CN113341964A - Guiding pipe control method and system for automatic recovery of stern slideway of unmanned boat - Google Patents
Guiding pipe control method and system for automatic recovery of stern slideway of unmanned boat Download PDFInfo
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Abstract
The invention discloses a guiding pipe control method and a guiding pipe control system for automatic recovery of an unmanned boat stern slideway, which belong to the technical field of unmanned boat recovery, wherein an automatic recovery guiding and controlling area of the unmanned boat stern slideway is arranged at first, the automatic recovery guiding and controlling area of the unmanned boat stern slideway is arranged behind a mother boat stern slideway, and a reference central point of a mother boat stern slideway retraction device is used as a polar coordinate origin of the automatic recovery guiding and controlling area of the unmanned boat stern slideway; then, the automatic recovery guiding and controlling area of the stern slideway of the unmanned ship is divided into a plurality of sub-areas, and then the automatic recovery path guiding and navigation controlling of the unmanned ship are realized through visual image recognition subareas. According to the invention, through the process analysis and the region setting of the automatic guiding and recovering of the stern slideway of the unmanned boat, the guiding control requirements of the unmanned boat in different automatic recovering regions are determined, so that the accurate identification and positioning, the reasonable path planning and the aligning and recovering capture of the unmanned boat in the automatic recovering process of the stern slideway are realized.
Description
Technical Field
The invention belongs to the technical field of unmanned boat recovery, and particularly relates to a guiding pipe control method and system for automatic recovery of a stern slideway of an unmanned boat.
Background
With the prominent advantages of the unmanned ship in performing offshore tasks such as detection and reconnaissance, patrol and escort at sea in recent years, the unmanned ship technology is rapidly developed. Due to the severe marine climate environment, the operation difficulty of manually recovering the unmanned ship under high sea conditions is high, so that a reasonable and feasible automatic recovery guiding pipe control method is provided for guaranteeing that the unmanned ship can be safely and rapidly collected and released, improving the distribution and recovery efficiency of the unmanned ship under the complex sea conditions, and is one of key elements for successfully realizing the automatic recovery of the unmanned ship.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides a guiding pipe control method and a guiding pipe control system for automatic recovery of a stern slideway of an unmanned ship.
To achieve the above object, according to an aspect of the present invention, there is provided a guiding pipe control method for automatic recovery of a stern slide of an unmanned ship, including:
setting an automatic recovery guide control area of the unmanned boat stern slideway, wherein the automatic recovery guide control area of the unmanned boat stern slideway is arranged behind a mother boat stern slideway, and a reference central point of a mother boat stern slideway retraction device is used as a polar coordinate original point of the automatic recovery guide control area of the unmanned boat stern slideway;
the unmanned boat stern slideway automatic recovery guiding and controlling area is divided into a plurality of sub-areas, and then the path guiding and navigation control of the unmanned boat automatic recovery are realized through visual image recognition subareas.
In some optional embodiments, the identification distance of the target unmanned ship image is used as a guide control radius for automatic recovery, and the identification view angle of the target unmanned ship image is used as an included angle, so that an unmanned ship stern slideway automatic recovery guide control area is formed.
In some optional embodiments, the dividing the unmanned boat stern slide way automatic recovery guidance and control area into several sub-areas and then implementing the path guidance and navigation control for the unmanned boat automatic recovery through the visual image recognition partition includes:
dividing an automatic recovery guide control area of the stern slide of the unmanned boat into an identification area, a guide area and a recovery area;
when the target unmanned ship enters the identification area, identifying the target unmanned ship entering the identification area through the visual image, planning a path of the target unmanned ship and guiding the target unmanned ship to the guide area;
after the target unmanned ship enters the guide area, the navigation direction of the target unmanned ship is guided and controlled to be aligned with the reference center line of the stern slideway retracting device, and meanwhile, the target unmanned ship is kept in the course state to run to the boundary of the recovery area;
in a recovery area, keeping the target unmanned ship on a reference central line of a stern slideway retraction device and at the same navigational speed as a mother ship, keeping an included angle between a course angle of the target unmanned ship and the reference central line of the stern slideway close to 0 degree, and finishing recovery after receiving a recovery confirmation instruction.
In some optional embodiments, after the target unmanned ship enters the guiding area, guiding and controlling the sailing direction of the target unmanned ship to be aligned with the reference center line of the stern slide launching and receiving device, and simultaneously keeping the heading state to drive to the boundary of the recovery area, the method comprises the following steps:
after the target unmanned ship enters the guide area, the relative deviation angle and the distance information of the target unmanned ship relative to a stern slideway of the mother ship are calculated and obtained according to the polar coordinate positioning of the target unmanned ship in the automatic recovery guide control area, and a course attitude and speed adjusting instruction is sent to the target unmanned ship according to the relative deviation angle and the distance information of the target unmanned ship relative to the stern slideway of the mother ship, so that the course of the target unmanned ship is aligned with the reference central line of the stern slideway retracting device, and the course state is kept to run to the boundary of the recovery area to follow and stand by.
In some optional embodiments, in the recovery area, keeping the target unmanned ship on a reference centerline of the stern slipway retraction device and at the same speed as the mother ship, and keeping an included angle between a heading angle of the target unmanned ship and the reference centerline of the stern slipway close to 0 °, and completing recovery after receiving a recovery confirmation instruction includes:
after the target unmanned ship enters a recovery area, the target unmanned ship is controlled to be located on a reference central line of a stern slideway retraction device and to be away from a reference central point of a stern slideway of a mother ship by a certain distance, an included angle between a course angle of the target unmanned ship and the reference central line of the stern slideway is close to 0 degree, and the speeds of the target unmanned ship and the mother ship are the same.
According to another aspect of the present invention, there is provided a guiding and control system for automatic recovery of a stern slide of an unmanned boat, comprising:
the system comprises a guiding control area setting module, a ship tail slide rail automatic recovery guiding control area setting module and a ship tail slide rail automatic recovery guiding control area setting module, wherein the unmanned ship tail slide rail automatic recovery guiding control area is arranged behind a mother ship tail slide rail, and a reference central point of a mother ship tail slide rail retraction device is used as a polar coordinate original point of the unmanned ship tail slide rail automatic recovery guiding control area;
and the automatic recovery control module is used for dividing the automatic recovery guide control area of the stern slideway of the unmanned boat into a plurality of sub-areas and then realizing the automatic recovery path guide and navigation control of the unmanned boat through visual image recognition subareas.
In some optional embodiments, the identification distance of the target unmanned ship image is used as a guide control radius for automatic recovery, and the identification view angle of the target unmanned ship image is used as an included angle, so that an unmanned ship stern slideway automatic recovery guide control area is formed.
In some optional embodiments, the automated recycling control module comprises:
the control area dividing module is used for dividing the automatic recovery and guide control area of the stern slide of the unmanned boat into an identification area, a guide area and a recovery area;
the identification area management and control module is used for identifying the target unmanned ship entering the identification area through the visual image when the target unmanned ship enters the identification area, and planning a path of the target unmanned ship to guide the target unmanned ship to the guide area;
the guiding area control module is used for guiding and controlling the navigation direction of the target unmanned ship to align with the reference center line of the stern slideway retracting device after the target unmanned ship enters the guiding area, and meanwhile, the target unmanned ship is kept in the course state to run to the boundary of the recovery area;
and the recovery area management and control module is used for keeping the target unmanned ship on a reference central line of the stern slideway retraction device and at the same navigational speed with the mother ship in the recovery area, keeping an included angle between the course angle of the target unmanned ship and the reference central line of the stern slideway close to 0 degree, and finishing recovery after receiving a recovery confirmation instruction.
In some optional embodiments, the guidance area management and control module is configured to calculate and obtain a relative deviation angle and distance information of the target unmanned ship relative to a stern slide of the mother ship according to polar coordinate positioning of the target unmanned ship in the automatic recovery guidance and control area after the target unmanned ship enters the guidance area, and send a heading posture and speed adjustment instruction to the target unmanned ship according to the relative deviation angle and distance information of the target unmanned ship relative to the stern slide of the mother ship, so that the heading of the target unmanned ship is aligned with a reference center line of the stern slide retraction device, and meanwhile, the target unmanned ship is kept in a heading state and runs to a boundary of the recovery area to follow and stand-by.
In some optional embodiments, the recovery area management and control module is configured to, after the target unmanned ship enters the recovery area, control the target unmanned ship to be located on a reference center line of the stern slipway retraction device and to be away from a reference center point of a stern slipway of the mother ship by a certain distance, control an included angle between a course angle of the target unmanned ship and the reference center line of the stern slipway to be close to 0 °, and control the target unmanned ship to accelerate into the stern slipway after the target unmanned ship receives a recovery confirmation instruction, where the stern slipway retraction device completes automatic capture and recovery of the target unmanned ship.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
the method comprises the steps of setting an automatic guiding and recovering area of the stern slideway of the unmanned boat, determining a guiding and controlling operation process of the unmanned boat in the automatic recovering area of the stern slideway, determining navigation control requirements of the unmanned boat in the automatic guiding and recovering area of the stern slideway, providing a guiding and controlling method for automatic recovery of the stern slideway of the unmanned boat, and achieving accurate identification and positioning and reasonable path planning of the unmanned boat in the automatic recovering process of the stern slideway. The unmanned surface vehicle can be applied to automatic deployment and recovery of unmanned surface vehicles, and can be safely and rapidly deployed and retracted by realizing the path guidance and navigation management and control of the unmanned surface vehicle in the automatic recovery process.
Drawings
Fig. 1 is a schematic view of a guiding pipe control method for automatic recovery of a stern slide of an unmanned boat according to an embodiment of the present invention;
wherein, 1 is unmanned ship, 2 is mother ship, 3 is stern slide receiving and releasing device, and 4 is discernment bootstrap system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, taking the automatic guiding and recovering of the stern slideway of a certain 3t unmanned boat as an example, a guiding and controlling area for automatically recovering the stern slideway of the unmanned boat 1 is arranged behind the stern slideway of the mother boat 2, an automatic unmanned boat identification guiding system 4 (such as on the reference central point of a mother boat stern slideway retraction device 3) is arranged on the mother boat stern slideway, the reference central point of the mother boat stern slideway retraction device is used as the polar coordinate original point of the automatic unmanned boat stern slideway recovery guiding and controlling area, the radius of the guiding and controlling area is 100m, the included angle of the guiding and controlling area is 120 degrees, and a sector-shaped guiding and controlling area symmetrical to the left and the right is formed. Meanwhile, according to the task requirement of automatic recovery of the stern slideway of the unmanned boat, the guiding control area is divided into three sub-areas, namely an identification area, a guiding area and a recovery area, and the three sub-areas are used for step-by-step implementation of path guiding and navigation control of automatic recovery of the unmanned boat.
1) Guidance management and control of identification area
The unmanned ship sails backwards after completing tasks, firstly sails to the rear of a stern slideway of the mother ship according to coordinates of the mother ship given by a GPS system, enters an automatic recovery guiding and controlling area from a recognition area, the automatic recognition guiding system recognizes an unmanned ship target entering the recognition area through a visual image, and the recognized unmanned ship target establishes communication with the automatic recognition guiding system and receives guiding and controlling. In the identification area, the automatic identification guiding system calculates a planned path of the unmanned ship from the navigation to the guiding area according to the tracking and positioning of the unmanned ship target, and completes course adjustment of the unmanned ship.
2) Boot management of boot zones
After the unmanned ship enters the guide area, the automatic recovery guide system is used for positioning according to the polar coordinates of the unmanned ship target in the automatic recovery guide control area, calculating and obtaining the relative deviation angle and distance information of the unmanned ship target relative to the stern slideway of the mother ship by the automatic identification guide system, sending a heading posture and speed adjusting instruction to the unmanned ship according to the information, guiding and controlling the sailing direction (namely the sailing axial direction) of the unmanned ship to be aligned with the reference central line of the stern slideway retracting device, and simultaneously keeping the heading state to run to the boundary of the recovery area (the position which is 10m away from the reference central point of the stern slideway of the mother ship) to follow and stand by.
3) Boot management and control of a reclamation area
In the recovery area, the unmanned ship is kept on a reference central line of a stern slideway retraction device and at the same navigational speed with a mother ship (namely the relative speed of the unmanned ship and the mother ship is close to 0), a certain distance (such as 5 m-30 m) is kept between the unmanned ship and a stern slideway reference central line, an included angle between a course angle of the unmanned ship and the stern slideway reference central line is kept close to 0 degrees, and an automatic identification guiding system of the unmanned ship stern slideway issues a recovery confirmation instruction. The unmanned ship stern slideway automatic identification guiding system issues a recovery confirmation instruction manually at a proper time through the comprehensive sea condition and the monitoring information of the state of the unmanned ship, the unmanned ship accelerates after the recovery confirmation instruction is issued, the unmanned ship sails into the stern slideway at a speed of about (2-3) kn relative to a mother ship, and the stern slideway winding and unwinding device finishes the automatic capture and recovery of the unmanned ship.
It should be noted that, according to the implementation requirement, each step/component described in the present application can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can be combined into new steps/components to achieve the purpose of the present invention.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A guiding pipe control method for automatic recovery of an unmanned ship stern slideway is characterized by comprising the following steps:
setting an automatic recovery guide control area of the unmanned boat stern slideway, wherein the automatic recovery guide control area of the unmanned boat stern slideway is arranged behind a mother boat stern slideway, and a reference central point of a mother boat stern slideway retraction device is used as a polar coordinate original point of the automatic recovery guide control area of the unmanned boat stern slideway;
the unmanned boat stern slideway automatic recovery guiding and controlling area is divided into a plurality of sub-areas, and then the path guiding and navigation control of the unmanned boat automatic recovery are realized through visual image recognition subareas.
2. The guiding management and control method according to claim 1, wherein an unmanned ship stern slide rail automatic recovery guiding and control area is formed by taking the identification distance of the target unmanned ship image as a guiding and control radius for automatic recovery and taking the identification angle of the target unmanned ship image as an included angle.
3. The guiding management and control method according to claim 1 or 2, wherein the automatic recovery guiding and control area of the stern slide of the unmanned ship is divided into a plurality of sub-areas, and then the automatic recovery path guiding and navigation management and control of the unmanned ship are realized through a visual image recognition partition, and the method comprises the following steps:
dividing an automatic recovery guide control area of the stern slide of the unmanned boat into an identification area, a guide area and a recovery area;
when the target unmanned ship enters the identification area, identifying the target unmanned ship entering the identification area through the visual image, planning a path of the target unmanned ship and guiding the target unmanned ship to the guide area;
after the target unmanned ship enters the guide area, the navigation direction of the target unmanned ship is guided and controlled to be aligned with the reference center line of the stern slideway retracting device, and meanwhile, the target unmanned ship is kept in the course state to run to the boundary of the recovery area;
in a recovery area, keeping the target unmanned ship on a reference central line of a stern slideway retraction device and at the same navigational speed as a mother ship, keeping an included angle between a course angle of the target unmanned ship and the reference central line of the stern slideway close to 0 degree, and finishing recovery after receiving a recovery confirmation instruction.
4. The guiding and controlling method of claim 3, wherein after the target unmanned ship enters the guiding area, the guiding and controlling method guides and controls the sailing direction of the target unmanned ship to align with the reference center line of the stern slide launching and retracting device, and simultaneously keeps the course state to travel to the boundary of the recovery area, and comprises the following steps:
after the target unmanned ship enters the guide area, the relative deviation angle and the distance information of the target unmanned ship relative to a stern slideway of the mother ship are calculated and obtained according to the polar coordinate positioning of the target unmanned ship in the automatic recovery guide control area, and a course attitude and speed adjusting instruction is sent to the target unmanned ship according to the relative deviation angle and the distance information of the target unmanned ship relative to the stern slideway of the mother ship, so that the course of the target unmanned ship is aligned with the reference central line of the stern slideway retracting device, and the course state is kept to run to the boundary of the recovery area to follow and stand by.
5. The guiding tube control method according to claim 4, wherein in the recovery area, keeping the target unmanned ship on a reference centerline of the stern slipway retraction device and at the same speed as the mother ship, keeping an included angle between a course angle of the target unmanned ship and the reference centerline of the stern slipway close to 0 °, and completing recovery after receiving a recovery confirmation command comprises:
after the target unmanned ship enters a recovery area, the target unmanned ship is controlled to be located on a reference central line of a stern slideway retraction device and to be away from a reference central point of a stern slideway of a mother ship by a certain distance, an included angle between a course angle of the target unmanned ship and the reference central line of the stern slideway is close to 0 degree, and the speeds of the target unmanned ship and the mother ship are the same.
6. The utility model provides an automatic guiding irrigation system who retrieves of unmanned ship stern slide which characterized in that includes:
the system comprises a guiding control area setting module, a ship tail slide rail automatic recovery guiding control area setting module and a ship tail slide rail automatic recovery guiding control area setting module, wherein the unmanned ship tail slide rail automatic recovery guiding control area is arranged behind a mother ship tail slide rail, and a reference central point of a mother ship tail slide rail retraction device is used as a polar coordinate original point of the unmanned ship tail slide rail automatic recovery guiding control area;
and the automatic recovery control module is used for dividing the automatic recovery guide control area of the stern slideway of the unmanned boat into a plurality of sub-areas and then realizing the automatic recovery path guide and navigation control of the unmanned boat through visual image recognition subareas.
7. The guidance control system according to claim 6, wherein an automatic recovery guidance control area of the stern slide of the unmanned ship is configured by taking a recognition distance of the target unmanned ship image as a guidance control radius for automatic recovery and taking a recognition view angle of the target unmanned ship image as an included angle.
8. The guidance and control system according to claim 6 or 7, wherein the automatic recovery control module comprises:
the control area dividing module is used for dividing the automatic recovery and guide control area of the stern slide of the unmanned boat into an identification area, a guide area and a recovery area;
the identification area management and control module is used for identifying the target unmanned ship entering the identification area through the visual image when the target unmanned ship enters the identification area, and planning a path of the target unmanned ship to guide the target unmanned ship to the guide area;
the guiding area control module is used for guiding and controlling the navigation direction of the target unmanned ship to align with the reference center line of the stern slideway retracting device after the target unmanned ship enters the guiding area, and meanwhile, the target unmanned ship is kept in the course state to run to the boundary of the recovery area;
and the recovery area management and control module is used for keeping the target unmanned ship on a reference central line of the stern slideway retraction device and at the same navigational speed with the mother ship in the recovery area, keeping an included angle between the course angle of the target unmanned ship and the reference central line of the stern slideway close to 0 degree, and finishing recovery after receiving a recovery confirmation instruction.
9. The guidance control system of claim 8, wherein the guidance area management and control module is configured to calculate and obtain information about a relative deviation angle and a distance of the target unmanned ship relative to a stern slide of the mother ship according to polar coordinate positioning of the target unmanned ship in the automatic recovery guidance and control area after the target unmanned ship enters the guidance area, and send a heading attitude and speed adjustment instruction to the target unmanned ship according to the information about the relative deviation angle and the distance of the target unmanned ship relative to the stern slide of the mother ship, so that the heading of the target unmanned ship is aligned with a reference center line of a stern slide retraction device, and meanwhile, the target unmanned ship is driven to a boundary of the recovery area to follow the standby state while keeping the heading state.
10. The guidance control system of claim 9, wherein the recovery area management and control module is configured to control the target unmanned ship to be located on a reference center line of the stern slipway retraction device and at a distance from a reference center point of a stern slipway of the mother ship after the target unmanned ship enters the recovery area, an included angle between a course angle of the target unmanned ship and the reference center line of the stern slipway is close to 0 °, and the speeds of the target unmanned ship and the mother ship are the same, and then the target unmanned ship waits for receiving a recovery confirmation instruction, and after receiving the recovery confirmation instruction, the target unmanned ship is controlled to accelerate into the stern slipway, and the stern slipway retraction device completes automatic capture and recovery of the target unmanned ship.
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