts the navigation time of the residual air route and the required supply quantity b; when b is less than or equal to 0.7a, normally navigating according to the original route; and when b is more than 0.7a and less than or equal to 0.85a, the navigation early warning module starts early warning and sends early warning information to the captain room for display, and at the moment, the channel planning module replans and remedies the channel route according to the supply condition and transmits the channel route to the captain room for display. And when b is larger than 0.85a, the navigation early warning module starts early warning and sends early warning information to the captain room for display, at the moment, the channel planning module modifies the main channel route, replans the main channel route according to the supply condition and the route distance of the middle channel port, navigates according to the replanned main channel route under the condition of saving the navigation distance, transmits the route to the route planning module of the navigation section, and regenerates the route planning information.
The sonar monitoring and avoiding module is used for monitoring the navigation direction by using sonar, generating images of position information and distance information of obstacles, judging whether a navigation line needs to be avoided according to the navigation requirement of a ship, planning a steering position if the navigation line needs to be avoided, steering according to a certain steering radius, and smoothly steering to an arc-shaped returning initial navigation path; the navigation priority of the sonar monitoring and avoiding module is the highest priority.
Further, a channel planning module acquires dangerous sea area information around the route according to position information of a navigation starting port and a navigation destination port, avoids the dangerous sea area and generates a primary main channel route; judging whether the ship supply amount can be directly continued to finish sailing or not, and if not, acquiring port information of an intermediate channel; and (4) giving various channel routes according to the port information of the middle channel and the replenishment continuation of the journey, and taking the shortest channel route to generate a main channel route after calculation.
Further, the dangerous sea area information at least comprises a reef area and a mystery sea area; the makeup includes at least heavy oil and food.
Further, the remedial channel route is a standby channel route which lists a plurality of route information of the rest routes and the middle channel port; when the adjacent two routes are far apart, the route information in front is displayed in orange for the captain to pay attention to and refer to.
Compared with the prior art, the automatic navigation system based on sonar monitoring and avoiding disclosed by the invention has the advantages that the sonar monitoring and avoiding module is used for monitoring the navigation direction by using a sonar, generating images of position information and distance information of an obstacle, judging whether a course needs to be avoided according to the navigation requirement of a ship, planning a steering position if the course needs to be avoided, steering by a certain steering radius, and smoothly steering to an arc-shaped returning initial course; the navigation priority of the sonar monitoring and avoiding module is the highest priority, so that when an obstacle is encountered in the navigation process, the sonar monitoring and avoiding module starts the avoidance navigation to realize the avoidance of the obstacle, and when the obstacle appears in the navigation direction, the sonar short-distance monitoring is used, the obstacle is automatically avoided and steered, and the curved surface steering form is modified into a correct air route; fine adjustment of a short-distance route is realized; and (4) avoiding marine garbage.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of an automatic navigation system based on sonar monitoring and avoidance in the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, the present invention provides an automatic navigation system based on sonar monitoring and evasion, which includes: and the channel planning module is used for acquiring a navigation starting port and a navigation destination port, generating a main channel route and sending the main channel route to the route planning module.
And the navigation section route planning module acquires information of a submerged reef sea area and an unknown sea area around the main channel route, avoids the submerged reef sea area and the unknown sea area to divide the main channel route into a plurality of navigation sections according to a straight line navigation principle, enables each navigation section to keep straight line navigation, and sends navigation section planning information to the navigation module.
The navigation module adjusts the navigation direction to start navigation based on the first flight segment, synchronizes GPS positioning information once every 10 minutes of navigation, compares the navigation state of the first flight segment, judges whether the flight path deviates, sends an instruction to adjust a steering rudder if the flight path deviates, and replans the flight segment route, so that the flight path can be connected with the flight path initial segment of the second flight segment, and the corrected navigation of the second flight segment, the third flight segment to the final flight segment is realized in sequence.
The navigation section butt joint turns to the monitoring module, and when the last navigation section is about to finish navigating, the navigation of entering next navigation section, according to the navigation section course planning, judge whether there is a big turn angle bend, if not, then continue navigating, if, then plan and turn to the strategy, control the steering rudder of hull, begin to turn to in advance, turn to with certain radius of turning to, the smooth steering enters the navigation of next navigation section.
The navigation early warning module synchronizes GPS positioning information, judges the navigation progress of the air route, judges the residual supply reserve a and predicts the navigation time of the residual air route and the required supply quantity b; when b is less than or equal to 0.7a, normally navigating according to the original route; and when b is more than 0.7a and less than or equal to 0.85a, the navigation early warning module starts early warning and sends early warning information to the captain room for display, and at the moment, the channel planning module replans and remedies the channel route according to the supply condition and transmits the channel route to the captain room for display. And when b is larger than 0.85a, the navigation early warning module starts early warning and sends early warning information to the captain room for display, at the moment, the channel planning module modifies the main channel route, replans the main channel route according to the supply condition and the route distance of the middle channel port, navigates according to the replanned main channel route under the condition of saving the navigation distance, transmits the route to the route planning module of the navigation section, and regenerates the route planning information.
The sonar monitoring and avoiding module is used for monitoring the navigation direction by using sonar, generating images of position information and distance information of obstacles, judging whether a navigation line needs to be avoided according to the navigation requirement of a ship, planning a steering position if the navigation line needs to be avoided, steering according to a certain steering radius, and smoothly steering to an arc-shaped returning initial navigation path; the navigation priority of the sonar monitoring and avoiding module is the highest priority.
The navigation channel planning module is used for acquiring dangerous sea area information around a navigation route according to the position information of a navigation starting port and a navigation destination port, and avoiding the dangerous sea area to generate a primary main navigation channel route; judging whether the ship supply amount can be directly continued to finish sailing or not, and if not, acquiring port information of an intermediate channel; and (4) giving various channel routes according to the port information of the middle channel and the replenishment continuation of the journey, and taking the shortest channel route to generate a main channel route after calculation. The dangerous sea area information at least comprises a reef area and a mystery sea area; the makeup includes at least heavy oil and food.
The remedial channel route is a standby channel route which lists a plurality of route information of the rest routes and the middle channel port; when the adjacent two routes are far apart, the route information in front is displayed in orange for the captain to pay attention to and refer to.
According to the automatic navigation system based on sonar monitoring and avoidance, when an obstacle is encountered in the navigation process, the avoidance navigation is started to avoid the obstacle, sonar short-distance monitoring is used, when the obstacle appears in the navigation direction, the automatic navigation system automatically avoids steering, and the curved surface steering form is modified into a correct air route; fine adjustment of a short-distance route is realized; and (4) avoiding marine garbage.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. The utility model provides an automatic navigation based on sonar monitoring is avoidable which characterized in that includes:
the navigation channel planning module is used for acquiring a navigation starting port and a navigation destination port, generating a main navigation channel route and sending the main navigation channel route to the navigation section route planning module;
the navigation section route planning module is used for acquiring information of a submerged reef sea area and an unknown sea area around a main channel route, avoiding the submerged reef sea area and the unknown sea area according to a straight line navigation principle, dividing the main channel route into a plurality of navigation sections, enabling each navigation section to keep straight line navigation, and sending navigation section planning information to the navigation module;
the navigation module adjusts the navigation direction to start navigation based on the first navigation segment, synchronizes GPS positioning information once every 10 minutes of navigation, compares the navigation state of the first navigation segment, judges whether the navigation deviates from the route, sends an instruction to adjust a steering rudder if the navigation deviates, and replans the route of the navigation segment, so that the route can be connected with the route initial segment of the second navigation segment, and the corrected navigation from the second navigation segment, the third navigation segment to the final navigation segment is realized in sequence;
the navigation section butt joint steering monitoring module enters the next navigation section for navigation when the previous navigation section is about to finish navigation, judges whether a curve with a large steering angle exists according to the navigation section route planning, continues navigation if the curve does not exist, plans a steering strategy if the curve exists, controls a steering rudder of a ship body, starts steering in advance, performs steering with a certain steering radius, and smoothly steers to enter the next navigation section for navigation;
the navigation early warning module synchronizes GPS positioning information, judges the navigation progress of the air route, judges the residual supply reserve a and predicts the navigation time of the residual air route and the required supply quantity b;
when b is less than or equal to 0.7a, normally navigating according to the original route;
when b is more than 0.7a and less than or equal to 0.85a, the navigation early warning module starts early warning and sends early warning information to the captain room for display, and at the moment, the channel planning module replans and remedies the channel route according to the supply condition and transmits the channel route to the captain room for display;
when b is larger than 0.85a, the navigation early warning module starts early warning and sends early warning information to a captain room for display, at the moment, the channel planning module modifies a main channel route, replans the main channel route according to the supply condition and the route distance of an intermediate channel port, navigates according to the replanned main channel route under the condition of saving the navigation distance, transmits the route to the route planning module of the navigation section, and regenerates the route planning information;
the sonar monitoring and avoiding module is used for monitoring the navigation direction by using sonar, generating images of position information and distance information of obstacles, judging whether a navigation line needs to be avoided according to the navigation requirement of a ship, planning a steering position if the navigation line needs to be avoided, steering according to a certain steering radius, and smoothly steering to an arc-shaped returning initial navigation path; the navigation priority of the sonar monitoring and avoiding module is the highest priority.
2. The automatic navigation system based on sonar monitoring evasion according to claim 1,
the navigation channel planning module is used for acquiring dangerous sea area information around a navigation route according to the position information of a navigation starting port and a navigation destination port, and avoiding the dangerous sea area to generate a primary main navigation channel route;
judging whether the ship supply amount can be directly continued to finish sailing or not, and if not, acquiring port information of an intermediate channel;
and (4) giving various channel routes according to the port information of the middle channel and the replenishment continuation of the journey, and taking the shortest channel route to generate a main channel route after calculation.
3. The automatic navigation system based on sonar monitoring evasion according to claim 2,
the dangerous sea area information at least comprises a reef area and a mystery sea area; the makeup includes at least heavy oil and food.
4. The automatic navigation system based on sonar monitoring evasion according to claim 1,
the remedial channel route is a standby channel route which lists a plurality of route information of the rest routes and the middle channel port;
when the adjacent two routes are far apart, the route information in front is displayed in orange for the captain to pay attention to and refer to.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811247221.3A CN111090279A (en) | 2018-10-24 | 2018-10-24 | Automatic navigation system based on sonar monitoring and avoidance |
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| CN201811247221.3A CN111090279A (en) | 2018-10-24 | 2018-10-24 | Automatic navigation system based on sonar monitoring and avoidance |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113673776A (en) * | 2021-08-26 | 2021-11-19 | 黑龙江万佳诚科技有限公司 | Planning management method for ship route |
| CN116954225A (en) * | 2023-07-28 | 2023-10-27 | 南京安透可智能系统有限公司 | System and method for avoiding obstacle of submarine in urban pipeline environment based on multi-beam sonar |
-
2018
- 2018-10-24 CN CN201811247221.3A patent/CN111090279A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113673776A (en) * | 2021-08-26 | 2021-11-19 | 黑龙江万佳诚科技有限公司 | Planning management method for ship route |
| CN116954225A (en) * | 2023-07-28 | 2023-10-27 | 南京安透可智能系统有限公司 | System and method for avoiding obstacle of submarine in urban pipeline environment based on multi-beam sonar |
| CN116954225B (en) * | 2023-07-28 | 2024-03-05 | 南京安透可智能系统有限公司 | System and method for avoiding obstacle of submarine in urban pipeline environment based on multi-beam sonar |
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