CN115617052B - Unmanned ship warehousing method and device under flow velocity, computer equipment and storage medium - Google Patents
Unmanned ship warehousing method and device under flow velocity, computer equipment and storage medium Download PDFInfo
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- CN115617052B CN115617052B CN202211619018.0A CN202211619018A CN115617052B CN 115617052 B CN115617052 B CN 115617052B CN 202211619018 A CN202211619018 A CN 202211619018A CN 115617052 B CN115617052 B CN 115617052B
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Abstract
The invention relates to a method and a device for warehousing unmanned ships at a flow speed, computer equipment and a storage medium, wherein the method comprises the following steps: presetting and marking a library position to be used as a library position marking point; starting a return mission of the unmanned ship and planning an optimal return path; estimating a drift angle required by the unmanned ship to resist water flow; and controlling the unmanned ship to move towards the warehouse location mark point until the unmanned ship arrives according to the optimal return path and drift angle. According to the unmanned ship storage method, the storage position is preset, the optimal return path is planned, the drift angle required by the unmanned ship to resist water flow is estimated, and the unmanned ship is controlled to move towards the storage position mark point until the drift angle reaches, so that the unmanned ship can be accurately stored at a high flow rate, and an application scene is expanded.
Description
Technical Field
The invention relates to the technical field of unmanned ship warehousing, in particular to an unmanned ship warehousing method, an unmanned ship warehousing device, computer equipment and a storage medium under the flow velocity.
Background
With the rapid development of unmanned technology, unmanned ships have attracted more and more attention and have been applied to many work scenes to assist people in working. In order to better improve the intelligent degree of the unmanned ship, the functions of autonomous parking and autonomous return travel charging are indispensable. In view of reducing the weight of the system, saving the cost and energy consumption and improving the reliability of the system, most unmanned ships are under-actuated systems. Due to the under-actuated characteristic, the unmanned ship can only realize control of longitudinal speed but cannot realize transverse translation, however, in an actual working scene, such as a river channel with a large flow speed, the ship can generate transverse displacement under the action of water flow, and the accuracy of ship warehousing is greatly influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method and a device for warehousing an unmanned ship at a flow speed, computer equipment and a storage medium.
In order to solve the technical problems, the invention adopts the following technical scheme:
in a first aspect, the present embodiment provides a method for warehousing an unmanned ship at a flow rate, including the following steps:
presetting and marking a library position to be used as a library position marking point;
starting a return mission of the unmanned ship and planning an optimal return path;
estimating drift angle required by the unmanned ship to resist water flow;
and controlling the unmanned ship to move towards the reservoir position mark point until the unmanned ship arrives according to the optimal return path and drift angle.
The further technical scheme is as follows: in the step of presetting and marking the storage position as the storage position marking point, the unmanned ship is remotely controlled to drive into the storage position manually, then the unmanned ship is kept still for a period of time, the longitude and latitude information and the direction angle information of the unmanned ship during the period of time are recorded, and the storage position, namely the storage position marking point, is determined according to the longitude and latitude information and the direction angle information.
The further technical scheme is as follows: and the step of planning the optimal return path refers to the step of planning the optimal return path according to the main channel information, the current position information of the unmanned ship and the storage position mark points.
The further technical scheme is as follows: in the step of estimating the drift angle required by the unmanned ship to resist the water flow, the drift angle required by the unmanned ship to resist the water flow is estimated by constructing a kinematic and dynamic model of the unmanned ship in the constant water flow.
The further technical scheme is as follows: and controlling the unmanned ship to move towards the storage position mark point according to the optimal return path and the drift angle until the unmanned ship arrives, calculating an accelerator parameter according to the optimal return path and the drift angle, and controlling the unmanned ship to move towards the storage position mark point according to the accelerator parameter until the unmanned ship arrives.
The further technical scheme is as follows: controlling the unmanned ship to move towards the warehouse location mark point according to the optimal return route and the drift angle until the step is reached, and further comprising the following steps of: judging whether the unmanned ship is successfully put in storage; if the unmanned ship is successfully put in storage, automatically ending the return voyage task; and if the unmanned ship is not successfully put in storage, replanning the return route and executing the return task.
In a second aspect, the present embodiment provides an unmanned ship warehousing device at a flow rate, including: the device comprises a setting unit, a starting planning unit, an estimating unit and a control unit;
the setting unit is used for presetting and marking a library position as a library position marking point;
the starting planning unit is used for starting a return mission of the unmanned ship and planning an optimal return path;
the estimation unit is used for estimating drift angle required by the unmanned ship to resist water flow;
and the control unit is used for controlling the unmanned ship to move towards the warehouse location mark point until the unmanned ship arrives according to the optimal return route and the drift angle.
The further technical scheme is as follows: in the setting unit, the unmanned ship is remotely controlled to drive into the storage position manually, then the unmanned ship is kept still for a period of time, the longitude and latitude information and the direction angle information of the unmanned ship are recorded during the period of time, and the storage position, namely the storage position mark point, is determined according to the longitude and latitude information and the direction angle information.
In a third aspect, the present embodiment provides a computer device, where the computer device includes a memory and a processor, where the memory stores a computer program, and the processor, when executing the computer program, implements the unmanned ship warehousing method at the flow rate as described above.
In a fourth aspect, the present embodiment provides a storage medium storing a computer program comprising program instructions that, when executed by a processor, may implement the unmanned ship warehousing method at flow rates as described above.
Compared with the prior art, the invention has the beneficial effects that: by presetting the reservoir position, planning an optimal return path, estimating a drift angle required by the unmanned ship to resist water flow, and controlling the unmanned ship to move towards the reservoir position mark point until the drift angle reaches, the unmanned ship can also realize accurate storage at a high flow rate, and an application scene is enlarged.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
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 embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic flow chart of an unmanned ship warehousing method at a flow rate according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of unmanned ship trajectory following provided by an embodiment of the invention;
FIG. 3 is a schematic block diagram of an unmanned ship warehousing device at a flow rate provided by an embodiment of the invention;
FIG. 4 is a schematic block diagram of a computer device provided by an embodiment of the present invention.
Detailed Description
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 some, not all, embodiments of the present invention. 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 will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to the embodiment shown in fig. 1, the invention discloses a method for warehousing unmanned ships at a flow rate, which comprises the following steps:
s1, presetting and marking a library position to serve as a library position marking point;
in one embodiment, the unmanned ship is driven into the storage position through manual remote control, then the unmanned ship is kept still for a period of time (for example: 5-30 seconds), the longitude and latitude information and the direction angle information of the unmanned ship are recorded during the period of time, and the storage position, namely the storage position mark point, is determined according to the longitude and latitude information and the direction angle information.
S2, starting a return journey task of the unmanned ship, and planning an optimal return journey path;
in an embodiment, when the unmanned ship task is executed or the power is too low, the unmanned ship return task can be started through a control terminal (such as a mobile phone, a tablet, a computer and the like). And after the control terminal issues a return command, an optimal return path is planned according to the main channel information, the current position information of the unmanned ship and the warehouse location mark points.
Specifically, the current position information of the unmanned ship is longitude and latitude information obtained through GPS positioning or Beidou positioning.
Specifically, in an actual scene, a river has many branches, a main channel is a channel which has a certain width and plays a main traffic role, and the marking method of the main channel is to remotely control a ship to move along the main channel of the river, record longitude and latitude point information, finally form a complete main channel central line, namely main channel information, and store the complete main channel central line.
Specifically, when the unmanned ship performs a return voyage task, the unmanned ship firstly runs from the current position of the unmanned ship to a main channel, then runs from the main channel to the front of a warehouse, and simultaneously calculates an accessible area, and after reaching the area, the unmanned ship generates a reverse route and executes the warehouse reversing.
S3, estimating a drift angle required by the unmanned ship to resist water flow;
in one embodiment, the current in the river is generally steady or slowly changing over a period of time, i.e. the current velocity and direction are substantially fixed, and the drift angle required by the unmanned ship to resist the current is estimated by constructing a kinematic and dynamic model of the unmanned ship in the constant current.
Specifically, kinematics refers to the relationship between ship position coordinates and motion parameters (including ship course angle, forward speed, lateral speed, and course angular velocity) in a ground coordinate system.
Specifically, the kinematic formula is as follows:
wherein the content of the first and second substances,
is the horizontal plane coordinate of the unmanned ship under the ground coordinate system, is the course angle,
in order to be the forward speed of the vehicle,
in order to determine the lateral velocity,
is the heading angular velocity.
Specifically, the kinetic model can be summarized with a non-linear equation as:
wherein the content of the first and second substances,
the speed of the ship is shown as,
the additional mass and the inertia matrix are represented,
a diagonally symmetric matrix representing the Coriolis and the centripetal term,
representing a function of the value of the semi-positive fixed drag matrix,
representing the moment vectors applied to the hull in three degrees of freedom.
Referring to FIG. 2, the desired drift angle is estimated as follows: setting the tangential angle of the route to
The current position of the unmanned ship is
The pre-aiming point is set as
，
Is the lateral tracking error in the path coordinate system,
in order to pre-aim the distance,
is the desired drift angle.
Specifically, the unmanned ship is in a process of continuously following the path at any time, and the pre-aiming point position refers to a position to which the unmanned ship is expected to go at the next moment.
Under the interference of constant value water flow, the conventional PID control cannot realize route tracking quickly, and the same PID parameters cannot be applied when the water flow speed is changed greatly. Thus, the effect of the current can be compensated using feed forward control, which requires first estimating the direction in which the bow needs to compensate against the current. Under the action of water flow, the expected direction angle of the unmanned ship is as follows:
wherein the integral term
The unmanned ship compensates for the deviation in order to resist the influence of the water current.
Estimation value of drift angle required by unmanned ship to resist constant water flow
Designing a self-adaptive state observer, wherein the self-adaptive state observer is used for estimating a state and identifying unknown parameters of a model, and is an algorithm as follows;
wherein the content of the first and second substances,
in order to adapt the gain of the antenna,
solving the equation by using a Kalman filtering method for the combined speed of the unmanned ship to obtain the speed of the unmanned ship
。
Specifically, after a state equation and an observation equation are obtained, a state estimation error and an observation estimation error are calculated, an initial value is given, and continuous iteration correction is performed according to the errors, so that a more accurate drift angle estimation value is obtained.
And S4, controlling the unmanned ship to move towards the warehouse location mark point until the unmanned ship arrives according to the optimal return path and drift angle.
In one embodiment, the accelerator parameters are calculated according to the optimal return path and drift angle, and the unmanned ship is controlled to move towards the storage location mark points according to the accelerator parameters until the optimal return path and drift angle are reached. The method comprises the following specific steps:
according to the actual position of the unmanned ship
Pre-aiming point position
And water flow disturbance compensation term
Calculating to obtain the desired direction angle
And calculating the turning throttle according to the calculated value, thereby enabling the unmanned ship
The angle is towards the desired track (i.e. the bin marker direction).
Specifically, a double-loop PID controller is designed, and the difference value between the expected direction angle and the current angle of the ship is input to obtain the turning throttle value. Wherein the content of the first and second substances,
the angle refers to the heading angle of the unmanned ship.
According to the distance between the actual position of the unmanned ship and the pre-aiming point position
To derive a desired longitudinal velocity
And calculating a straight-ahead accelerator according to the calculated values, so that the unmanned ship approaches to a desired track (namely the direction of the storage position mark point) until the unmanned ship arrives.
In particular, desired longitudinal speed
The unmanned ship is obtained according to the distance between the current position of the unmanned ship and a target point and the curvature of a route point, the farther the distance is, the higher the target speed is, the smaller the curvature is, the higher the target speed is,and then comprehensively considered for weighting.
Specifically, a single-ring PID controller is designed, and the difference value between the current speed and the expected speed of the unmanned ship is input to obtain the straight-going accelerator.
In an embodiment, after the step S4, the method further includes: judging whether the unmanned ship is successfully put in storage; if the unmanned ship is successfully put in storage, automatically ending the return voyage task; and if the unmanned ship is not successfully put in storage, replanning the return route and executing the return task.
According to the unmanned ship storage method, the storage position is preset, the optimal return path is planned, the drift angle required by the unmanned ship to resist water flow is estimated, and the unmanned ship is controlled to move towards the storage position mark point until the drift angle reaches, so that the unmanned ship can be accurately stored at a high flow rate, and an application scene is expanded.
Referring to fig. 3, the present invention also discloses a storage device for unmanned ships at a flow rate, comprising: a setting unit 10, a start planning unit 20, an estimation unit 30, and a control unit 40;
the setting unit 10 is configured to preset and mark a library position as a library position mark point;
the starting planning unit 20 is configured to start a return mission of the unmanned ship and plan an optimal return path;
the estimation unit 30 is used for estimating drift angle required by the unmanned ship to resist water flow;
and the control unit 40 is used for controlling the unmanned ship to move towards the warehouse location mark point until the unmanned ship arrives according to the optimal return path and drift angle.
In the setting unit 10, the unmanned ship is remotely controlled to enter the storage location manually, then the unmanned ship is kept still for a period of time, the longitude and latitude information and the direction angle information of the unmanned ship during the period of time are recorded, and the storage location, namely the storage location mark point, is determined according to the recorded longitude and latitude information and direction angle information.
And the step of planning the optimal return path refers to the step of planning the optimal return path according to the main channel information, the current position information of the unmanned ship and the storage position mark points.
Wherein, in the estimation unit 30, the drift angle required by the unmanned ship to resist the water flow is estimated by constructing a kinematic and dynamic model of the unmanned ship in the constant water flow.
In the control unit 40, an accelerator parameter is calculated according to the optimal return path and drift angle, and the unmanned ship is controlled to move towards the storage location mark point according to the accelerator parameter until the optimal return path and drift angle arrive.
Wherein, the device still includes: the judging unit is used for judging whether the unmanned ship is successfully put in storage; if the unmanned ship is successfully put in storage, automatically ending the return voyage task; and if the unmanned ship is not successfully put in storage, replanning the return route and executing the return task.
It should be noted that, as can be clearly understood by those skilled in the art, the specific implementation process of the unmanned ship warehousing device and each unit under the flow rate may refer to the corresponding description in the foregoing method embodiment, and for convenience and brevity of description, no further description is provided herein.
The unmanned ship warehousing device at the flow rate can be implemented in the form of a computer program which can be run on a computer device as shown in fig. 4.
Referring to fig. 4, fig. 4 is a schematic block diagram of a computer device according to an embodiment of the present application; the computer device 500 may be a terminal or a server, where the terminal may be an electronic device with a communication function, such as a smart phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, and a wearable device. The server may be an independent server or a server cluster composed of a plurality of servers.
Referring to fig. 4, the computer device 500 includes a processor 502, memory, and a network interface 505 connected by a system bus 501, where the memory may include a non-volatile storage medium 503 and an internal memory 504.
The non-volatile storage medium 503 may store an operating system 5031 and a computer program 5032. The computer programs 5032 include program instructions that, when executed, cause the processor 502 to perform an unmanned ship entry method at a flow rate.
The processor 502 is used to provide computing and control capabilities to support the operation of the overall computer device 500.
The internal memory 504 provides an environment for the operation of the computer program 5032 in the non-volatile storage medium 503, and when the computer program 5032 is executed by the processor 502, the processor 502 may be enabled to perform an unmanned ship warehousing method at a flow rate.
The network interface 505 is used for network communication with other devices. Those skilled in the art will appreciate that the configuration shown in fig. 4 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation of the computer device 500 to which the present application may be applied, and that a particular computer device 500 may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
Wherein the processor 502 is configured to run the computer program 5032 stored in the memory to implement the following steps:
step S1, presetting and marking a library position as a library position marking point;
s2, starting a return journey task of the unmanned ship and planning an optimal return journey path;
s3, estimating a drift angle required by the unmanned ship to resist water flow;
and S4, controlling the unmanned ship to move towards the warehouse location mark point until the unmanned ship arrives according to the optimal return path and drift angle.
It should be understood that in the embodiment of the present Application, the Processor 502 may be a Central Processing Unit (CPU), and the Processor 502 may also be other general-purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It will be understood by those skilled in the art that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program instructing relevant hardware. The computer program includes program instructions, and the computer program may be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the flow steps of the embodiments of the method described above.
Accordingly, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program comprises program instructions that, when executed by a processor, may implement the unmanned ship warehousing method at flow rates described above. The storage medium stores a computer program comprising program instructions which, when executed by a processor, implement the method described above. The program instructions include the steps of:
step S1, presetting and marking a library position as a library position marking point;
s2, starting a return journey task of the unmanned ship and planning an optimal return journey path;
s3, estimating a drift angle required by the unmanned ship to resist water flow;
and S4, controlling the unmanned ship to move towards the warehouse location mark point until the unmanned ship arrives according to the optimal return path and drift angle.
The storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk, which can store various computer readable storage media of program codes.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the invention can be merged, divided and deleted according to actual needs. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention.
The above embodiments are preferred implementations of the present invention, and the present invention can be implemented in other ways without departing from the spirit of the present invention.
Claims (9)
1. The unmanned ship warehousing method under the flow velocity is characterized by comprising the following steps:
presetting and marking a library position to be used as a library position marking point;
starting a return mission of the unmanned ship and planning an optimal return path;
estimating a drift angle required by the unmanned ship to resist water flow;
controlling the unmanned ship to move towards the warehouse location mark point according to the optimal return path and drift angle until the unmanned ship arrives;
in the step of estimating the drift angle of the unmanned ship required for resisting the water flow, the drift angle of the unmanned ship required for resisting the water flow is estimated by constructing a kinematics and dynamics model of the unmanned ship in constant value water flow;
the kinematics refers to the relationship between ship position coordinates and motion parameters including ship course angle, forward speed, lateral speed and course angular speed in a ground coordinate system;
the kinematic formula is as follows:
wherein the content of the first and second substances,
is the horizontal plane coordinate of the unmanned ship under the ground coordinate system,
is the angle of the course of the vehicle,
in order to be the forward speed of the vehicle,
in order to determine the lateral velocity,
is the course angular velocity;
the kinetic model can be summarized with non-linear equations as:
wherein the content of the first and second substances,
the speed of the ship is shown as,
the additional mass and the inertia matrix are represented,
an oblique symmetric matrix representing Coriolis and centripetal terms,
representing a function of the value of the semi-positive fixed drag matrix,
representing the moment vectors applied to the hull in three degrees of freedom;
the required drift angle is estimated as follows: setting the tangential angle of the route to
The current position of the unmanned ship is
The pre-aiming point is set as
，
Is the lateral tracking error in the path coordinate system,
in order to pre-aim the distance,
the required drift angle is achieved;
the unmanned ship is in a process of tracking the path at any time, and actually is a process of continuously tracking the point, wherein the pre-aiming point position refers to a position expected to be visited by the unmanned ship at the next moment;
the influence of the water flow is compensated by using feedforward control, and the direction of the bow resisting the water flow to be compensated is estimated firstly; under the action of water flow, the expected direction angle of the unmanned ship is as follows:
wherein the integral term
A deviation compensated for by the unmanned ship to resist the effects of water currents;
estimation value of drift angle required by unmanned ship to resist constant water flow
Designing a self-adaptive state observer, wherein the self-adaptive state observer is used for estimating a state and identifying unknown parameters of a model, and is an algorithm as follows;
wherein the content of the first and second substances,
in order to adapt the gain of the antenna,
solving the equation by using a Kalman filtering method for the combined speed of the unmanned ship to obtain the speed of the unmanned ship
；
And after the state equation and the observation equation are obtained, calculating a state estimation error and an observation estimation error, setting an initial value, and continuously and iteratively correcting according to the errors to obtain an drift angle estimation value.
2. The method according to claim 1, wherein the step of presetting and marking the reservoir position as the reservoir position marking point comprises the steps of driving the unmanned ship into the reservoir position by manual remote control, keeping the unmanned ship still for a period of time, recording longitude and latitude information and direction angle information of the unmanned ship during the period of time, and determining the reservoir position, namely the reservoir position marking point.
3. The unmanned ship warehousing method at the flow rate according to claim 1, wherein the planning of the optimal return path refers to planning of the optimal return path according to main channel information, current position information of the unmanned ship and warehouse location marking points.
4. The warehousing method of the unmanned ship at the flow rate according to claim 1, wherein the unmanned ship is controlled to move towards the warehouse location mark point according to the optimal return path and drift angle until the unmanned ship arrives, the accelerator parameter is calculated according to the optimal return path and drift angle, and the unmanned ship is controlled to move towards the warehouse location mark point according to the accelerator parameter until the unmanned ship arrives.
5. The method for warehousing unmanned ships at flow rate according to claim 1, wherein the step of controlling the unmanned ships to move towards the warehouse location marking points according to the optimal return path and drift angle until the step of arriving further comprises: judging whether the unmanned ship is successfully put in storage; if the unmanned ship is successfully put in storage, automatically ending the return voyage task; and if the unmanned ship is not successfully put in storage, replanning the return route and executing the return task.
6. Unmanned ship storage device under velocity of flow, its characterized in that includes: the device comprises a setting unit, a starting planning unit, an estimating unit and a control unit;
the setting unit is used for presetting and marking a library position as a library position marking point;
the starting planning unit is used for starting a return mission of the unmanned ship and planning an optimal return path;
the estimation unit is used for estimating drift angle required by the unmanned ship to resist water flow;
the control unit is used for controlling the unmanned ship to move towards the warehouse location mark point until the unmanned ship arrives according to the optimal return route and the drift angle;
in the estimation unit, a drift angle required by the unmanned ship to resist the water flow is estimated by constructing a kinematics and dynamics model of the unmanned ship in the constant value water flow;
the kinematics refers to the relationship between ship position coordinates and motion parameters including ship course angle, forward speed, lateral speed and course angular speed in a ground coordinate system;
the kinematic formula is as follows:
wherein the content of the first and second substances,
is the horizontal plane coordinate of the unmanned ship under the ground coordinate system,
is the angle of the course direction and is,
in order to be the forward speed of the vehicle,
in order to determine the lateral velocity,
is the course angular velocity;
the kinetic model can be summarized with non-linear equations as:
wherein the content of the first and second substances,
the speed of the ship is shown as,
the additional mass and the inertia matrix are represented,
an oblique symmetric matrix representing Coriolis and centripetal terms,
representing a function of the value of the semi-positive fixed drag matrix,
representing the moment vectors applied to the hull in three degrees of freedom;
the required drift angle is estimated as follows: setting the tangential angle of the route to
The current position of the unmanned ship is
The pre-aiming point is set as
，
Is the lateral tracking error in the path coordinate system,
in order to pre-aim the distance,
the required drift angle is achieved;
the unmanned ship follows the path at any time, actually a process of continuously following the path is performed, and the pre-aiming point position refers to a position to which the unmanned ship is expected to go at the next moment;
the influence of the water flow is compensated by using feedforward control, and the direction of the bow resisting the water flow to be compensated is estimated firstly; under the action of water flow, the expected direction angle of the unmanned ship is as follows:
wherein the integral term
A deviation compensated for by the unmanned ship to resist the effects of water currents;
estimation value of drift angle required by unmanned ship to resist constant water flow
Designing a self-adaptive state observer, wherein the self-adaptive state observer is used for estimating a state and identifying unknown parameters of a model, and is an algorithm as follows;
wherein the content of the first and second substances,
in order to adapt the gain of the mobile terminal to the environment,
solving the equation by using a Kalman filtering method for the combined speed of the unmanned ship to obtain the speed of the unmanned ship
；
And after the state equation and the observation equation are obtained, calculating a state estimation error and an observation estimation error, setting an initial value, and continuously and iteratively correcting according to the errors to obtain an drift angle estimation value.
7. The warehousing device for unmanned ships at flow rate according to claim 6, wherein in the setting unit, the unmanned ship is remotely controlled to enter the warehouse by hand, then the unmanned ship is kept still for a period of time, longitude and latitude information and direction angle information of the unmanned ship are recorded during the period of time, and the warehouse, namely, warehouse mark points, are determined according to the longitude and latitude information and the direction angle information.
8. A computer device, characterized in that the computer device comprises a memory on which a computer program is stored and a processor which, when executing the computer program, implements the unmanned ship warehousing method at flow rates according to any one of claims 1-5.
9. A storage medium storing a computer program comprising program instructions which, when executed by a processor, implement the unmanned ship warehousing method at flow rates of any of claims 1-5.
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