CN115047866A - Intelligent ship capable of running in line and control method - Google Patents
Intelligent ship capable of running in line and control method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/28—Barges or lighters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
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Abstract
The invention relates to an intelligent in-line running ship and a control method, wherein a power ship and a barge are combined to realize that a plurality of ships automatically run in line along the same track, and a positioning and steering control module implanted in the ship obtains the running track of the first ship along the running direction when the ship runs, and controls the rest ships to run along the running track, so that the running efficiency of the ships in line can be greatly improved, and the traffic cost is reduced.
Description
Technical Field
The invention relates to the technical field of ship engineering, in particular to an intelligent in-line running ship and a control method.
Background
In the shipping process, the ships run in line, so that the driving efficiency can be improved, and the energy consumption of the ships is reduced, thereby reducing the shipping cost.
If the automatic steering of the ship can be realized and the subsequent ships can automatically run in a row along the same track of the first ship, the driving efficiency can be greatly improved. Therefore, the invention develops an intelligent in-line running ship and a control method to solve the problems in the prior art, and a technical scheme which is the same as or similar to the intelligent in-line running ship is not found through retrieval.
Disclosure of Invention
The invention aims to: the intelligent in-line running ship and the control method are provided to solve the problem that in the prior art, the difficulty in-line running of the ship is high, and the driving efficiency is difficult to improve.
The technical scheme of the invention is as follows: the intelligent in-line running ship is characterized by comprising:
the power boat can be a tugboat running at the head or a push boat running at the tail;
and the positioning and steering control module is implanted into the ship, acquires the running track of the ship at the head position along the running direction when the ship runs, and controls the rest ships to run along the running track.
Preferably, the positioning and steering control module includes:
the positioning modules are respectively implanted into the ships to acquire real-time relative position information of each barge relative to the power ship;
the track resolving module is implanted into the power ship and used for resolving a running track of a first ship in a power ship coordinate system along a running direction;
the steering controller and the electric steering mechanism are respectively implanted into each ship and can control the steering of each barge.
Preferably, the barge further comprises a connection mechanism for connecting the fore and aft vessels, the connection mechanism being a cable connection mechanism, a hinge connection mechanism or the like.
Based on an intelligent in-line running ship, the invention also develops a ship control method, which comprises the following steps:
(1) defining a coordinate system and a time sequence by the geometric center F of the deck plane of the dynamic ship 1 Is a coordinate origin, wherein one side along the ship body direction and facing the ship head is a positive Y-axis direction, and the other side vertical to the ship body direction and facing the right side of the ship body is a positive X-axis direction;
defining a time sequence k, and initializing k to 0;
(2) after a certain time Δ t, the time sequence k is increased by 1, i.e. k equals k + 1;
(3) the positioning module calculates the position coordinates of each ship in a power ship coordinate system;
(4) the track calculating module calculates the running track of the first ship based on the coordinate system of the power ship;
(5) except for the first ship, the steering controller controls the electric steering mechanism corresponding to each ship to steer based on the coordinate values of the geometrical center points of the deck planes of other ships under the power ship coordinate system and the running track of the first ship;
(6) and (5) continuing the ship to run in the row, returning to the step (2), and ending the process that the ship exits from the row running.
Preferably, in the step (4), the method for calculating the first ship travel track based on the power ship coordinate system includes:
a, when the power boat is a tugboat and runs at the head:
(1) plane geometric center point F of deck of power ship at moment k 1 Is the origin of coordinates with coordinates F 1k (x 1k ＝0,y 1k ＝0)；
(2) Calculating the variation parameter of the coordinate system Z from the time k-1 to the time k, wherein the turning angle theta of the power ship from the time k-1 to the time k is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the power ship at the moment k can be measured by a gyroscope of the track resolving module; the ship speed sensor arranged on the power ship monitors that the speed is v k Solving out:
x-axis variation a ═ Δ t × v k *sinθ k ，
Y-axis variation b ═ Δ t ═ v k *cosθ k ；
(3) Coordinate transformation is carried out, wherein the time k-1 is before the time k-1 and comprises the time k-1, F 1 (F 1k-1 ,F 1k-2 ,…,F 1k-n ) Is transformed into coordinate values of a coordinate system of the current time k, wherein the origin of coordinates is represented by F 1k-1 Conversion to F 1k Angle of rotation theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
x 1m ’＝(x 1m -a)*cosθ k +(y 1m -b)*sinθ k ，
y 1m ’＝(y 1m -b)*cosθ k -(x 1m -a)*sinθ k ；
wherein m takes the values of k-1, k-2, … … and k-n in sequence; defining the deck of a tail bargeGeometric center point of plane F R At time k, F R The coordinate value of the Y axis under the coordinate system of the power ship is Y RK This value can be resolved by the positioning module; need to guarantee y 1m ’＞y RK To determine when y is 1m ’＜y RK Then this point is already behind the tail barge;
(4) according to F in the current time (K time) coordinate system during the running of the power ship 1 Coordinate position F at different times 1k ,F 1k-1 ,F 1k-2 ,…,F 1k-n The driving track can be fitted;
b, when the power boat is a pushing boat and runs on the tail part:
at the moment, the ship driving at the head position is a barge, all ships drive along the track of the barge at the head position, and the specific control method is as follows;
(1) the positioning module calculates the geometrical center point F of the plane of the head barge deck at the current moment in a coordinate system Z Q Coordinate value F of Qk (x Qk ，y Qk )；
(2) Calculating the variation parameter of the coordinate system Z from the time k-1 to the time k, wherein the turning angle theta of the power ship from the time k-1 to the time k is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the power ship at the moment k can be measured by a gyroscope of the track resolving module; the ship speed sensor arranged on the power ship monitors that the ship speed is v k Solving:
x-axis variation a ═ Δ t × v k *sinθ k ，
Y-axis variation b ═ Δ t ═ v k *cosθ k ；
(4) Coordinate transformation is carried out, wherein the time k-1 is before the time k-1 and comprises the time k-1, F Q (F Qk-1 ,F Qk-2 ,…,F Qk-n ) Is transformed into coordinate values of a coordinate system of the current time k, wherein the origin of coordinates is represented by F 1k-1 Conversion to F 1k Angle of rotation theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
X Qm ’＝(x Qm -a)*cosθ k +(y Qm -b)*sinθ k ，
y Qm ’＝(y Qm -b)*cosθ k -(x Qm -a)*sinθ k ；
wherein m is k-1, k-2, … …, k-n in sequence, and y is ensured Qm ’>0 to determine the value of n when y Qm ’<0, when this point is already behind the powered boat (pusher boat);
(4) according to the geometrical center point F of the plane of the head barge deck under the current K time coordinate system Q Position F at different times Qk ,F Qk-1 ,F Qk-2 ,…,F Qk-n The driving track can be fitted;
compared with the prior art, the invention combines the power boat and the barge, and provides the automatic steering control method, so that the front and rear boats can run in line along the same track, and the driving efficiency can be greatly improved; the transportation cost is reduced.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a schematic view of an intelligent in-line vessel according to the present invention;
(a) the power boat is at the head
(b) The power boat is positioned at the tail part
Fig. 2 is a flowchart of a ship control method of an intelligent in-line running ship according to the present invention, when a power ship is at a head position.
Wherein: 1. power boat, 11 cab;
2. barge;
3. a connecting mechanism;
4. a power steering mechanism;
5. and a steering rudder.
Detailed Description
The present invention will be further described in detail with reference to the following specific examples:
an intelligent ship capable of running in a row comprises a plurality of ships capable of running in a row and a positioning and steering control module.
As shown in fig. 1, with respect to a plurality of ships traveling in a line, including a power ship 1, and an unpowered barge 2, a cab 11 is located inside the power ship 1; as shown in fig. 1a, the power boat 1 can be driven in the fore position, called a tug boat; as shown in fig. 1b, the powered boat 1 may also be towed aft, referred to as a pusher boat.
The ships are connected by a connecting mechanism 3, and the connecting mechanism can be a cable connecting mechanism or a hinge mechanism; the ship is also provided with an electric steering mechanism 4 which is used for controlling a steering rudder 5 to steer the ship in the running process of the ship.
And the positioning and steering control module is implanted into the ship, acquires the running track of the ship at the head position along the running direction when the ship runs, and controls the rest ships to run along the running track. The device mainly comprises a positioning module, a track resolving module, a steering controller and an electric steering mechanism 4; the positioning modules are respectively implanted into the ships to acquire real-time relative position information of each barge relative to the power ship 1, and the specific positioning method comprises one or a combination of angle positioning, visual positioning, radio frequency positioning, ultrasonic positioning and laser positioning; the track calculating module is implanted into the power ship 1, generally comprises a ship speed sensor and a gyroscope and is used for calculating the running track of a head ship in the running direction under a power ship coordinate system; the steering controller and the electric steering mechanism 4 are respectively embedded in each ship, and can control the steering of each barge.
Based on an intelligent in-line running ship, the invention also develops a ship control method, which comprises the following steps:
A. defining a coordinate system and a time sequence by the geometric center F of the deck plane of the dynamic ship 1 The coordinate origin is set, wherein one side along the ship body direction and facing the ship head is the positive direction of the Y axis, and the side perpendicular to the ship body direction and facing the right side of the ship body is the positive direction of the X axis;
defining a time sequence k, and initializing k to be 0;
B. after a certain time Δ t, the time sequence k is increased by 1, i.e. k equals k + 1;
C. and the positioning module is used for solving the position coordinates of each ship in the power ship coordinate system. The specific positioning method comprises one or more of mechanical positioning, visual positioning, laser positioning, ultrasonic positioning and radio frequency positioning;
for example, an angle sensor may be provided at the ship connection mechanism, and the position of each ship in the power ship coordinate system may be calculated by measuring the angles of the front and rear ships in the horizontal plane and combining the ship body dimension chain.
D. And the track calculating module calculates the running track of the first ship based on the coordinate system of the power ship 1.
E. Except for the first ship, the steering controller controls the electric steering mechanisms 4 corresponding to all ships to steer based on coordinate values of the geometrical center points of the deck planes of other ships under the coordinate system of the power ship 1 and the driving track of the first ship;
F. and D, continuing the running of the ship in the row, returning to the step B, stopping the running of the ship in the row, and ending.
As shown in fig. 1, the power boat 1 can travel at the head to drag the whole fleet to travel, and can also travel at the tail to push the whole fleet to travel. When the power ship 1 runs at the head or the tail respectively, in the step D of the ship control method, the track calculation methods of the ship running at the head are slightly different, and the specific method is as follows:
when the power boat is a tug, as shown in fig. 1a, the power boat is driven by the driver and is driven in the leading position. The track resolving process of the power ship comprises the following steps:
(1) plane geometric center point F of deck of power ship at new moment k 1 Is the origin of coordinates of which the coordinates are F 1k (x 1k ＝0,y 1k ＝0)；
(2) Estimating the variation parameters of the coordinate system Z from the time k-1 to the time k, wherein the turning angle theta of the power ship from the time k-1 to the time k is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the power ship at the moment k can be measured by a gyroscope of the track resolving module; the ship speed sensor arranged on the power ship monitors that the speed is v k Solving:
x-axis variation a ═ Δ t × v k *sinθ k ，
Y-axis variation b ═ Δ t ═ v k *cosθ k ；
(3) Coordinate transformation is carried out, wherein the time point k-1 is before and comprises the time point k-1, F 1 (F 1k-1 ,F 1k-2 ,…,F 1k-n ) Is transformed into coordinate values of a coordinate system of the current time k, wherein the origin of coordinates is represented by F 1k-1 Conversion to F 1k Angle of rotation theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
x 1m ’＝(x 1m -a)*cosθ k +(y 1m -b)*sinθ k ，
y 1m ’＝(y 1m -b)*cosθ k -(x 1m -a)*sinθ k ；
wherein m takes the values of k-1, k-2, … … and k-n in sequence; defining the geometrical center point of the deck plane of the tail barge as F R At time k, F R The coordinate value of the Y axis under the coordinate system of the power ship is Y RK This value can be resolved by the positioning module; need to guarantee y 1m ’＞y RK To determine when y is 1m ’＜y RK Then this point is already behind the tail barge;
(4) according to F in the current time (K time) coordinate system during the running of the power ship 1 Coordinate position F at different times 1k ,F 1k-1 ,F 1k-2 ,…,F 1k-n The driving track can be fitted;
as shown in fig. 1b, when the power boat 1 is a push boat, the driver controls the head boat to steer through the steering controller, and the power boat 1 runs on the tail. The first ship running track resolving process comprises the following steps:
(1) the positioning module calculates the geometrical center point F of the plane of the top barge deck at the current moment in a coordinate system Z Q Coordinate value F of Qk (x Qk ，y Qk )；
(2) Calculating the variation parameter of the coordinate system Z from the time k-1 to the time k, wherein the turning angle theta of the power ship from the time k-1 to the time k is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the power ship at the moment k can be measured by a gyroscope of the track resolving module; the ship speed sensor arranged on the power ship monitors the ship speed sensorThe speed of the ship is v k Solving:
x-axis variation a ═ Δ t × v k *sinθ k ，
Y-axis variation b ═ Δ t ═ v k *cosθ k ；
(3) Transforming the coordinate system Z to include the time k-1 and the time F before the time k-1 Q (F Qk-1 ,F Qk-2 ,…,F Qk-n ) Is transformed into coordinate values of a coordinate system of the current time k, wherein the origin of coordinates is represented by F 1k-1 Conversion to F 1k Angle of rotation theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
X Qm ’＝(x Qm -a)*cosθ k +(y Qm -b)*sinθ k ，
y Qm ’＝(y Qm -b)*cosθ k -(x Qm -a)*sinθ k ；
wherein m is k-1, k-2, … …, k-n in sequence, and y is ensured Qm ’>0 to determine the value of n when y Qm ’<0, when this point is already behind the powered boat (pusher boat);
(4) according to the geometrical center point F of the plane of the head barge deck under the current K time coordinate system Q Position F at different times Qk ,F Qk-1 ,F Qk-2 ,…,F Qk-n Fitting a driving track of the vehicle;
the above embodiments are only for illustrating the technical idea and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the content of the present invention and implement the present invention, and not to limit the protection scope of the present invention. It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore intended that the present embodiments be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (5)
1. An intelligent in-line travel vessel, comprising:
the power boat can be a tugboat running at the head or a pushing boat running at the tail;
and the positioning and steering control module is implanted into the ship, acquires the running track of the ship at the head position along the running direction when the ship runs, and controls the rest ships to run along the running track.
2. The intelligent in-line travel vessel of claim 1, wherein: the positioning and steering control module includes:
the positioning modules are respectively implanted into the ships to acquire real-time relative position information of each barge relative to the power ship;
the track resolving module is implanted into the power ship and used for resolving a running track of a first ship in a power ship coordinate system along a running direction;
the steering controller and the electric steering mechanism are respectively implanted into each ship, and can control the steering of each ship.
3. The intelligent in-line travel vessel of claim 2, wherein: the barge further comprises a connecting mechanism for realizing connection of the front ship and the rear ship, wherein the connecting mechanism can be a cable connecting mechanism, a hinging mechanism or the like.
4. A ship control method according to any one of claims 1 to 3, characterized in that the control method is specifically as follows:
(1) defining a coordinate system and a time sequence by the geometric center F of the deck plane of the dynamic ship 1 The coordinate origin is set, wherein one side along the ship body direction and facing the ship head is the positive direction of the Y axis, and the side perpendicular to the ship body direction and facing the right side of the ship body is the positive direction of the X axis;
defining a time sequence k, and initializing k to be 0;
(2) after a certain time Δ t, the time sequence k is increased by 1, i.e. k equals k + 1;
(3) the positioning module calculates the position coordinates of each ship in a power ship coordinate system;
(4) the track calculating module is used for calculating the running track of the first ship based on a power ship coordinate system;
(5) except for the first ship, the steering controller controls the electric steering mechanism corresponding to each ship to steer based on the coordinate values of the plane geometric central points of the decks of other ships under the coordinate system of the power ship and the driving track of the first ship;
(6) and (5) continuing the ship to run in the row, returning to the step (2), and stopping the ship from running in the row.
5. The ship control method according to claim 4, characterized in that: in the step (4), the method for calculating the first ship running track based on the power ship coordinate system comprises the following steps:
a, when the power boat is a tugboat and runs at the head:
(1) plane geometric center point F of deck of power ship at moment k 1 Is the origin of coordinates with coordinates F 1k (x 1k ＝0,y 1k ＝0)；
(2) Calculating the variation parameter of the coordinate system Z from the time k-1 to the time k, wherein the turning angle theta of the power ship from the time k-1 to the time k is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the power ship at the moment k can be measured by a gyroscope of the track resolving module; the ship speed sensor arranged on the power ship monitors that the speed is v k Solving:
x axis variation a ═ Δ t × v k *sinθ k ，
Y-axis variation b ═ Δ t ═ v k *cosθ k ；
(3) Coordinate transformation is carried out, wherein the time point k-1 is before and comprises the time point k-1, F 1 (F 1k-1 ,F 1k-2 ,…,F 1k-n ) Is transformed into coordinate values of a coordinate system of the current time k, wherein the origin of coordinates is represented by F 1k-1 Conversion to F 1k Angle of rotation of a coordinate systemθ k The transformed X-axis and Y-axis coordinate values are respectively:
x 1m ’＝(x 1m -a)*cosθ k +(y 1m -b)*sinθ k ，
y 1m ’＝(y 1m -b)*cosθ k -(x 1m -a)*sinθ k ；
wherein m takes the values of k-1, k-2, … … and k-n in sequence; defining the geometrical center point of the deck plane of the tail barge as F R At time k, F R The coordinate value of the Y axis under the coordinate system of the power ship is Y RK This value can be resolved by the positioning module; need to guarantee y 1m ’＞y RK To determine when y is 1m ’＜y RK Then this point is already behind the tail barge;
(4) according to F in the current time (K time) coordinate system during the running of the power ship 1 Coordinate position F at different times 1k ,F 1k-1 ,F 1k-2 ,…,F 1k-n The driving track can be fitted;
b, when the power boat is a pushing boat and runs on the tail part:
at the moment, the ship running at the head is a barge, all ships run along the track of the head barge, and the specific control method is as follows;
(1) the positioning module calculates the geometrical center point F of the plane of the head barge deck at the current moment in a coordinate system Z Q Coordinate value F of Qk (x Qk ，y Qk )；
(2) Calculating the variation parameter of the coordinate system Z from the time k-1 to the time k, wherein the turning angle theta of the power ship from the time k-1 to the time k is calculated k ，θ k ＝ω k *Δt，ω k The rotation angular velocity of the power ship at the moment k can be measured by a gyroscope of the track resolving module; the ship speed sensor arranged on the power ship monitors that the ship speed is v k Solving:
x-axis variation a ═ Δ t × v k *sinθ k ，
Y-axis variation b ═ Δ t ═ v k *cosθ k ；
(3) Coordinate transformation, with k-1 being before time, andincluding time k-1, F Q (F Qk-1 ,F Qk-2 ,…,F Qk-n ) Is transformed into coordinate values of a coordinate system of the current time k, wherein the origin of coordinates is represented by F 1k-1 Conversion to F 1k Angle of rotation theta of coordinate system k The transformed X-axis and Y-axis coordinate values are respectively:
X Qm ’＝(x Qm -a)*cosθ k +(y Qm -b)*sinθ k ，
y Qm ’＝(y Qm -b)*cosθ k -(x Qm -a)*sinθ k ；
wherein m is k-1, k-2, … …, k-n in sequence, and y is ensured Qm ’>0 to determine the value of n when y Qm ’<0, this point is now behind the powered boat (pusher boat);
(4) according to the geometrical center point F of the plane of the head barge deck under the current K time coordinate system Q Position F at different times Qk ,F Qk-1 ,F Qk-2 ,…,F Qk-n The driving track can be fitted.
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