CN116954222A - Ship autonomous anchoring decision control method and system - Google Patents
Ship autonomous anchoring decision control method and system Download PDFInfo
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Abstract
The invention provides a ship autonomous anchoring decision control method and a system, wherein the method comprises the steps of obtaining anchoring data, attitude data and environment data of a ship after the ship enters a preset anchoring area, and determining a ship stopping stroke point coordinate based on a preset stroke point determination model; determining steering guide point coordinates based on a preset steering guide point determination model; determining a navigation planning path of the ship based on the current position coordinate, the anchor position coordinate, the ship stopping stroke point coordinate and the steering point coordinate; and controlling the ship to complete anchoring operation according to the navigation planning path and a preset anchoring model. The invention constructs a path planning method of multistage guidance in the ship anchoring process, can avoid large drift angle movement of the ship in a low-speed domain, realizes autonomous anchoring decision control of the ship, and improves the safety of the ship anchoring process.
Description
Technical Field
The invention relates to the technical field of ship anchoring, in particular to a ship autonomous anchoring decision control method and system.
Background
Anchoring refers to a positioning method in which a floating structure or a vessel is moored to the sea by anchor lines, chains and anchors, thereby limiting drift due to external forces and keeping it at a predetermined position.
When the traditional ship is anchored, the anchor position is needed to be selected according to the experience of a shipman, and deviation is easily generated in the anchoring process due to manual misjudgment, so that safety accidents in anchoring are caused. And the anchoring water area has complex traffic environment, strong practicality of anchoring operation and complex process. When the ship enters the anchoring water area, the ship speed is rapidly reduced, the maneuvering performance is rapidly reduced, the rudder is required to be frequently maneuvered for completing the track tracking task, and the hydrodynamic coefficient of the ship is also changed. When the ship speed is continuously reduced, the ship is easy to generate large drift angle movement due to wind and flow disturbance, so that the ship loses rudder.
Therefore, how to control the autonomous anchoring decision of the ship is an urgent problem to be solved by the current technical personnel in consideration of factors such as external environment disturbance, ship berthing angle, speed and the like.
Disclosure of Invention
In view of the above, it is necessary to provide a method and a system for autonomous anchoring decision control of a ship, so as to solve the problem of realizing autonomous anchoring decision control of a ship under the disturbance of external environment in the current ship anchoring process.
In order to solve the technical problems, the invention provides a ship autonomous anchoring decision control method, which comprises the following steps:
after a ship enters a preset anchoring area, acquiring anchoring data, attitude data and environment data of the ship, wherein the anchoring data comprise anchor position coordinates and a ship stopping stroke distance, the environment data comprise wind current resultant force directions, and the attitude data comprise current position coordinates, heading and gyratory parameters of the ship;
determining a ship stopping stroke point coordinate according to the anchor position coordinate, the ship stopping stroke distance and the wind current resultant force direction based on a preset stroke point determining model;
determining a steering guide point coordinate according to anchor position coordinates, a ship stopping stroke point and a gyratory parameter based on a preset steering guide point determining model;
determining a navigation planning path of the ship based on the current position coordinate, the anchor position coordinate, the ship stopping stroke point coordinate and the steering guide point coordinate of the ship;
and controlling the ship to complete anchoring operation according to the navigation planning path and a preset anchoring model.
In one possible implementation manner, the calculation formula for determining the ship stopping stroke point according to the anchor position coordinate, the ship stopping stroke distance and the wind current resultant force direction based on the preset stroke point determination model is as follows:
wherein ,the abscissa representing the stop stroke point, +.>Representing the ordinate, θ, of the stopping stroke point a Represents the resultant force direction of wind power, theta b Angle representing the berthing of a ship at the point of its stopping stroke, +.>Abscissa representing anchor coordinates, +.>Representing the ordinate of the anchor coordinate, L O Indicating the length of the ship, D DSA Representing the distance of the ship's stopping stroke.
In one possible implementation, D DSA Obtained by a sea test.
In one possible implementation, the curl parameters include a speed of the ship's directional curl, and the calculation of the steering guidance point determination model includes:
determining a first course based on the anchor location coordinates and the stopping stroke point;
determining a second route based on the current position coordinates of the ship and the current heading of the ship;
determining a first coordinate according to the first route and the second route, wherein the first coordinate is the intersection point coordinate of the first route and the second route;
determining a turning radius of the vessel based on the current navigational speed of the vessel and the speed of the vessel's directional turning;
and determining a constant-rotation loop according to the rotation radius, and determining a steering guide point of the ship based on the constant-rotation loop, the first route and the second route, wherein the steering guide point is a point which is closer to the current position of the ship in the intersection point of the constant-rotation loop, the first route and the route.
In one possible implementation, the calculation formula of the turning radius of the ship is:
wherein ,RDSA Representing the radius of gyration of the vessel, V t Indicating the speed at steady rotation, V s Indicating the speed before steering, L O Indicating the ship type length.
In one possible implementation, the steering guidance point is calculated as:
wherein ,RDSA Indicating the turning radius of the ship, ΔC is the steering angle of the ship, d DSA Representing the distance from the first coordinate to the steering guide point, X D An abscissa representing a first coordinate, Y D An ordinate representing a first coordinate, X B Represents the abscissa of the steering guide point, Y B Representing the ordinate of the steering guide point, C θ The heading representing the current position of the vessel.
In one possible implementation manner, the ship is controlled to arrive according to a navigation planning path and a preset anchoring model, and the ship navigation is maintained by adopting a spot-in-car method and a spot-back method in the anchoring operation process.
In one possible implementation, controlling the vessel to complete the anchoring operation according to the sailing planning path and the preset anchoring model includes:
the ship is controlled to arrive at the lower anchoring position according to the navigation planning path and the preset anchoring model, the anchoring operation is completed, and the calculation formula of the ship anchor arrangement position coordinates is as follows:
(X A(t) ,Y A(t) )＝(X O(t) ,Y o(t) )+0.5L O ·(cos(ψ (t) ),sin(ψ (t) ))；
wherein ,XA(t) An abscissa representing the arrangement position of the ship anchor at the moment t, Y A(t) Ordinate, ψ, representing the ship anchor arrangement position at time t (t) Representing the heading of the ship at the time t, L O Indicating the length of the ship, X O(t) Represents the ship abscissa at time t, Y O(t) The ship ordinate at time t is shown.
In one possible implementation, the criteria for completing the anchoring operation include:
the ship arrives at the anchor position coordinates;
the ship state meets the preset condition;
the preset conditions are as follows:
wherein ,XO An abscissa indicating the moment of anchor of the ship, Y O Representing the ordinate, L, of the moment of the anchor of the vessel O Indicating the length, theta of the ship b Representing the angle of approach of the vessel at the point of the stopping stroke,abscissa representing anchor coordinates, +.>Representing the ordinate, θ, of the anchor coordinates a The resultant force direction of wind force is represented by the anchor water depth, B the model width of the ship, and v the navigational speed of the ship when reaching the anchor position.
In order to solve the above problems, the present invention further provides a ship autonomous anchoring decision control system, comprising:
the system comprises a data acquisition module, a ship navigation module and a ship navigation module, wherein the data acquisition module is used for acquiring anchoring data, attitude data and environment data of the ship after the ship enters a preset anchoring area, the anchoring data comprise anchor position coordinates and a ship stopping stroke distance, the environment data comprise wind current resultant force directions, and the attitude data comprise current position coordinates, heading and gyratory parameters of the ship;
the ship stopping stroke point calculation module is used for determining a ship stopping stroke point coordinate according to the anchor position coordinate, the ship stopping stroke distance and the wind current resultant force direction based on a preset stroke point determination model;
the steering guide point calculation module is used for determining the coordinates of the steering guide point according to anchor position coordinates, the ship stopping stroke point and the rotation parameters based on a preset steering guide point determination model;
the navigation planning path module is used for determining a navigation planning path of the ship based on the current position coordinate, the anchor position coordinate, the ship stopping stroke point coordinate and the steering guide point coordinate of the ship;
and the anchoring module is used for controlling the ship to complete anchoring operation according to the navigation planning path and a preset anchoring model.
The beneficial effects of adopting the embodiment are as follows: after a ship enters a preset anchoring area, acquiring anchoring data, attitude data and environment data of the ship, and determining a ship stopping stroke point coordinate based on a preset stroke point determining model; determining steering guide point coordinates based on a preset steering guide point determination model; determining a navigation planning path of the ship based on the current position coordinate, the anchor position coordinate, the ship stopping stroke point coordinate and the steering guide point coordinate of the ship; and controlling the ship to complete anchoring operation according to the navigation planning path and a preset anchoring model. The invention constructs a path planning method of multistage guidance in the ship anchoring process, can avoid large drift angle movement of the ship in a low-speed domain under the disturbance of external environment, realizes autonomous anchoring decision control of the ship, and improves the safety of the ship anchoring process.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of an embodiment of a method for autonomous mooring decision control of a vessel according to the present invention;
FIG. 2 is a schematic diagram of the position of a stopping stroke point in an embodiment of a method for controlling autonomous anchoring of a ship according to the present invention;
FIG. 3 is a schematic diagram of the location of a steering guidance point in one embodiment of a method for autonomous mooring decision control of a vessel according to the present invention;
FIG. 4 is a schematic diagram of an anchoring planning path in one embodiment of a method for controlling autonomous anchoring decisions of a ship according to the present invention;
fig. 5 is a schematic structural diagram of an embodiment of a ship autonomous anchoring decision control system according to 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 accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor systems and/or microcontroller systems.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The embodiment of the invention provides a flexible object external limb operation method and system based on deep learning, which are respectively described below.
Fig. 1 is a schematic flow chart of an embodiment of a method for autonomous anchoring decision control of a ship according to the present invention.
Referring to fig. 1, the invention provides a ship autonomous anchoring decision control method, comprising:
s101, after a ship enters a preset anchoring area, acquiring anchoring data, attitude data and environment data of the ship, wherein the anchoring data comprise anchor position coordinates and a ship stopping stroke distance, the environment data comprise wind current resultant force directions, and the attitude data comprise current position coordinates, heading and gyratory parameters of the ship;
s102, determining a ship stopping stroke point coordinate according to an anchor position coordinate, a ship stopping stroke distance and a wind current resultant force direction based on a preset stroke point determining model;
s103, determining steering guide point coordinates according to anchor position coordinates, ship stopping stroke points and rotation parameters based on a preset steering guide point determining model;
s104, determining a navigation planning path of the ship based on the current position coordinate, the anchor position coordinate, the ship stopping stroke point coordinate and the steering guide point coordinate of the ship;
s105, controlling the ship to complete anchoring operation according to the navigation planning path and a preset anchoring model.
The beneficial effects of adopting the embodiment are as follows: after a ship enters a preset anchoring area, acquiring anchoring data, attitude data and environment data of the ship, and determining a ship stopping stroke point coordinate based on a preset stroke point determining model; determining steering guide point coordinates based on a preset steering guide point determination model; determining a navigation planning path of the ship based on the current position coordinate, the anchor position coordinate, the ship stopping stroke point coordinate and the steering guide point coordinate of the ship; and controlling the ship to finish anchoring operation under the disturbance of the external environment according to the navigation planning path and the preset anchoring model. The invention constructs a path planning method of multistage guidance in the ship anchoring process, can avoid large drift angle movement of the ship in a low-speed domain, realizes autonomous anchoring decision control of the ship, and improves the safety of the ship anchoring process.
Fig. 2 is a schematic diagram of the position of a stopping stroke point in an embodiment of a method for controlling autonomous anchoring decisions of a ship according to the present invention.
Referring to fig. 2, in one embodiment, the calculation formula for determining the ship stopping stroke point according to the anchor position coordinates, the ship stopping stroke distance and the wind current resultant force direction based on the preset stroke point determination model is as follows:
wherein ,the abscissa representing the stop stroke point, +.>Representing the ordinate, θ, of the stopping stroke point a Represents the resultant force direction of wind power, theta b Angle representing the berthing of a ship at the point of its stopping stroke, +.>Abscissa representing anchor coordinates, +.>Representing the ordinate of the anchor coordinate, L O Indicating the length of the ship, D DSA Representing the distance of the ship's stopping stroke.
The ship stopping stroke point of the ship is the position of executing the ship command after the ship completes the posture adjustment, and is determined based on the anchor position coordinates and the ship stopping stroke distance.
In one embodiment, the ship's stopping stroke and the rotating parameters under each command can be obtained through sea test, and the data of the stopping stroke, the rotating parameters and the like can be drawn and stuck at the obvious position of the driving platform so that the driver can intuitively obtain the parameters. In actual anchoring, the matched ship stopping stroke can be selected by combining environmental factors and the command of the ship.
In one embodiment, the curl parameters include a speed of a vessel's directional curl, and the calculation of the steering guidance point determination model includes:
determining a first course based on the anchor location coordinates and the stopping stroke point;
determining a second route based on the current position coordinates of the ship and the current heading of the ship;
determining a first coordinate according to the first route and the second route, wherein the first coordinate is the intersection point coordinate of the first route and the second route;
determining a turning radius of the vessel based on the current navigational speed of the vessel and the speed of the vessel's directional turning;
and determining a constant-rotation loop according to the rotation radius, and determining a steering guide point of the ship based on the constant-rotation loop, the first route and the second route, wherein the steering guide point is a point which is closer to the current position of the ship in the intersection point of the constant-rotation loop, the first route and the route.
Specifically, when the ship is driven to the ship stopping stroke point at the lowest ship speed maintaining the rudder efficiency, the position and the direction of the ship driven to the ship stopping stroke point are uncertain due to various moving and static targets, navigation obstacles and the like in the water area. To ensure that the vessel can reach the stopping stroke point in a predetermined attitude, the turning guide point of the vessel must be determined in combination with the vessel's roll-back parameters and current position, heading, etc.
Fig. 3 is a schematic diagram of the location of a steering guide point in an embodiment of a ship autonomous anchoring decision control method according to the present invention.
Referring to fig. 3, first, anchor coordinates a and a stopping stroke point S are combined, and based on a position O and a heading C of a ship at a current time θ The position (X) of the intersection point D of the two routes is calculated D ,Y D ). In combination with the parameters of the ship's gyratory,the ship can follow the path(or->) Completing the corresponding anchoring operation, wherein B 1 (or B) 2 ) Is a steering guide point of the ship.
Further, the constant rotation loop is tangent to the two navigation sections, and a tangent point which is closer to the actual position of the ship is a steering guide point.
In one embodiment, the calculation formula for the turning radius of the vessel is:
wherein ,RDSA Representing the radius of gyration of the vessel, V t Indicating the speed at steady rotation, V s Indicating the speed before steering, L O Indicating the ship type length.
In one embodiment, considering the external environmental interference of wind, flow and the like when the ship drives to the anchor position coordinates, in order to ensure that the ship can recover the ship speed with more direct navigation time after turning the guiding point, the invention adopts the ship rotation ring under the micro-speed vehicle entering command as the ship rotation ring. The steering guide point B of the vessel is located in the anchoring zone, the position of the steering guide point (X B ,Y B ) The calculation formula is as follows:
wherein ,RDSA Indicating the turning radius of the ship, ΔC is the steering angle of the ship, d DSA Representing the distance from the first coordinate to the steering guide point, X D An abscissa representing a first coordinate, Y D An ordinate representing a first coordinate, X B Represents the abscissa of the steering guide point, Y B Representing the ordinate of the steering guide point, C θ Representing a shipThe heading of the current position.
Considering that the cargo ship has larger inertia, when the steering platform gives out the rudder command, the steering engine mechanism can be executed only in a certain time. The ship keeps a certain straight distance in the time, namely the dead distance. To ensure that the vessel can begin to steer back at the steering pilot point, the vessel must run course rudder ahead of the dead-end.
R e ＝T′·L O +0.5·V·t δ ；
wherein ,Re The hysteresis distance of the ship is represented, and T' represents the dimensionless quantity of the following index; l (L) O Is of a ship shape; v represents the ship speed when the ship issues rudder command; t is t δ The time required for the rudder angle of the ship to turn from the normal rudder to the full rudder.
In one possible implementation manner, the ship is controlled to arrive according to a navigation planning path and a preset anchoring model, and the ship navigation is maintained by adopting a spot-in-car method and a spot-back method in the anchoring operation process.
It will be appreciated that controlling the speed of the vessel is critical to the mooring operation. In practice, the captain steers the ship to drive to the anchor ground at the lowest ship speed for maintaining the ruddiness, searches for proper ship stopping time and utilizes the residual speed to fly to the anchor position. The ship can not fly to an anchor position by means of residual speed, and the ship is required to be continuously maintained to fly by adopting a vehicle-in-point (Kick ahead) mode. Too late a ship stop will result in too high a ship speed when the ship arrives at the anchor. In order to quickly reduce the ship speed, long-time and large-rotation-speed reversing is needed, and the bow of the ship can be greatly deflected under the influence of reversing transverse force, so that the berthing posture of the ship does not meet the anchoring requirement.
In one embodiment, controlling a vessel to complete a mooring operation according to a sailing planned path and a preset mooring model comprises:
the ship is controlled to arrive at the lower anchoring position according to the navigation planning path and the preset anchoring model, the anchoring operation is completed, and the calculation formula of the ship anchor arrangement position coordinates is as follows:
(X A(t) ,Y A(t) )＝(X o(t) ,Y o(t) )+0.5L O ·(cos(ψ (t) ),sin(ψ (t) ))；
wherein ,XA(t) An abscissa representing the arrangement position of the ship anchor at the moment t, Y A(t) Ordinate, ψ, representing the ship anchor arrangement position at time t (t) Representing the heading of the ship at the time t, L O Indicating the length of the ship, X O(t) Represents the ship abscissa at time t, Y o(t) The ship ordinate at time t is shown.
The anchor position refers to the plane position of the fluke when the ship is anchored, and can be practically represented by the position of the bow; the ship position is the position displayed by the ship positioning equipment and can be replaced by the center position of the ship, and the ship position and the center position have certain difference. The ship is navigated to a ship stopping stroke point, and the ship is driven to an anchor position by using the residual speed to move. If the ship speed is too low, the ship can be parked in the vehicle to maintain the ship to navigate forward, and the ship speed is controlled to be not more than 0.5 section when the ship is propped against the anchor position. When the ship arrives at the anchor position, reversing and decelerating operation is performed by adopting point reversing (Kick astern). When the ground speed of the ship is reduced to 0, a proper anchor chain is loosened, and the ship is pulled and stopped under the action of the resultant force of the anchor and the anchor chain, so that the anchoring operation is completed.
In one embodiment, the criteria for completing the mooring operation include:
the ship arrives at the anchor position coordinates;
the ship state meets the preset condition;
the preset conditions are as follows:
wherein ,XO An abscissa indicating the moment of anchor of the ship, Y O Representing the ordinate, L, of the moment of the anchor of the vessel O Indicating the length, theta of the ship b Representing the angle of approach of the vessel at the point of the stopping stroke,abscissa representing anchor coordinates, +.>Representing the longitudinal direction of the anchor coordinatesCoordinates, θ a The resultant force direction of wind force is represented by the anchor water depth, B the model width of the ship, and v the navigational speed of the ship when reaching the anchor position.
Specifically, when the vessel approaches the anchoring area, the safe area required for anchoring the vessel can be calculated based on the displacement, draft, anchor equipment parameters, and the depth of the anchor. And then, calculating the anchoring position of the anchored ship by combining the scale, the bow direction, the position and the like of the anchored ship in the anchoring area, and judging the ship anchor position coordinate.
After determining the mooring coordinates, the mooring path of the vessel may be planned based on the current vessel and bow conditions. And combining the selected anchoring method, mathematically defining the target state when the ship arrives at the anchor position, and acquiring the current state information of the ship through positioning equipment such as shipborne Beidou, global satellite positioning system and the like, pointing equipment such as electric, magnetic, optical fiber compass and the like, and speed measuring equipment such as Doppler, satellite navigation log and the like.
In general, in a single anchoring operation, in order to evaluate the quality of completion of a ship anchoring operation, corresponding evaluations are generally performed in terms of a crew's anchor preparation operation, a ship anchor position accuracy, a ship bow position and a ship speed at the time of anchor release, a release timing, a release length, and the like.
Fig. 5 is a schematic structural diagram of an embodiment of a ship autonomous anchoring decision control system according to the present invention.
Referring to fig. 5, in order to solve the above-mentioned problems, the present invention further provides a ship autonomous anchoring decision control system, comprising:
the data acquisition module 501 is configured to acquire, after a ship enters a preset anchoring area, anchoring data, attitude data and environmental data of the ship, where the anchoring data includes an anchor position coordinate and a ship stopping stroke distance, the environmental data includes a resultant wind current direction, and the attitude data includes a current position coordinate, a heading and a gyratory parameter of the ship;
the ship stopping stroke point calculation module 502 is configured to determine a coordinate of a ship stopping stroke point according to the anchor position coordinate, the ship stopping stroke distance and the wind current resultant force direction based on a preset stroke point determination model;
the steering guide point calculation module 503 is configured to determine a steering guide point coordinate according to the anchor position coordinate, the ship stopping stroke point, and the gyratory parameter based on a preset steering guide point determination model;
a navigation planning path module 504 for determining a navigation planning path of the ship based on the current position coordinates, anchor position coordinates, ship stopping stroke point coordinates, and steering guide point coordinates of the ship;
the anchoring module 505 is used for controlling the ship to complete anchoring operation according to the navigation planning path and the preset anchoring model.
The beneficial effects of adopting the embodiment are as follows: the data obtaining module 501 is configured to obtain anchoring data, attitude data and environmental data of a ship after the ship enters a preset anchoring area, and the ship stopping stroke point calculating module 502 is configured to determine a ship stopping stroke point coordinate based on a preset stroke point determining model; the steering guide point calculation module 503 is configured to determine steering guide point coordinates based on a preset steering guide point determination model; the navigation planning path module 504 is configured to determine a navigation planning path of the ship based on the current position coordinate, the anchor position coordinate, the stopping stroke point coordinate, and the steering guide point coordinate of the ship; the anchoring module 505 is used for controlling the ship to complete anchoring operation according to the navigation planning path and the preset anchoring model. The invention constructs a path planning method of multistage guidance in the ship anchoring process, can avoid large drift angle movement of the ship in a low-speed domain under the disturbance of external environment, realizes autonomous anchoring decision control of the ship, and improves the safety of the ship anchoring process.
The foregoing embodiments provide a technical solution described in the foregoing embodiments of a method for controlling an autonomous ship anchoring decision by using a system for controlling an autonomous ship anchoring decision, and the principle of specific implementation of each module or unit may be based on the corresponding content in the foregoing embodiments of the method for controlling an autonomous ship anchoring decision, which is not described herein again.
The above describes in detail a method and a system for controlling autonomous anchoring decisions of a ship, and specific examples are applied to illustrate the principles and embodiments of the invention, and the above examples are only used to help understand the method and the core idea of the invention; meanwhile, as those skilled in the art will vary in the specific embodiments and application scope according to the ideas of the present invention, the present description should not be construed as limiting the present invention in summary.
Claims (10)
1. The autonomous ship anchoring decision control method is characterized by comprising the following steps of:
after a ship enters a preset anchoring area, acquiring anchoring data, attitude data and environment data of the ship, wherein the anchoring data comprise anchor position coordinates and a ship stopping stroke distance, the environment data comprise wind current resultant force directions, and the attitude data comprise current position coordinates, heading and gyratory parameters of the ship;
determining a ship stopping stroke point coordinate according to the anchor position coordinate, the ship stopping stroke distance and the wind current resultant force direction by a predetermined stroke point determining model;
determining a steering guide point coordinate according to the anchor position coordinate, the ship stopping stroke point and the rotation parameter based on a preset steering guide point determining model;
determining a navigation planning path of the ship based on the current position coordinate of the ship, the anchor position coordinate, the ship stopping stroke point coordinate and the steering guide point coordinate;
and controlling the ship to complete anchoring operation according to the navigation planning path and a preset anchoring model.
2. The autonomous anchoring decision control method for a ship according to claim 1, wherein the calculation formula for determining the anchor point according to the anchor position coordinates, the anchor point stroke distance and the wind current resultant force direction based on the preset stroke point determination model is as follows:
wherein ,the abscissa representing the stop stroke point, +.>Representing the ordinate, θ, of the stopping stroke point a Represents the resultant force direction of wind power, theta b Angle representing the berthing of a ship at the point of its stopping stroke, +.>Abscissa representing anchor coordinates, +.>Representing the ordinate of the anchor coordinate, L O Indicating the length of the ship, D DSA Representing the distance of the ship's stopping stroke.
3. The vessel autonomous anchoring decision control method according to claim 2, wherein the D DSA Obtained by a sea test.
4. The method of autonomous anchoring decision control of a vessel according to claim 1, wherein the roll-back parameters include a speed of directional roll-back of the vessel, and the calculation of the steering guidance point determination model includes:
determining a first course based on the anchor location coordinates and the off-stroke point;
determining a second route based on the current position coordinates of the ship and the current heading of the ship;
determining a first coordinate according to the first route and the second route, wherein the first coordinate is an intersection point coordinate of the first route and the second route;
determining a turning radius of the vessel based on a current navigational speed of the vessel and a speed of directional turning of the vessel;
and determining a constant-rotation loop according to the rotation radius, and determining a steering guide point of the ship based on the constant-rotation loop, the first route and the second route, wherein the steering guide point is a point which is closer to the current position of the ship in the intersection point of the constant-rotation loop, the first route and the route.
5. The autonomous anchoring decision control method of a vessel according to claim 4, wherein the calculation formula of the turning radius of the vessel is:
wherein ,RDSA Representing the radius of gyration of the vessel, V t Indicating the speed at steady rotation, V s Indicating the speed before steering, L O Indicating the ship type length.
6. The method for autonomous anchoring decision control of a vessel according to claim 5, wherein the calculation formula of the steering guide point is:
wherein ,RDSA Indicating the turning radius of the ship, ΔC is the steering angle of the ship, d DSA Representing the distance from the first coordinate to the steering guide point, X D An abscissa representing a first coordinate, Y D An ordinate representing a first coordinate, X B Represents the abscissa of the steering guide point, Y B Representing the ordinate of the steering guide point, C θ The heading representing the current position of the vessel.
7. The method for controlling autonomous anchoring decisions of a vessel according to claim 1, wherein the vessel is controlled to arrive according to the navigation planning path and a preset anchoring model, and a click-through method and a click-back method are adopted to maintain navigation of the vessel during completion of anchoring operation.
8. The method of autonomous anchoring decision control of a vessel according to claim 1, wherein the controlling the vessel to complete an anchoring operation according to the sailing planned path and a preset anchoring model comprises:
and controlling the ship to arrive at the lower anchor position according to the navigation planning path and a preset anchor model to finish the anchor operation, wherein the calculation formula of the ship anchor arrangement position coordinates is as follows:
(X A(t) ,Y A(t) )＝(X O(t) ,Y O(t) )+0.5L O ·(cos(ψ (t) ),sin(ψ (t) ))；
wherein ,XA(t) An abscissa representing the arrangement position of the ship anchor at the moment t, Y A(t) Ordinate, ψ, representing the ship anchor arrangement position at time t (t) Representing the heading of the ship at the time t, L O Indicating the length of the ship, X O(t) Represents the ship abscissa at time t, Y O(t) The ship ordinate at time t is shown.
9. The method of claim 1, wherein the determination criteria for completing the mooring operation comprises:
the ship arrives at the anchor position coordinates;
the ship state meets preset conditions;
the preset conditions are as follows:
wherein ,XO An abscissa indicating the moment of anchor of the ship, Y O Representing the ordinate, L, of the moment of the anchor of the vessel O Indicating the length, theta of the ship b Representing the angle of approach of the vessel at the point of the stopping stroke,abscissa representing anchor coordinates, +.>Representing the ordinate, θ, of the anchor coordinates a The resultant force direction of wind force is represented by the anchor water depth, B the model width of the ship, and v the navigational speed of the ship when reaching the anchor position.
10. An autonomous anchoring decision control system for a vessel, comprising:
the system comprises a data acquisition module, a ship navigation module and a ship navigation module, wherein the data acquisition module is used for acquiring anchoring data, attitude data and environment data of the ship after the ship enters a preset anchoring area, the anchoring data comprise anchor position coordinates and a ship stopping stroke distance, the environment data comprise a resultant force direction of wind flow, and the attitude data comprise current position coordinates, heading and a rotation parameter of the ship;
the ship stopping stroke point calculation module is used for determining a ship stopping stroke point coordinate according to the anchor position coordinate, the ship stopping stroke distance and the wind current resultant force direction based on a preset stroke point determination model;
the steering guide point calculation module is used for determining steering guide point coordinates according to the anchor position coordinates, the ship stopping stroke points and the rotation parameters based on a preset steering guide point determination model;
the navigation planning path module is used for determining a navigation planning path of the ship based on the current position coordinate of the ship, the anchor position coordinate, the ship stopping stroke point coordinate and the steering guide point coordinate;
and the anchoring module is used for controlling the ship to complete anchoring operation according to the navigation planning path and a preset anchoring model.
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| CN202310857984.4A CN116954222A (en) | 2023-07-12 | 2023-07-12 | Ship autonomous anchoring decision control method and system |
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| CN202310857984.4A CN116954222A (en) | 2023-07-12 | 2023-07-12 | Ship autonomous anchoring decision control method and system |
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