CN117311354B - Harbor-done ship autonomous path planning and berthing method based on accurate task guidance - Google Patents
Harbor-done ship autonomous path planning and berthing method based on accurate task guidance Download PDFInfo
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Abstract
The invention discloses a harbor operation ship autonomous path planning and berthing method based on accurate task guidance, which comprises the steps of designing a urgency function, setting berthing points, angles and speeds, constructing a standard line based on the heading and berthing angles of a target ship and the navigational speed vector of the target ship, selecting a distant strategy to control the navigation of the target ship according to the value of the urgency function, selecting an opposite strategy to control the navigation of the target ship according to whether the target ship and the berthing points are on one side of the target ship, selecting a coarse navigational strategy or a fine navigational strategy to control the navigation of the target ship according to whether the target ship is behind the standard line and the vertical distance between the target ship and the standard line, selecting a remote adjustment strategy or a close adjustment strategy according to the physical distance between the target ship and the target ship, judging whether the target ship is in contact with the target ship, if the target ship is berthed, and reconstructing the standard line otherwise. The invention configures gravitation based on different strategies, plans the ship path in real time and improves the berthing precision.
Description
Technical Field
The invention relates to the field of ship path planning and berthing control, in particular to a harbor-done ship autonomous path planning and berthing method based on accurate task guidance.
Background
The barge has to be loaded and unloaded by a large ship, and the large ship is provided with a plurality of bumpers in advance for protecting the ship hull and avoiding serious berthing abrasion. However, the barge is very poor in control level, the large ship is unstable in windward and streaming conditions, some of the current is as high as 4kn, current is converted, and even if the large ship is anchored, the ship moves under the action of wind and current to increase the difficulty of berthing the barge, and the large ship cannot lean on the position of the fender at a preset angle and speed accurately. In the process of navigating the executing barge from the current position to the berthing point of the target ship berthing, the executing barge has requirements on berthing angle, speed and position, the berthing angle is small, the damage to the ship hull caused by berthing abrasion can be reduced, the berthing position can accurately berth to the back cushion position, meanwhile, the ship stability and the shearing bending moment during unloading are ensured to be normal, the berthing speed is accurate, friction can be reduced when the berthing speed is consistent with a large ship, and the carrying is convenient, so that a navigation instrument capable of guiding based on accurate tasks is needed, and the berthing angle, speed and position of the executing barge are accurately adjusted.
Harbor ships include barges, tugs, fire ships, lead ships, oil supply ships, water supply ships, patrol ships, law enforcement ships, etc. all need to lean on large ships at small angles. The rest such as tugboats, law enforcement vessels, etc. may be positioned above the target vessel from different preset angles, speeds, positions based on different mission requirements. In the harbor water area, the ship is frequent in operation, time and labor are wasted by simply relying on manual operation, the accuracy of the completed task is low, and the operation is not standard.
Disclosure of Invention
The invention provides a harbor operation ship autonomous path planning and berthing method based on accurate task guidance, which aims to overcome the technical problems.
A harbor operation ship autonomous path planning and berthing method based on accurate task guidance comprises,
step one, designing a urgency function, wherein the urgency function comprises an angle difference function, a position difference function and a distance difference function, setting a berthing point position, a berthing angle and a berthing speed,
step two, respectively obtaining the positions, the navigational speeds and the navigational directions of the ship and the target ship, wherein the ship is to be berthed, a standard line is constructed based on the navigational directions, berthing angles and navigational speed vectors of the target ship,
calculating the value of an urgency function and judging whether the threshold value is exceeded, if the threshold value is exceeded, controlling the voyage of the ship according to a remote strategy, otherwise, judging whether the position and the berthing point of the ship are both on the port side or the starboard side of the target ship, if the vertical distance is not equal to or less than 1 time of the voyage of the ship according to a different-side strategy, otherwise, judging whether the ship is positioned behind a standard line, wherein the step of judging whether the ship is positioned behind the standard line comprises taking a connecting line of the position and the berthing point of the ship as a vector 1, forming an included angle by the vector 1 and the heading vector of the target ship, judging whether the included angle is greater than the berthing angle, if the included angle is greater than the berthing angle after the standard line, calculating the vertical distance between the ship and the standard line, if the vertical distance is greater than 1 time of the voyage of the ship, controlling the ship according to a coarse navigational strategy, if the vertical distance is less than or equal to 1 time of the voyage of the ship, if the vertical distance is less than 3 times of the voyage of the ship, calculating the physical distance between the ship and the target ship and the voyage of the ship according to a close distance, and adjusting the voyage of the ship according to the physical navigational strategy if the physical distance is greater than 3 times of the physical distance of the voyage of the ship,
and step four, acquiring the ship positions of the I ship and the target ship after the sampling time interval, judging whether the I ship contacts with the ship body of the target ship, if so, berthing the I ship, otherwise, returning to the step two.
Preferably, the controlling the voyage of the my ship according to the rough spacious navigation strategy comprises selecting a guiding point from a standard line, wherein the selection strategy is to set the guiding point to apply attractive force to the my ship by taking the distance between the guiding point and a berthing point as 7 times of the ship length, the attractive force direction is the guiding point of the my ship, the attractive force direction is taken as a standard course, the my ship changes direction with the standard course and voyages at a standard voyage speed, and the standard voyage speed is the full speed of the my ship.
Preferably, the controlling the sailing of the ship according to the fine navigation strategy comprises obtaining a first gravitation of the ship overtaking a standard line according to a formula (1), obtaining a second gravitation of the ship for adjusting the course according to a formula (2), combining the first gravitation and the second gravitation into a combined gravitation according to a formula (3), obtaining the standard sailing speed of the ship according to a formula (4),
wherein gravi is the resultant force; gravi 1 A first attractive force exceeding a standard line for the ship; gravi 2 Adjusting a second attractive force of the heading for the ship; k (K) catch To overtake part of the gravitation coefficient; k (K) adjust To adjust the gravitational coefficient of course; dist and d are the vertical distance between I ship and standard line, K 1 Coefficients for the heading vector of the target ship; k (K) 2 Coefficients of vertical line vectors that are standard lines; plurse TS The heading vector of the target ship; vec vertical Vector of perpendicular to standard line, vec approach To approach the angle direction vector, V standar Is the standard navigational speed; v (V) best The maximum navigational speed of the ship is set; v (V) approach Is berthing speed; d is 1 time of the ship length,
and taking the gravity direction as a standard course, and turning the ship and sailing at a standard speed.
Preferably, said controlling of the voyage of my ship according to the remote adjustment strategy comprises setting the attraction according to equation (5),
gravi＝k 1 ×Vec TS_OS ×Dist+k 2 ×Vec approach +Dist (5)
wherein k is 1 Coefficients of the line direction vector for the ship and the target ship; k (k) 2 Coefficients that are vectors of the berthing angle direction; vec TS_OS The direction vector of the connection line of the ship and the target ship; vec approach Is a berthing angle direction vector; dist is the distance of the vessel from the target vessel,
and taking the gravitational direction as a standard course, and turning the ship and carrying out variable speed sailing at a standard navigational speed, wherein the standard navigational speed is the full speed of the ship.
Preferably, controlling the voyage of the my ship according to the close range adjustment strategy includes setting a standard voyage speed of the my ship according to formula (6), voyaging the my ship at the standard voyage speed with a variable speed, adjusting the voyage of the my ship to the berthing angle according to the attractive force of the berthing angle direction,
V standar ＝V approach +(0-V approach )÷D×d (6)
wherein V is standar Is the standard navigational speed, V approach Is berthing speed; d is 1 time of the ship length of the ship; d is the distance from the ship to the standard line.
Preferably, controlling the voyage of the my ship according to the distancing strategy comprises obtaining the gravitation of the distant target ship according to formula (7), taking the direction of the gravitation as a standard heading, turning the my ship with the standard heading and conducting variable speed voyage with the standard voyage speed, wherein the standard voyage speed is the full speed of the my ship,
gravi＝gravi 1 +gravi 2 ＝k 1 ×vec standarline ×Urgency+k 2 ×vec TScourse ÷Urgency (7)
Urgency＝Func ang ×Func posi ÷Func dist (8)
Func ang ＝k ang ×e ang (9)
Func posi ＝k posi ×e posi (10)
Func dist ＝k dist ×e dist (11)
wherein gravi 1 Is the attraction force in the standard line direction; gravi 2 Gravitation in the heading direction of a target ship; k (k) 1 Coefficients that are standard line direction vectors; k (k) 2 Coefficients for the heading direction vector of the target ship; vec standarline Is a standard line direction vector; vec TScourse The heading direction vector of the target ship; urgety is the Urgency function value, func ang Is the angle difference function value; func posi Is a position difference function value; func dist Is a distance difference function value; k (k) ang Is an angle difference coefficient; e, e ang Is an exponential function of the angular difference; ang is the difference value between the actual berthing angle and the preset berthing angle; k (k) posi Is a position difference coefficient; e, e posi An exponential function of the position difference; posi is the distance from our ship to the standard line; k (k) dist Is a distance difference coefficient; e, e dist Is an exponential function of the distance difference; dist is the distance of the vessel from the target vessel.
Preferably, the controlling the sailing of the ship according to the different-side strategy comprises calculating the azimuth angle of the ship relative to the target ship, if the azimuth angle is smaller than 60 degrees, selecting a fixed point from the front of the bow of the target ship as a navigation target for sailing, wherein the distance between the fixed point and the bow of the target ship is 7 times the ship length of the ship, and if the azimuth angle is larger than or equal to 60 degrees, selecting the fixed point from the rear of the target ship as the navigation target for sailing, wherein the distance between the fixed point and the stern of the target ship is 1 time the ship length of the ship.
The invention provides a harbor operation ship autonomous path planning and berthing method based on accurate task guidance, which takes preset berthing angles, speeds and positions as accurate task guidance, and by calculating the distance between a ship and a standard line and the distance between the ship and a target ship, areas are divided, gravitation is configured in different ways aiming at different areas, ship motion planning is guided, and a ship path is planned in real time until berthing tasks are completed. The method converts the human experience operation into the digital calculation of the algorithm, so that the accuracy degree of completing the task can be improved, the manpower input is reduced, and the method has certain promotion significance for the development of the intelligent port in the future.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a definition of the standard line of the present invention;
FIG. 3 is a drawing of the attractive force configuration of the present invention during the urge away phase;
FIG. 4 is a diagram of an ipsilateral navigational attraction configuration of the present invention;
FIG. 5 is a diagram of the gravity configuration of the present invention for my ship in overtaking phase;
FIG. 6 is a diagram of the attractive force configuration of my ship during the remote adjustment phase of the present invention;
FIG. 7 is a diagram of the attractive force configuration of my ship during the close-range adjustment phase of the present invention;
FIG. 8 is a 45 port side angle berthing view of the present invention;
FIG. 9 is a port 90 ° angle berthing view of the present invention;
FIG. 10 is a 135 port berthing view of the present invention;
FIG. 11 is a port 90 berthing view of the present invention;
fig. 12 is a flow chart of an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of 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, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present 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.
FIG. 1 is a flowchart of the method of the present invention, as shown in FIG. 1, the method of the present embodiment may include:
step one, designing a urgency function, wherein the urgency function comprises an angle difference function, a position difference function and a distance difference function, setting a berthing point position, a berthing angle and a berthing speed,
step two, respectively obtaining the positions, the navigational speeds and the navigational directions of the ship and the target ship, wherein the ship is to be berthed, a standard line is constructed based on the navigational directions, berthing angles and navigational speed vectors of the target ship,
calculating the value of an urgency function and judging whether the threshold value is exceeded, if the threshold value is exceeded, controlling the voyage of the ship according to a remote strategy, otherwise, judging whether the position and the berthing point of the ship are both on the port side or the starboard side of the target ship, if the vertical distance is not equal to or less than 1 time of the voyage of the ship according to a different-side strategy, otherwise, judging whether the ship is positioned behind a standard line, wherein the step of judging whether the ship is positioned behind the standard line comprises taking a connecting line of the position and the berthing point of the ship as a vector 1, forming an included angle by the vector 1 and the heading vector of the target ship, judging whether the included angle is greater than the berthing angle, if the included angle is greater than the berthing angle after the standard line, calculating the vertical distance between the ship and the standard line, if the vertical distance is greater than 1 time of the voyage of the ship, controlling the ship according to a coarse navigational strategy, if the vertical distance is less than or equal to 1 time of the voyage of the ship, if the vertical distance is less than 3 times of the voyage of the ship, calculating the physical distance between the ship and the target ship and the voyage of the ship according to a close distance, and adjusting the voyage of the ship according to the physical navigational strategy if the physical distance is greater than 3 times of the physical distance of the voyage of the ship,
and step four, acquiring the ship positions of the I ship and the target ship after the sampling time interval, judging whether the I ship contacts with the ship body of the target ship, if so, berthing the I ship, otherwise, returning to the step two.
Based on the scheme, the preset berthing angle, speed and position are used as accurate task guidance, and by calculating the distance between the ship and the standard line and the distance between the ship and the target ship, the gravitation is configured in different modes aiming at different areas, so that the ship motion planning is guided, and the ship path is planned in real time until the berthing task is completed. The digital calculation of converting human experience operation into algorithm can improve the accuracy of completing tasks, reduce manpower input and has certain promotion significance for the development of future intelligent ports
Specifically, the embodiment provides detailed steps of a harbor operation ship autonomous path planning and berthing method, and the embodiment aims at ship operations such as harbor barges. Barge operations require berthing a target vessel at a preset angle, speed, position:
step one, designing a urgency function, wherein the urgency function comprises an angle difference function, a position difference function and a distance difference function, the angle difference refers to a difference value between a current heading and a preset berthing heading, the position difference refers to a distance from a ship position of a ship to a standard line, the distance difference refers to a distance from the ship position of the ship to a target ship, berthing points, berthing angles and berthing speeds are set,
step two, respectively obtaining the positions, the speeds and the headings of the I ship and the target ship, wherein the I ship is to be berthed, a standard line is constructed based on the headings, berthing angles and the navigational speed vectors of the I ship, specifically, the definition of the standard line is shown in figure 2, OS and TS respectively represent the I ship and the target ship, OS.v and TS.v respectively represent the navigational speeds of the I ship and the target ship, and here, the navigational speed of the target ship is assumed to be 20, and the navigational speed of the I ship is expected to berth the target ship at 45 degrees on the port side. The standard line is obtained by adding the vector of the ship speed of the ship with the size of the standard line to the direction of the berthing angle (the bow of the ship is 0 degrees, the stern is 180 degrees, and the port is 45 degrees). The ship position of the ship is on the standard line, and the course and the speed are controlled to be preset values, so that the next ship position can be further controlled to be still on the standard line, and the established task can be accurately completed.
Step three, calculating the value of the urgency function and judging whether the value exceeds a threshold value, when the value exceeds the threshold value, indicating that the ship cannot finish the preset task requirement in the berthing, triggering the deviating setting by the ship, applying a gravitation far away from the ship to the ship,
if the threshold value is exceeded, controlling the sailing of the ship according to the distance strategy, as shown in fig. 3, wherein the controlling the sailing of the ship according to the distance strategy comprises the steps of obtaining the gravitation far away from the target ship according to a formula (1), wherein the gravitation consists of two parts, namely the gravitation in the heading direction of the target ship and the gravitation in the standard line direction, and the specific proportion is determined by the urgency degree. The tighter the trend is toward the standard line direction. The arrangement can keep the overtaking gesture of the ship when deviating from the ship, the gravity direction is used as the standard course, the ship changes direction with the standard course and carries out variable speed sailing with the standard speed, the standard speed is the full speed of the ship,
gravi＝gravi 1 +gravi 2 ＝k 1 ×vec standarline ×Urgency+k 2 ×vec TScourse ÷Urgency (1)
Urgency＝Func ang ×Func posi ÷Func dist (2)
Func ang ＝k ang ×e ang (3)
Func posi ＝k posi ×e posi (4)
Func dist ＝k dist ×e dist (5)
wherein gravi 1 Is the attraction force in the standard line direction; gravi 2 Gravitation in the heading direction of a target ship; k (k) 1 Coefficients that are standard line direction vectors; k (k) 2 Coefficients for the heading direction vector of the target ship; vec standarline Is a standard line direction vector; vec TScourse The heading direction vector of the target ship; urgety is the Urgency function value, func ang Is the angle difference function value; func posi Is a position difference function value; func dist Is a distance difference function value; k (k) ang Is an angle difference coefficient; e, e ang Is an exponential function of the angular difference; ang is the difference value between the actual berthing angle and the preset berthing angle; k (k) posi Is a position difference coefficient; e, e posi An exponential function of the position difference; posi is the distance from our ship to the standard line; k (k) dist Is a distance difference coefficient; e, e dist Is an exponential function of the distance difference; dist is the distance of the vessel from the target vessel.
Otherwise, judging whether the ship and the berthing point are both on the port side or the starboard side of the target ship, and if not, controlling the ship to sail according to a different-side strategy, wherein the different-side strategy is that the ship sails at full speed, specifically, the ship navigates to the same side in advance, the azimuth angle of the ship relative to the target ship is judged, and if the relative azimuth angle is smaller than 60 degrees, the ship passes through the bow, and the former fixed point of the bow is taken as a navigation target; and if the relative azimuth angle is larger than 60 degrees, the navigation target passes through the stern, and the stern rear fixed point is taken as the navigation target. Considering that there is a greater risk of traversing from the bow, the navigation point for the bow to pass through is far. In the program, a bow navigation point is set at the position 7 times of the ship length of the ship from the ship in the bow direction, and a stern navigation point is set at the position 1 time of the ship length in the stern direction.
And otherwise, judging whether the ship is positioned behind the standard line or not, wherein the step of judging whether the ship is positioned behind the standard line or not comprises taking a connecting line of the ship position and the berthing point as a vector 1, forming an included angle by the vector 1 and a target ship heading vector, judging whether the included angle is larger than the berthing angle, and calculating the vertical distance between the ship and the standard line if the ship is positioned behind the standard line, namely, the included angle is larger than the berthing angle, specifically, the step of keeping the ship behind (the vector from the berthing position to the ship position of the ship, and the included angle with the ship heading vector is larger than the preset berthing angle is the step of keeping the ship behind) in the overtaking stage of the target ship, and the ship is required to be berthed at the preset angle, speed and position. The overtaking is divided into two stages, namely rough navigation in a long distance and fine navigation in a short distance, based on the distance from a standard line,
if the vertical distance is greater than 1 time of the berthing angle, speed and position of the tugboat are not required to be considered to be accurate, the tugboat is only required to be faster to approach a standard line, the voyage of the tugboat is controlled according to a coarse spacious navigation strategy, the voyage of the tugboat is controlled according to the coarse spacious navigation strategy, the voyage of the tugboat comprises a guide point selected from the standard line, the distance between the guide point and the berthing point is 7 times of the ship length, the guide point applies attractive force to the tugboat, the attractive force direction is the tugboat pointing to the guide point, the attractive force direction is taken as a standard heading, the tugboat changes direction and voyage is carried out at a standard voyage speed, and the standard voyage speed is the full speed of the tugboat. Wherein, the full speed is only the highest navigational speed of the same ship, and the movement performance of different types of ships is different, so that the maximum navigational speed value can be adjusted.
If the vertical distance is less than or equal to 1 time of the ship length of the I ship, controlling the I ship to navigate according to the fine navigation strategy, wherein controlling the I ship to navigate according to the fine navigation strategy comprises obtaining a first gravitation of the I ship overtaking a standard line according to a formula (6), obtaining a second gravitation of the I ship for adjusting the heading according to a formula (7), combining the first gravitation and the second gravitation into combined gravitation according to a formula (8), obtaining the standard navigational speed of the I ship according to a formula (9),
gravi 1 ＝K 1 ×course TS ×dist+K 2 ×vec vertical ÷dist (6)
gravi 2 ＝Vec approach (7)
gravi＝K catch ×gravi 1 ×dist+K adjust ×gravi 2 ÷dist (8)
V standar ＝V approach +(V best -V approach )÷D×d (9)
wherein gravi is the resultant force; gravi 1 A first attractive force exceeding a standard line for the ship; gravi 2 Adjusting a second attractive force of the heading for the ship; k (K) catch To overtake part of the gravitation coefficient; k (K) adjust To adjust the gravitational coefficient of course; dist and d are the vertical distance between I ship and standard line, K 1 Coefficients for the heading vector of the target ship; k (K) 2 Coefficients of vertical line vectors that are standard lines; plurse TS The heading vector of the target ship; vec vertical Vector of perpendicular to standard line, vec approach To approach the angle direction vector, V standar Is the standard navigational speed; v (V) best The maximum navigational speed of the ship is set; v (V) approach Is berthing speed; d is 1 time of the ship length,
and taking the gravity direction as a standard course, and turning the ship and sailing at a standard speed.
In particular, when the distance from the standard line is relatively short, the attention is paid to whether the berthing angle, speed and position are accurate, so that finer gravitational force configuration is required, as shown in FIG. 5, gravi 1 Is to guide the ship to catch up with the attraction of the standard line, gravi 2 Is the gravitation for guiding the ship to adjust the course, the magnitude of the two gravitation is controlled by the distance from the standard line, and the farther the gravi is 1 The larger, the closer the gravi 2 The larger. At the same time, in order to make the overtaking path smoother, for gravi 1 The following arrangement is made. gravi 1 The method is used for guiding the force for overtaking the standard line, but the overtaking modes are two, one is that the heading of the ship is the same as that of the target ship (the heading difference value is 0), and the overtaking path is longer as long as the navigational speed of the ship is higher than that of the target ship; another way is that my ship heading is oriented in the direction of the perpendicular to the standard line, which has the shortest overtaking time, but is easy to overtake failure, so that the ship position of the my ship is behind the target ship. Therefore, combining the two modes, gravi 1 Divided into F 1 And F 2 ，F 1 Is the gravitation pointing to the heading of the target ship, F 2 Is the attractive force pointing in the direction of the normal line. The farther F is from the standard line 1 The bigger the one used for guaranteeing the feasibility of overtaking, the closer F 2 The larger the speed is, the faster the overtaking is. And meanwhile, the standard navigational speed is controlled by adopting an acceleration gradient, the distance from the ship to the standard line is full speed when the distance is more than 1 time of the ship length, and the distance is calculated according to the distance when the distance is less than 1 time of the ship length.
If the included angle of the ship is smaller than the berthing angle before the standard line, calculating the physical distance between the ship and the target ship, and if the physical distance is larger than 3 times of the ship length of the ship, controlling the ship to sail according to the remote adjustment strategy, wherein controlling the ship to sail according to the remote adjustment strategy comprises setting attractive force according to a formula (10), configuring the attractive force in two directions, wherein one is a preset berthing angle direction, the other is a connecting direction of the two ships, and controlling the standard navigational speed to be full speed. This configuration makes the path faster and at the same time controls the ship's position as much as possible in front of the standard line.
gravi＝k 1 ×Vec TS_OS ×Dist+k 2 ×Vec approach ÷Dist(10)
Wherein k is 1 Coefficients of the line direction vector for the ship and the target ship; k (k) 2 Coefficients that are vectors of the berthing angle direction; vec TS_OS The direction vector of the connection line of the ship and the target ship; vec approach Is a berthing angle direction vector; dist is the distance of the vessel from the target vessel,
the gravitation direction is used as a standard course, the I ship changes direction with the standard course and sails with a variable speed with the standard navigational speed, the standard navigational speed is the full speed of the I ship,
if the physical distance is greater than 3 times of the ship length of the ship, as shown in fig. 6, the ship position of the ship is in front of the standard line (the vector from the berthing position to the ship position of the ship, and the angle between the ship position and the vector of the ship bow are smaller than the preset berthing angle and are the standard line), the situation that the ship overtakes the standard line by high-speed sailing is not needed to be considered, and the ship is far away from the target ship is not needed to be considered, so that whether the berthing angle, speed and position are accurate or not is not needed to be considered, the berthing time is shorter, the path is smoother and quicker,
if the physical distance is less than or equal to 3 times of the ship length of the ship, as shown in fig. 7, the ship position of the ship is in front of the standard line (the vector from the berthing position to the ship position of the ship, the included angle between the ship bow vector and the vector is smaller than the preset berthing angle, and the ship is in front of the standard line), and the ship is closer to the target ship, and whether the berthing angle, the speed and the position are accurate is more important. When the ship position is inaccurate or the course of the target ship changes, the ship can be decelerated to return to the standard line again after the ship position returns to the standard line, and meanwhile, the attraction force in the direction of the preset berthing angle is applied to correct the course to the preset berthing angle. Consider that the farther from the standard line, the less speed is required to correct the position. When the ship is closer to the standard line, the ship position is not required to be corrected at a too small speed, and the ship needs to be berthed at a preset navigational speed. The standard navigational speed adopts deceleration gradient control, calculates the distance from the ship to the standard line, controls the standard navigational speed to be 0 when the distance exceeds one-time ship length, carries out gradient adjustment when the distance is within one-time ship length distance, controls the navigational speed of the ship according to a close range adjustment strategy, and controls the navigational speed of the ship according to the close range adjustment strategy, wherein the controlling the navigational speed of the ship according to the close range adjustment strategy comprises the steps of setting the standard navigational speed of the ship according to a formula (11), changing the speed of the ship at the standard navigational speed, and adjusting the navigational speed of the ship to the berthing angle according to the attraction force of the berthing angle direction
V standar ＝V approach +(0-V approach )÷D×d (11)
Wherein V is standar Is the standard navigational speed, V approach Is berthing speed; d is 1 time of the ship length of the ship; d is the distance from the ship to the standard line,
and step four, acquiring the ship positions of the I ship and the target ship after the sampling time interval, wherein the sampling time interval can be taken to be 0.2 seconds, judging whether the I ship contacts with the ship body of the target ship, if so, berthing the I ship, otherwise, returning to the step two. In the embodiment, the direction change and speed change of the ship are carried out by taking the standard course and the speed as the standard, and each time the ship is changed by 1 degree and 1kn.
Fig. 8, 9, 10 and 11 are graphs for experiments, all experiments in this embodiment are simulation experiments using MATLAB R2022a, and the target ship sails at a constant speed of 20 knots, and the sampling time period is 0.2 seconds, and about 1 ° of random steering is given to the target ship during each sampling. Fig. 8: the method comprises the steps that a port angle of 45 degrees and a port third point of 20-section navigational speed berthing target ship are preset for the ship, and berthing experiments are carried out before and after standard lines by setting the relative directions of the ship. Fig. 9: the method comprises the steps that a port angle of 90 degrees is preset for a ship, a port third point of a target ship is berthed at 20 knots of navigational speed, and berthing experiments are carried out before and after a standard line by setting the relative direction of the ship. Fig. 10: the method comprises the steps that a port angle of 135 degrees and a port third point of 20-section navigational speed berthing target ship are preset for the ship, and berthing experiments are carried out before and after standard lines by setting the relative directions of the ship. Fig. 11: the method comprises the steps that a first experiment sets that the ship is in front of a standard line, and the target ship has a large-angle steering. After the second experiment sets that the ship is on the standard line, the target ship has a large-angle steering. And after the third experiment sets that the ship is on the alignment line, the target ship has two large-angle steering. The method is used for testing whether the setting of the urgency index has feasibility and rationality. Fig. 12: this figure is a flow chart of the present embodiment.
Based on the preset demands of berthing angle, speed, position and the like, the embodiment innovatively defines a method for guiding and controlling by using a standard line, and can berth to a preset position more accurately as long as the berthing angle and speed are controlled to be preset values at the same time as the ship position of the ship is on the standard line. Therefore, most of the work in the method focuses on how to navigate the ship position of the ship to the standard line, and adjusts the heading and the navigational speed to the preset values while adjusting the position. The algorithm divides the relative position of the i vessel and the target vessel into 5 regions, with the lagging standard line and being closer to the standard line, the lagging standard line and being farther from the standard line, the exceeding of the standard line and being farther from the target vessel, the exceeding of the standard line and being closer to the target vessel, the i vessel being on a different side from the predetermined berthing position. The divided areas are arranged differently, the I ship has reasonable navigation modes at all positions relative to the target ship, the I ship can be navigated to a standard line and the course speed is controlled at the same time, and the requirements of preset tasks can be effectively met. Meanwhile, the algorithm aims at the problems of urgent steering of the target ship and the like, so that the ship cannot complete a set task, and an urgency index is designed. When the index value exceeds the index threshold value, the situation that the preset task cannot be completed in the berthing can be judged, the deviating setting is triggered to be far away from the target ship, and the task attempt is prepared again. Typically, the algorithm will run until the ship is more accurate to accomplish the given task.
The whole beneficial effects are that:
the invention provides a harbor operation ship autonomous path planning and berthing method based on accurate task guidance, which takes preset berthing angles, speeds and positions as accurate task guidance, and by calculating the distance between a ship and a standard line and the distance between the ship and a target ship, areas are divided, gravitation is configured in different ways aiming at different areas, ship motion planning is guided, and a ship path is planned in real time until berthing tasks are completed. The method converts the human experience operation into the digital calculation of the algorithm, so that the accuracy degree of completing the task can be improved, the manpower input is reduced, and the method has certain promotion significance for the development of the intelligent port in the future.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (5)
1. A harbor operation ship autonomous path planning and berthing method based on accurate task guidance is characterized by comprising the following steps of,
step one, designing a urgency function, wherein the urgency function comprises an angle difference function, a position difference function and a distance difference function, setting a berthing point position, a berthing angle and a berthing speed,
step two, respectively obtaining the positions, the navigational speeds and the navigational directions of the ship and the target ship, wherein the ship is to be berthed, a standard line is constructed based on the navigational directions, berthing angles and navigational speed vectors of the target ship,
calculating the value of an urgency function and judging whether the threshold value is exceeded, if the threshold value is exceeded, controlling the voyage of the ship according to a distance strategy, otherwise, judging whether the position and the berthing point of the ship are both on the port side or the starboard side of the target ship, and if the position and the berthing point of the ship are not both on the port side or the starboard side of the target ship, controlling the voyage of the ship according to an opposite strategy, wherein the voyage of the ship according to the opposite strategy comprises calculating the azimuth angle of the ship relative to the target ship, and if the azimuth angle is smaller than 60 degrees, selecting a fixed point from the front of the bow of the target ship as a navigation target for voyage of the ship, wherein the distance between the fixed point and the bow of the target ship is 7 times the ship length, and if the azimuth angle is larger than or equal to 60 degrees, selecting the fixed point from the back of the stern of the target ship as the navigation target ship for voyage of the ship; otherwise, judging whether the I ship is positioned behind a standard line or not, wherein the I ship is positioned behind the standard line or not comprises taking a connecting line of the position of the I ship and a berthing point as a vector 1, forming an included angle by the vector 1 and a target ship heading vector, judging whether the included angle is larger than the berthing angle, if the included angle is larger than the berthing angle after the standard line, calculating the vertical distance between the I ship and the standard line, if the vertical distance is larger than 1 time of the ship length of the I ship, controlling the navigation of the I ship according to a coarse open navigation strategy, if the vertical distance is smaller than or equal to 1 time of the ship length of the I ship, controlling the navigation of the I ship according to a fine navigation strategy, wherein the controlling the navigation of the I ship according to the fine navigation strategy comprises acquiring a first gravitation of the I ship exceeding the standard line according to a formula (1), acquiring a second gravitation of the I ship for adjusting heading according to a formula (2), combining the first gravitation and the second gravitation into a combined gravitation according to a formula (3),
gravi 1 ＝K 1 ×course TS ×dist+K 2 ×vec vertical ÷dist (1)
gravi 2 ＝Vec approach (2)
gravi＝K catch ×gravi 1 ×dist+K adjust ×gravi 2 ÷dist (3)
V standar ＝V approach +(V best -V approach )÷D×d (4)
wherein gravi is the resultant force; gravi 1 A first attractive force exceeding a standard line for the ship; gravi 2 Adjusting a second attractive force of the heading for the ship; k (K) catch To overtake part of the gravitation coefficient; k (K) adjust To adjust the gravitational coefficient of course; dist and d are the vertical distance between I ship and standard line, K 1 Is the object ofCoefficients of the ship heading vector; k (K) 2 Coefficients of vertical line vectors that are standard lines; plurse TS The heading vector of the target ship; vec vertical Vector of perpendicular to standard line, vec approach To approach the angle direction vector, V standar Is the standard navigational speed; v (V) best The maximum navigational speed of the ship is set; v (V) approach Is berthing speed; d is 1 time of the ship length,
the gravity direction is used as a standard course, the self ship changes direction with the standard course and sails with a variable speed with the standard speed,
if the included angle of the ship is smaller than the berthing angle before the standard line, calculating the physical distance between the ship and the target ship, if the physical distance is larger than 3 times of the ship length of the ship, controlling the ship to sail according to the long-distance adjustment strategy, if the physical distance is smaller than or equal to 3 times of the ship length of the ship, controlling the ship to sail according to the short-distance adjustment strategy,
and step four, acquiring the ship positions of the I ship and the target ship after the sampling time interval, judging whether the I ship contacts with the ship body of the target ship, if so, berthing the I ship, otherwise, returning to the step two.
2. The method for planning and berthing an autonomous path of a port-done ship based on accurate mission guidance according to claim 1, wherein controlling the voyage of the ship according to a coarse spacious navigation strategy comprises selecting a guiding point from a standard line, wherein the selection strategy is to set the guiding point to apply attractive force to the ship by taking the distance between the guiding point and berthing point as 7 times of the ship length, the attractive force direction is the guiding point of the ship, the attractive force direction is taken as a standard course, the ship changes direction and voyages at a standard navigational speed, and the standard navigational speed is the full speed of the ship.
3. The method for planning and berthing autonomous path of port-operating vessel based on accurate mission guidance according to claim 1, wherein controlling the vessel voyage according to the remote adjustment strategy comprises setting attraction according to formula (5),
gravi＝k 1 ×Vec TS_OS ×Dist+k 2 ×Vec approach ÷Dist (5)
wherein k is 1 Coefficients of the line direction vector for the ship and the target ship; k (k) 2 Coefficients that are vectors of the berthing angle direction; vec TS_OS The direction vector of the connection line of the ship and the target ship; vec approach Is a berthing angle direction vector; dist is the distance of the vessel from the target vessel,
and taking the gravitational direction as a standard course, and turning the ship and carrying out variable speed sailing at a standard navigational speed, wherein the standard navigational speed is the full speed of the ship.
4. The method for planning and berthing autonomous path of port-operating ship based on accurate mission guidance according to claim 1, wherein controlling the voyage of the ship according to the short-distance adjustment strategy comprises setting a standard voyage speed of the ship according to formula (6), voyage the ship at the standard voyage speed, adjusting the voyage heading to the berthing angle according to the attraction force of the berthing angle direction,
V standar ＝V approach +(0-V approach )÷D×d (6)
wherein V is standar Is the standard navigational speed, V approach Is berthing speed; d is 1 time of the ship length of the ship; d is the distance from the ship to the standard line.
5. The method for planning and berthing autonomous path of port-operating ship based on accurate mission guidance according to claim 1, wherein controlling the voyage of the ship according to the distancing strategy comprises obtaining the gravitation of the ship to be distanced from the target ship according to formula (7), taking the direction of gravitation as a standard heading, turning the ship to the standard heading and conducting variable speed voyage at a standard voyage speed, wherein the standard voyage speed is the full speed of the ship,
gravi＝gravi 1 +gravi 2 ＝k 1 ×vec standarline ×Urgency+k 2 ×vec TScourse ÷Urgency(7)
Urgency＝Func ang ×Func posi ÷Func dist (8)
Func ang ＝k ang ×e ang (9)
Func posi ＝k posi ×e posi (10)
Func dist ＝k dist ×e dist (11)
wherein gravi 1 Is the attraction force in the standard line direction; gravi 2 Gravitation in the heading direction of a target ship; k (k) 1 Coefficients that are standard line direction vectors; k (k) 2 Coefficients for the heading direction vector of the target ship; vec standarline Is a standard line direction vector; vec TScourse The heading direction vector of the target ship; urgety is the Urgency function value, func ang Is the angle difference function value; func posi Is a position difference function value; func dist Is a distance difference function value; k (k) ang Is an angle difference coefficient; e, e ang Is an exponential function of the angular difference; ang is the difference value between the actual berthing angle and the preset berthing angle; k (k) posi Is a position difference coefficient; e, e posi An exponential function of the position difference; posi is the distance from our ship to the standard line; k (k) dist Is a distance difference coefficient; e, e dist Is an exponential function of the distance difference; dist is the distance of the vessel from the target vessel.
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