CN115465406A - Automatic berthing control method, device, equipment and storage medium for ship - Google Patents
Automatic berthing control method, device, equipment and storage medium for ship Download PDFInfo
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Abstract
The invention discloses a method, a device, equipment and a storage medium for controlling automatic berthing of a ship. The method comprises the following steps: acquiring the current driving parameters of the ship, wherein the driving parameters comprise ship drift angle, rudder angle information and speed information; obtaining a target ship motion model according to the ship drift angle; acquiring heading information of a current ship according to the driving parameters and the target ship motion model, and establishing a ship control algorithm according to the heading information and rudder angle information; and acquiring a berthing terminal, and controlling the current ship to automatically berth based on the berthing terminal according to a ship control algorithm. The target ship motion model can be accurately obtained through the ship drift angle, the ship control algorithm is established according to the heading information and the rudder angle information, the berthing efficiency is improved while the accuracy of the berthing process is improved, the safety of ship navigation is guaranteed, and finally the current ship can be controlled to be automatically berthed on the basis of the berthing terminal point through the ship control algorithm, manual operation is not needed, and the labor cost is saved.
Description
Technical Field
The invention relates to the field of ship control, in particular to an automatic berthing control method, device, equipment and storage medium for a ship.
Background
With the development of large-scale, automatic and intelligent ships, intelligent ship technology has become a direction of major concern in all countries in the world.
In the prior art, the dock berthing of ships mostly adopts the matching action of a traditional tugboat and a shipboard cable or the manual operation of a crew for berthing.
However, due to the rapid development of marine traffic, the shortage of crew members and advanced crew members, some inexperienced young crew members often touch the dock during the berthing operation, and the berthing efficiency is low, the operation is complicated, and the labor cost is increased.
Disclosure of Invention
The invention provides a method, a device, equipment and a storage medium for controlling automatic berthing of a ship, which are used for controlling the ship to finish automatic berthing according to a berthing terminal point during navigation.
According to an aspect of the present invention, there is provided an automatic berthing control method for a ship, the method including:
acquiring the current driving parameters of the ship, wherein the driving parameters comprise ship drift angle, rudder angle information and speed information;
obtaining a target ship motion model according to the ship drift angle;
acquiring heading information of a current ship according to the driving parameters and the target ship motion model, and establishing a ship control algorithm according to the heading information and rudder angle information;
and acquiring a berthing terminal, and controlling the current ship to automatically berth based on the berthing terminal according to a ship control algorithm.
Preferably, the obtaining of the target ship motion model according to the ship drift angle includes: judging whether the drift angle of the ship is smaller than or equal to a first preset threshold value, if so, acquiring an aboveground model corresponding to the first preset threshold value, and taking the aboveground model as a target ship motion model, wherein the target ship motion model comprises a corresponding relation between a driving parameter and inertia water power; otherwise, obtaining the target ship motion model according to a second preset threshold and the ship drift angle, wherein the second preset threshold is larger than the first preset threshold.
Preferably, the obtaining of the target ship motion model according to the second preset threshold and the ship drift angle includes: judging whether the drift angle of the ship is larger than or equal to a second preset threshold value, if so, acquiring a village model corresponding to the second preset threshold value, and taking the village model as a target ship motion model; otherwise, performing spline interpolation calculation according to the aboveground model and the village model to obtain a target ship motion model.
Preferably, the obtaining of heading information of the current ship according to the target ship motion model includes: inputting rudder angle information and speed information into a target ship motion model, and acquiring output inertia water power; and acquiring heading information according to the inertial hydrodynamic force.
Preferably, the method for establishing the ship control algorithm according to the heading information and the rudder angle information comprises the following steps: determining a pseudo-deviation numerical value of the heading of the current ship according to the heading information and the rudder angle information; establishing a tight format dynamic linearization model of the current ship heading according to the pseudo partial derivative value, wherein the tight format dynamic linearization model comprises a corresponding relation between heading variation and ship rudder angle variation; and establishing a ship control algorithm according to the compact format dynamic linearization model, wherein the ship control algorithm comprises a corresponding relation between a ship rudder angle and a ship heading.
Preferably, the controlling the current ship to automatically berth based on the berthing end point according to the ship control algorithm comprises the following steps: carrying out guidance law calculation on the berthing terminal to obtain an expected heading; inputting the expected heading as the heading of the ship into a ship control algorithm, and acquiring an output ship rudder angle; and controlling the current ship to automatically berth according to the rudder angle of the ship.
Preferably, after obtaining the target ship motion model according to the ship drift angle, the method further includes: when the current ship is determined to be in a reverse state, acquiring a reverse thrust coefficient of a propeller; and updating the target ship motion model according to the reverse thrust coefficient of the propeller.
According to another aspect of the present invention, there is provided an automatic berthing control apparatus for a ship, the apparatus including:
the system comprises a driving parameter acquisition module, a speed acquisition module and a control module, wherein the driving parameter acquisition module is used for acquiring the driving parameters of the current ship, and the driving parameters comprise ship drift angle, rudder angle information and speed information;
the target ship motion model acquisition module is used for acquiring a target ship motion model according to the ship drift angle;
the ship control algorithm establishing module is used for acquiring the heading information of the current ship according to the driving parameters and the target ship motion model and establishing a ship control algorithm according to the heading information and the rudder angle information;
and the automatic berthing control module is used for acquiring a berthing terminal and controlling the current ship to automatically berth according to a ship control algorithm based on the berthing terminal.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform a method of automatic berthing control of a vessel according to any of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement a method for automatic berthing control of a ship according to any one of the embodiments of the present invention when the computer instructions are executed.
According to the technical scheme of the embodiment of the invention, the target ship motion model can be accurately obtained through the ship drift angle, the ship control algorithm is established according to the heading information and the rudder angle information, the accuracy of the berthing process is improved, and the berthing efficiency is improved, so that the safety of ship navigation is ensured, and finally, the current ship can be controlled to berth automatically through the ship control algorithm based on the berthing terminal point, manual operation is not needed, and the labor cost is saved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of an automatic berthing control method for a ship according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an automatic berthing process of a ship according to an embodiment of the present invention;
fig. 3 is a flowchart of an automatic berthing control method for a ship according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automatic berthing control device for a ship according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device for implementing an automatic berthing control method of a ship according to an embodiment of the present 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.
Example one
Fig. 1 is a flowchart of an embodiment of the present invention, which provides an automatic berthing control method for a ship, where the embodiment may be applied to a situation where the ship is sailing at sea, and the method may be implemented by an automatic berthing control device, which may be implemented in hardware and/or software, and may be configured in a computer device. As shown in fig. 1, the method includes:
s110, obtaining the current running parameters of the ship, wherein the running parameters comprise ship drift angle, rudder angle information and speed information.
The current ship is a ship which needs to be controlled by the controller, and the controller controls the current ship to realize automatic berthing. The driving parameters can be understood as parameters obtained by measuring the self navigation state of the ship in the driving process, the driving parameters comprise ship drift angle, rudder angle information and speed information, and the ship drift angle refers to an included angle between the tangential speed direction of the gravity center of the ship and the fore-and-aft line of the ship; the speed information can be the longitudinal speed of the ship, the transverse speed of the ship, the angular speed of the turning bow and the like; the rudder angle refers to the angle of the rudder blade of the ship rotating around the axis of the rudder stock and deviating from the position of the rudder. The ship control algorithm is a model for controlling the running of the ship by outputting a ship rudder angle based on the ship heading by a controller. The vessel in the present embodiment may be an unmanned vessel such as an autonomous vessel, an autonomously sailing vessel, an unmanned marine vehicle, or an automatic surface vehicle, in addition to a general vessel in which a crew controls the vessel to sail.
And S120, obtaining a target ship motion model according to the ship drift angle.
Preferably, the obtaining of the target ship motion model according to the ship drift angle includes: judging whether the drift angle of the ship is smaller than or equal to a first preset threshold value, if so, acquiring an aboveground model corresponding to the first preset threshold value, and taking the aboveground model as a target ship motion model, wherein the target ship motion model comprises a corresponding relation between a driving parameter and inertia water power; otherwise, obtaining the target ship motion model according to a second preset threshold and the ship drift angle, wherein the second preset threshold is larger than the first preset threshold.
Specifically, the controller can obtain the target ship motion model according to the ship drift angle, first, the controller can judge whether the ship drift angle is smaller than or equal to a first preset threshold value, the first preset threshold value can be set by a user in the controller in advance according to needs, the user refers to a research and development worker or a worker designing automatic berthing control of the ship, exemplarily, the first preset threshold value can be 20 degrees, when the controller detects that the ship drift angle is smaller than or equal to 20 degrees, the aboveground model can be obtained, and the aboveground model is taken as the target ship motion model, namely, the aboveground model is represented by the following formula (1):
wherein the content of the first and second substances,X H 、Y H 、N H respectively representing inertia water power in X, Y and N directions,vthe lateral velocity is indicated in the form of,rthe angular velocity of the turning bow is indicated,X(u) Representing the straight sailing resistance;X vv showing the longitudinal drag coefficient,X vr Speed of expressionLongitudinal forces caused by the coupling of degrees and yaw rate,X rr representing the longitudinal force coefficient due to the square of the heading angular velocity,Y v indicating the lateral force coefficient due to the lateral velocity,Y r indicating the coefficient of lateral force due to yaw angular velocity,Y |v|v representing the lateral force coefficient due to the lateral velocity squared,Y |r|r representing the lateral force coefficient caused by the square of the heading angular velocity,Y vvr representing the lateral force coefficient caused by the square of the lateral velocity and the yaw rate,Y vrr representing the lateral force coefficient resulting from the square of the lateral velocity and the yaw rate,N v represents a yaw moment coefficient caused by the transverse speed,N r indicating the turning moment coefficient caused by the turning angular velocity,N |r|r representing the coefficient of the heading moment caused by the square of the heading angular velocity,N |v|v and representing a heading moment coefficient caused by the square of the transverse speed, and when the ship drift angle is greater than 20 degrees, the controller can obtain a target ship motion model according to a second preset threshold and the ship drift angle, wherein the second preset threshold is greater than the first preset threshold.
Preferably, the obtaining of the target ship motion model according to the second preset threshold and the ship drift angle includes: judging whether the drift angle of the ship is larger than or equal to a second preset threshold value, if so, acquiring a village model corresponding to the second preset threshold value, and taking the village model as a target ship motion model; otherwise, carrying out spline interpolation calculation according to the aboveground model and the village model to obtain a target ship motion model.
Specifically, the second preset threshold may be set by the user in the controller in advance as required, for example, the second preset threshold may be 30 degrees, when the controller detects that the ship drift angle is greater than or equal to 30 degrees, the village model is obtained, and the village model is taken as the target ship motion model, that is, the village model is represented by the following formula (2):
wherein, the first and the second end of the pipe are connected with each other,X H 、Y H 、N H respectively representing inertia water power in X, Y and N directions,vthe lateral velocity is represented by the expression,uthe speed of the machine direction is indicated,rthe angular velocity of the turning bow is indicated,X H (r 0 ) To representrAt 0 timeX H ，Y H (r 0 ) RepresentrAt 0 timeY H ，N H (r 0 ) RepresentrWhen it is 0N H ，
Which is indicative of the density of the water,Lit indicates the length of the ship's model,dthe draft of the vessel is represented,C ry representYThe model correction coefficient of the direction is calculated,C rn representNThe model correction coefficient of the direction is calculated,C d the cross-flow resistance coefficient of the ship body is expressed,X vr indicating the longitudinal force caused by the coupling of speed and yaw rate,X rr representing the longitudinal force coefficient due to the square of the heading angular velocity,Y r indicating the coefficient of lateral force due to yaw angular velocity,N r indicating the turning moment coefficient caused by the turning angular velocity,xand when the drift angle of the ship is greater than 20 degrees and less than 30 degrees, the controller performs cubic spline interpolation calculation according to the results of the aboveground model and the village model to obtain a target ship motion model, wherein the spline interpolation is a calculation method in the prior art, and therefore details are not repeated in the embodiment.
S130, obtaining heading information of the current ship according to the driving parameters and the target ship motion model, and establishing a ship control algorithm according to the heading information and rudder angle information.
Preferably, the obtaining heading information of the current ship according to the target ship motion model includes: inputting rudder angle information and speed information into a target ship motion model, and acquiring output inertia water power; and acquiring heading information according to the inertial hydrodynamic force.
Wherein, the heading refers to the direction information of the bow, namely the projection direction of the longitudinal axis of the ship in the horizontal plane; the controller inputs rudder angle information and speed information into a target ship motion model, obtains output inertia water power, namely, outputs inertia water power in the N direction in the formula (1) or the formula (2), obtains acceleration in the N direction according to F = ma, namely, according to the mass of the current ship, and performs quadratic integration on the acceleration to obtain heading information of the current ship.
Preferably, the establishing of the ship control algorithm according to the heading information and the rudder angle information comprises: determining a pseudo-deviation numerical value of the current ship heading according to the heading information and the rudder angle information; establishing a tight format dynamic linearization model of the current ship heading according to the pseudo partial derivative value, wherein the tight format dynamic linearization model comprises a corresponding relation between heading variation and ship rudder angle variation; and establishing a ship control algorithm according to the compact format dynamic linearization model, wherein the ship control algorithm comprises a corresponding relation between a ship rudder angle and a ship heading.
Specifically, the controller determines an estimated value of a pseudo-partial derivative of the current ship heading according to the heading information and the rudder angle information, and takes the estimated value as a pseudo-partial derivative value, namely, the estimated value of the pseudo-partial derivative of the current ship heading is calculated by adopting the following formula (3):
wherein the content of the first and second substances,
to represent
Is determined by the estimated value of (c),
a pseudo-deviation value representing the heading of the current ship, eta represents an added step factor,η∈(0,1]the purpose is to make the algorithm more flexible and general,μa weight factor is represented that is a function of,μ＞0， 
indicating the amount of change in the heading at the current time,
representing the pseudo partial derivative estimate at the previous time instant,
indicating the amount of change in rudder angle of the ship at the previous time.
Further, after obtaining the estimated value of the pseudo partial derivative, the controller establishes a compact format dynamic linearization model of the current ship heading, wherein the compact format dynamic linearization model comprises a corresponding relation between a heading variation and a ship rudder angle variation, that is, the compact format dynamic linearization model is represented by the following formula (4):
wherein, the first and the second end of the pipe are connected with each other,
indicating the amount of change in heading at the next moment,
the amount of change in the rudder angle of the ship is indicated,
the pseudo-deviation numerical value of the current ship heading is represented, after the controller obtains the corresponding relation between the heading variation and the ship rudder angle variation at the next moment, the controller can convert the formula (4) to obtain the heading at the next moment, namely the heading at the next moment is represented by the following formula (5):
wherein, the first and the second end of the pipe are connected with each other,
the heading at the next moment is indicated,
indicating the heading at the present moment of time,
a pseudo-derivative value representing the current heading of the vessel,
indicating the amount of change in rudder angle of the ship.
Further, when the ship control algorithm is established according to the compact format dynamic linearization model, a control input criterion function needs to be considered, that is, the control input criterion function is expressed by the following formula (6):
wherein the content of the first and second substances,λa weight factor is represented that is a function of,λis greater than 0, is used for punishing excessive change of control input quantity,
the heading of the ship is shown,
the heading at the next moment is indicated,
indicating the rudder angle of the vessel at the present moment,
and (3) representing the rudder angle of the ship at the previous moment, substituting the formula (5) into the formula (6) to obtain a ship control algorithm, namely representing the ship control algorithm by adopting the following formula (7):
wherein, the first and the second end of the pipe are connected with each other,
indicating the rudder angle of the vessel at the present moment,
indicating the rudder angle of the vessel at the last moment,ρwhich represents a step-size factor, is,ρ∈(0,1]，λa weight factor is represented that is a function of,λ＞0，
the heading of the ship is shown,
indicating the heading at the present moment of time,
and the pseudo-deviation numerical value represents the heading of the current ship. The control algorithm of the formula (7) is directly used for ship motion control, and has the problems of low error convergence speed, large control error and continuous fluctuation, so that an integral action is introduced in the embodiment to obtain an improved model-free adaptive control algorithm, namely, the ship control algorithm represented by the following formula (8):
wherein, the first and the second end of the pipe are connected with each other,
indicating the rudder angle of the vessel at the current moment,
indicating the rudder angle of the vessel at the last moment,ρa step-size factor is represented by a factor,ρ∈(0,1]，λwhich represents a weight factor, is given by the weight factor,λ＞0，
which indicates the desired heading of the vessel,
indicating the heading of the current vessel,
a pseudo partial derivative estimate representing the current vessel heading,k i which is indicative of a parameter of the control algorithm,e(k)and the error between the expected heading and the actual heading of the current ship is shown. And finally, the controller can design a ship control algorithm according to the equivalent data model, wherein the ship control algorithm comprises the corresponding relation between the rudder angle of the ship and the heading of the ship.
And S140, acquiring a berthing terminal, and controlling the current ship to automatically berth based on the berthing terminal according to a ship control algorithm.
Preferably, the current ship is controlled to automatically berth based on the berthing end point according to a ship control algorithm, which comprises the following steps: performing guidance law calculation on the berthing terminal to obtain an expected heading; inputting the expected heading as the heading of the ship into a ship control algorithm, and acquiring an output ship rudder angle; and controlling the current ship to automatically berth according to the rudder angle of the ship.
Specifically, the controller can control the current ship to automatically berth based on a berthing end point according to a ship control algorithm, after the berthing end point appointed by a user is obtained, the controller can calculate a guidance law for the berthing end point to obtain an expected heading, the guidance law refers to an algorithm which is used for calculating the running path of aircrafts such as missiles, unmanned planes and the like according to navigation information and enables the aircrafts to effectively reach a target point, the specific calculation process of the guidance law is not repeated in the embodiment because the calculation process of the guidance law is the prior art means, the controller can input the calculated expected heading into the ship control algorithm as the ship heading and then obtain a ship rudder angle output by the ship control algorithm, and the controller can control the current ship to steer to the berthing end point according to the ship rudder angle to complete automatic berthing. Fig. 2 is a schematic diagram of an automatic berthing process of a ship, in fig. 2, a current position of the ship is an origin of coordinates (0, 0), a berthing endpoint designated by a user is (2000 ), a straight line with an arrow is a sailing track of the automatic berthing process, and the direction of the arrow is a direction of an expected heading.
According to the technical scheme of the embodiment of the invention, the target ship motion model can be accurately obtained through the ship drift angle, the ship control algorithm is established according to the heading information and the rudder angle information, the accuracy of the berthing process is improved, and the berthing efficiency is also improved, so that the safety of ship navigation is ensured, and finally the current ship can be controlled to be automatically berthed through the ship control algorithm based on the berthing terminal point, manual operation is not needed, and the labor cost is saved.
Example two
Fig. 3 is a flowchart of an automatic berthing control method according to a second embodiment of the present invention, which adds a situation when a current ship is in a reverse state to the first embodiment. The specific contents of steps S210-S220 and S250-S260 are substantially the same as steps S110 to S140 in the first embodiment, and therefore, the detailed description is not repeated in this embodiment. As shown in fig. 3, the method includes:
s210, obtaining the current driving parameters of the ship, wherein the driving parameters comprise ship drift angle, rudder angle information and speed information.
And S220, acquiring a target ship motion model according to the ship drift angle.
And S230, when the current ship is determined to be in a reverse state, acquiring a reverse thrust coefficient of the propeller.
Specifically, the influence of a thrust coefficient and a torque coefficient when the ship is in front of the vehicle is only considered by the transverse force of the traditional propeller, the thrust coefficient is characterized by being a function of a speed advancing coefficient, when the rotating speed of the propeller is 0, the speed advancing coefficient is infinite to cause overflow and crash, and during berthing operation in a harbor, the reverse operation is often adopted, so that the reverse thrust coefficient of the propeller in the reverse state needs to be considered, namely when the controller determines that the current ship is in the reverse state, the reverse thrust coefficient of the propeller can be obtained.
And S240, updating the target ship motion model according to the reverse thrust coefficient of the propeller.
Specifically, the controller may obtain the lateral force of the propeller according to the reverse thrust coefficient of the propeller, that is, the relationship between the reverse thrust coefficient of the propeller and the lateral force of the propeller is expressed by the following formula (9):
wherein, C T Representing the coefficient of thrust for reversing the propeller, xp representing the longitudinal force of the propeller,Vrepresenting the incoming flow velocity;nrepresenting the rotational speed of the propeller;Dthe diameter of the propeller is shown as,
the density of water is represented, pi represents a circumference ratio, and since the current running parameters of the ship are obtained based on a parametric Mathematical Model Group (MMG) Model, when the current ship is in a reverse state, the transverse force Xp of a propeller changes, the running parameters output by the MMG Model also change, and at the moment, the controller updates the target ship motion Model so as to reduce the error of the target ship motion Model in the reverse state.
And S250, acquiring the heading information of the current ship according to the driving parameters and the target ship motion model, and establishing a ship control algorithm according to the heading information and rudder angle information.
And S260, acquiring a berthing terminal, and controlling the current ship to automatically berth based on the berthing terminal according to a ship control algorithm.
According to the technical scheme of the embodiment of the invention, the target ship motion model can be accurately obtained through the ship drift angle, the ship control algorithm is established according to the heading information and the rudder angle information, the accuracy of the berthing process is improved, and the berthing efficiency is also improved, so that the safety of ship navigation is ensured.
EXAMPLE III
Fig. 4 is a schematic structural diagram of an automatic berthing control device of a ship according to a third embodiment of the present invention. As shown in fig. 4, the apparatus includes: a driving parameter obtaining module 310, configured to obtain driving parameters of a current ship, where the driving parameters include ship drift angle, rudder angle information, and speed information; the target ship motion model acquisition module 320 is used for acquiring a target ship motion model according to the ship drift angle; the ship control algorithm establishing module 330 is configured to obtain heading information of the current ship according to the driving parameters and the target ship motion model, and establish a ship control algorithm according to the heading information and the rudder angle information; and the automatic berthing control module 340 is used for acquiring a berthing terminal and controlling the current ship to automatically berth according to a ship control algorithm based on the berthing terminal.
Preferably, the target ship motion model obtaining module 320 specifically includes: the first preset threshold value judging unit is used for judging whether the drift angle of the ship is less than or equal to a first preset threshold value; the system comprises an aboveground model obtaining unit, a ship motion model generating unit and a ship control unit, wherein the aboveground model obtaining unit is used for obtaining an aboveground model corresponding to a first preset threshold value when the ship drift angle is smaller than or equal to the first preset threshold value, and taking the aboveground model as a target ship motion model, and the target ship motion model comprises a corresponding relation between a driving parameter and inertia water power; and the second preset threshold value judging unit is used for acquiring the target ship motion model according to a second preset threshold value and the ship drift angle when the ship drift angle is larger than the first preset threshold value, wherein the second preset threshold value is larger than the first preset threshold value.
Preferably, the second preset threshold judgment unit is further configured to: judging whether the drift angle of the ship is larger than or equal to a second preset threshold value, if so, acquiring a village model corresponding to the second preset threshold value, and taking the village model as a target ship motion model; otherwise, carrying out spline interpolation calculation according to the aboveground model and the village model to obtain a target ship motion model.
Preferably, the ship control algorithm establishing module 330 specifically includes: the heading information acquisition unit is used for inputting rudder angle information and speed information into a target ship motion model and acquiring output inertial hydrodynamic force; acquiring heading information according to inertial hydrodynamic force; the ship control algorithm establishing module is used for determining a pseudo-deviation numerical value of the current ship heading according to the heading information and rudder angle information; establishing a tight format dynamic linearization model of the current ship heading according to the pseudo partial derivative value, wherein the tight format dynamic linearization model comprises a corresponding relation between heading variation and ship rudder angle variation; and establishing a ship control algorithm according to the compact format dynamic linearization model, wherein the ship control algorithm comprises a corresponding relation between a ship rudder angle and a ship heading.
Preferably, the automatic berthing control module 340 is specifically configured to: taking the direction of the current ship relative to the berthing terminal point as an expected heading; inputting the expected heading as the heading of the ship into a ship control algorithm, and acquiring an output ship rudder angle; and controlling the current ship to automatically berth according to the rudder angle of the ship.
Preferably, the apparatus further comprises: the target ship motion model updating unit is used for obtaining a propeller reversing thrust coefficient when the current ship is determined to be in a reversing state; and updating the target ship motion model according to the propeller reversing thrust coefficient.
According to the technical scheme of the embodiment of the invention, the target ship motion model can be accurately obtained through the ship drift angle, the ship control algorithm is established according to the heading information and the rudder angle information, the accuracy of the berthing process is improved, and the berthing efficiency is also improved, so that the safety of ship navigation is ensured, and finally the current ship can be controlled to be automatically berthed through the ship control algorithm based on the berthing terminal point, manual operation is not needed, and the labor cost is saved.
The automatic berthing control device for the ship, provided by the embodiment of the invention, can execute the automatic berthing control method for the ship, provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
FIG. 5 illustrates a schematic diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The processor 11 performs the various methods and processes described above, such as an automatic berthing control method for a ship.
In some embodiments, a method of automatic berthing control of a vessel may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of a method for automatic berthing control of a vessel as described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform a method of vessel autopilot control by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An automatic berthing control method for a ship, comprising:
acquiring driving parameters of a current ship, wherein the driving parameters comprise ship drift angle, rudder angle information and speed information;
obtaining a target ship motion model according to the ship drift angle;
acquiring heading information of the current ship according to the driving parameters and the target ship motion model, and establishing a ship control algorithm according to the heading information and the rudder angle information;
and acquiring a berthing terminal, and controlling the current ship to berth automatically based on the berthing terminal according to the ship control algorithm.
2. The method of claim 1, wherein said obtaining a target vessel motion model from said vessel drift angle comprises:
judging whether the ship drift angle is smaller than or equal to a first preset threshold value, if so, acquiring an aboveground model corresponding to the first preset threshold value, and taking the aboveground model as a target ship motion model, wherein the target ship motion model comprises a corresponding relation between the driving parameters and inertia water power;
otherwise, obtaining the target ship motion model according to a second preset threshold and the ship drift angle, wherein the second preset threshold is larger than the first preset threshold.
3. The method of claim 2, wherein the obtaining the target vessel motion model according to the second preset threshold and the vessel drift angle comprises:
judging whether the ship drift angle is larger than or equal to a second preset threshold value, if so, acquiring a village model corresponding to the second preset threshold value, and taking the village model as the target ship motion model;
otherwise, carrying out spline interpolation calculation according to the aboveground model and the village model to obtain the target ship motion model.
4. The method of claim 1, wherein the obtaining heading information for the current vessel from the target vessel motion model comprises:
inputting the rudder angle information and the speed information into the target ship motion model, and acquiring output inertia water power;
and acquiring the heading information according to the inertial hydrodynamic force.
5. The method of claim 1, wherein the establishing a vessel control algorithm based on the heading information and the rudder angle information comprises:
determining a pseudo-deviation numerical value of the heading of the current ship according to the heading information and the rudder angle information;
establishing a compact format dynamic linearization model of the current ship heading according to the pseudo partial derivative value, wherein the compact format dynamic linearization model comprises a corresponding relation between heading variation and ship rudder angle variation;
and establishing the ship control algorithm according to the compact format dynamic linearization model, wherein the ship control algorithm comprises a corresponding relation between a ship rudder angle and a ship heading.
6. The method of claim 5, wherein said controlling the current vessel for automatic berthing based on the berthing terminal according to the vessel control algorithm comprises:
performing guidance law calculation on the berthing terminal to obtain an expected heading;
inputting the expected heading as the heading of the ship into the ship control algorithm, and acquiring the output rudder angle of the ship;
and controlling the current ship to automatically berth according to the ship rudder angle.
7. The method of claim 1, wherein after obtaining the target vessel motion model based on the vessel drift angle, further comprising:
when the current ship is determined to be in a reverse state, acquiring a reverse thrust coefficient of a propeller;
and updating the target ship motion model according to the propeller reversing thrust coefficient.
8. An automatic berthing control device for a ship, comprising:
the system comprises a driving parameter acquisition module, a control module and a control module, wherein the driving parameter acquisition module is used for acquiring the driving parameters of the current ship, and the driving parameters comprise ship drift angle, rudder angle information and speed information;
the target ship motion model acquisition module is used for acquiring a target ship motion model according to the ship drift angle;
the ship control algorithm establishing module is used for acquiring heading information of the current ship according to the driving parameters and the target ship motion model and establishing a ship control algorithm according to the heading information and the rudder angle information;
and the automatic berthing control module is used for acquiring a berthing terminal and controlling the current ship to berth automatically based on the berthing terminal according to the ship control algorithm.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
10. A computer storage medium having stored thereon computer instructions for causing a processor, when executed, to implement the method of any one of claims 1-7.
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