CN117589174A - Ship obstacle avoidance path planning system and planning method - Google Patents
Ship obstacle avoidance path planning system and planning method Download PDFInfo
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Abstract
The invention discloses a ship obstacle avoidance path planning system and a planning method, comprising the following steps: the submerged reef monitoring module, the wind power monitoring module, the sea wave monitoring module and the steering path planning module are arranged on the anchoring structure; the submerged reef monitoring module comprises a sonar sensor, a contour recognition unit, a three-dimensional image unit and a safety range unit, wherein the contour recognition unit is connected with the sonar sensor; the wind power monitoring module comprises a wind power detection device, a wind speed recording unit and a wind direction recording unit which are connected with the wind power detection device; the sea wave monitoring module comprises a sea wave detection device, a sea current recording unit and a tide fluctuation unit, wherein the sea current recording unit and the tide fluctuation unit are connected with the sea wave detection device; the steering path planning module comprises a steering angle unit, a steering speed unit and a steering radius unit. According to the invention, the modularized design is adopted, the ship operation data and the environment data are comprehensively considered, the environment change can be responded in real time, the steering parameters can be dynamically adjusted, the ship is ensured to run on a safe and reliable path, and the accident is effectively avoided.
Description
Technical Field
The invention relates to the technical field of ship obstacle avoidance, in particular to a ship obstacle avoidance path planning system and a planning method.
Background
The ship can complete the task only by sailing on the sea, both in terms of exploitation of marine resources and in terms of marine transportation. Collisions with other vessels, various stationary or floating objects may occur while the vessel is sailing on the water surface, and such collisions may lead to personal injury or property loss. Therefore, collision avoidance between various ships and obstacle avoidance to surrounding obstacles have become an extremely important link in the process of completing tasks by the ships.
The ship obstacle avoidance control is to make various avoidance actions on the obstacle which is blocked to the ship motion direction according to various sensory devices owned by the ship and continue to interrupt the previous actions. In recent years, laser radar has been increasingly used in ship navigation. Compared with other distance sensors, the laser radar can simultaneously consider the precision requirement and the speed requirement, and is particularly suitable for the field of ships.
However, when the laser beam in the laser radar propagates in water, the water absorbs and scatters the laser to a certain extent, so that the energy and the detection distance of the laser can be reduced; meanwhile, the diameter of the laser beam is smaller, the whole water area is difficult to cover, the edge of a complete submerged reef cannot be identified for the submerged reef in a wide water area, and a complete submerged reef safety range is difficult to form; meanwhile, an effective obstacle avoidance route cannot be provided when the ship is sailing.
Therefore, there is a need to provide a ship obstacle avoidance path planning system with high reef identification, high safety range establishment integrity and clear obstacle avoidance path, so as to solve the above problems.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a ship obstacle avoidance path planning system and a planning method.
In order to achieve the above purpose, the invention adopts the following technical scheme: a marine obstacle avoidance path planning system, comprising: the system comprises an anchor structure arranged around a submerged reef, a submerged reef monitoring module, a wind power monitoring module, a sea wave monitoring module and a steering path planning module, wherein the submerged reef monitoring module, the wind power monitoring module, the sea wave monitoring module and the steering path planning module are arranged on the anchor structure;
the submerged reef monitoring module includes: the device comprises a plurality of sonar sensors, a contour recognition unit, a three-dimensional image unit and a safety range unit, wherein the contour recognition unit, the three-dimensional image unit and the safety range unit are connected with the sonar sensors; the submerged reef monitoring module is used for monitoring the edges of the submerged reefs and generating a submerged reef three-dimensional image;
the wind power monitoring module includes: the wind power detection device is connected with the wind speed recording unit and the wind direction recording unit; the wind power monitoring module is used for monitoring wind power conditions around the submerged reef and recording wind speed data and wind direction data;
the sea wave monitoring module comprises: the sea wave detection devices are connected with the sea current recording unit and the tide fluctuation unit; the wave monitoring module is used for monitoring the wave and tide conditions around the submerged reef and recording wave flow direction data, wave flow speed data and tide expansion amplitude data;
the steering path planning module includes: a steering angle unit, a steering speed unit and a steering radius unit; and the steering path planning module is used for summarizing and calculating ship direction data, ship speed data, wind power data and sea wave data to generate safe steering angle data, safe steering speed data and safe steering radius data.
In a preferred embodiment of the present invention, the contour recognition unit is configured to perform multi-angle contour recognition on the submerged reef recognized by the sonar sensor to generate a plurality of contour recognition data, and the three-dimensional image unit is configured to construct a submerged reef three-dimensional image according to the plurality of contour recognition data; the safety range unit is used for dividing the submerged reef safety range according to ship direction data and ship speed data.
In a preferred embodiment of the present invention, the wind speed recording unit is configured to record the wind speed change situation around the submerged reef in real time, and the wind direction recording unit is configured to record the wind direction change matched with the wind speed change situation around the submerged reef in real time.
In a preferred embodiment of the present invention, the ocean current recording unit is configured to record the ocean current direction and the ocean current velocity around the submerged reef in real time, and the tidal fluctuation unit is configured to record the tidal fluctuation range of the ocean surface around the submerged reef.
In a preferred embodiment of the present invention, the steering path planning module further includes a data transmission unit, configured to transmit the safe steering angle data, the safe steering speed data, and the safe steering radius data to the ship for steering operation when the ship travels within a communication range of the path planning apparatus.
In a preferred embodiment of the present invention, the steering path planning module is connected to the submerged reef monitoring module, the wind power monitoring module and the sea wave monitoring module.
In a preferred embodiment of the present invention, the anchoring structure comprises: the fixing base, a plurality of anchor ropes arranged on one side of the fixing base, and an anchor hook arranged at one end of the anchor ropes.
The invention also provides a planning method of the ship obstacle avoidance path planning system, which comprises the following steps:
s1, scanning the edge of a submerged reef through a submerged reef monitoring module, and constructing a submerged reef three-dimensional image;
s2, monitoring the wind direction and the wind speed at the submerged reef in real time through a wind power monitoring module to obtain wind speed data and wind direction data;
s3, monitoring the flow direction and the flow velocity of the sea waves and the tide expansion amplitude in real time through a sea wave monitoring module to obtain sea wave flow direction data, sea wave flow velocity data and tide expansion amplitude data;
s4, when the ship runs into the communication range of the monitoring device, ship direction data and ship speed data are sent to the steering path planning module, and submerged reef safety distance data are obtained;
s5, calculating to obtain safe steering angle data, safe steering speed data and safe steering radius data.
In a preferred embodiment of the present invention, in the step S4, obtaining the reef safety distance data specifically includes the following steps:
s41, acquiring ship speed V data and course angle alpha data;
s42, calculating the component V of the ship speed in the horizontal direction x ：V x ＝V*cosα；
S43, calculating the component V of the ship speed in the horizontal direction y ：V y ＝V*sinα；
S44, calculating to obtain the submerged reef safety distance D 0 ＝V x *T+0.5*V y *T 2 Wherein T is the avoidance time, and T is more than or equal to 5min.
In a preferred embodiment of the present invention, in the step S5, the safe steering angle data, the safe steering speed data, and the safe steering radius data are calculated, and the specific steps are as follows:
s51, calculating wind thrust F according to wind speed and wind direction data w And the direction gamma of the action line w The method comprises the steps of carrying out a first treatment on the surface of the Calculating wave thrust F according to wave flow direction and flow velocity data s And the direction gamma of the action line s The method comprises the steps of carrying out a first treatment on the surface of the Calculating thrust force F generated by tide according to tide expansion amplitude data t And the direction gamma of the action line t Obtaining a total external force F and a total action line direction gamma;
s52, calculating the preliminary steering angle theta of the ship 1 Steering radius R under angle 1 ＝V 2 /F·tanθ 1 Calculating the ship at theta 1 Time T required for turning under angle 1 ＝R 1 V, calculating the ship at T 1 Distance D of sailing in time 1 ＝V*T 1 ；
S53, judge D 1 Whether or not to be smaller than the submerged reef safety distance D 0 When D 1 ≥D 0 The steering parameter is theta 1 ,R 1 The method comprises the steps of carrying out a first treatment on the surface of the When D is 1 ＜D 0 And continuing to correct the steering parameters to meet the safety distance requirement: correcting steering angle theta 2 ＝θ 1 +Δθ, correct steering radius R 2 ＝V 2 /F·tanθ 2 Correcting turn time T 2 And distance D 2 Repeating the judging and correcting steps until D 2 ≥D 0 。
The invention solves the defects existing in the background technology, and has the following beneficial effects:
(1) The invention provides a ship obstacle avoidance path planning system and a planning method, which adopt a modularized design, realize data intercommunication among modules, are easy to expand and upgrade, comprehensively consider ship operation data and environment data by utilizing a plurality of sensor modules to monitor the environment conditions around a ship, calculate a safe steering path which fully considers various factors, respond to environment changes in real time, dynamically adjust steering parameters, ensure that the ship runs on a safe and reliable path, and effectively avoid accidents.
(2) According to the invention, the submerged reef monitoring module can monitor the position and shape change of the submerged reef in real time, the underwater three-dimensional imaging can be realized by adopting the sonar sensor technology, more accurate and detailed position data of the submerged reef can be obtained, and the problem that a complete submerged reef safety range is difficult to form in the prior art is solved; meanwhile, the contour recognition unit is matched with the three-dimensional image unit, so that a three-dimensional image model of the submerged reef can be generated, and a more visual and image reference basis is provided for path planning.
(3) According to the wind power generation system, wind direction and wind speed data of different areas of a route can be monitored in real time through the wind power monitoring module, important environment reference conditions are provided for path planning, wind power environments of the current and predicted areas can be judged more accurately through comparison with weather department data, a basis is provided for planning a reliable path, meanwhile, a strong wind area which is unfavorable for navigation can be identified, and important safety constraint is set for path planning.
(4) According to the invention, the sea wave height, period, direction and other data of different areas of the route are monitored in real time through the sea wave monitoring module, so that important ocean environment references are provided for path planning, meanwhile, areas with poor sea wave conditions can be identified, important safety constraints are set for path planning, meanwhile, the influence of different sea waves on the ship is evaluated according to the ship type and cargo condition, and the flexibility of path selection is improved.
(5) According to the invention, the steering path planning module is used in cooperation with other modules, and the optimal steering parameters for avoiding the submerged reef can be accurately calculated by monitoring the surrounding sea wave environment state of the submerged reef and the wind power condition, so that the collision accident between the ship and the submerged reef is effectively avoided, the wind resistance and the wave resistance of the ship under different planning paths can be evaluated, the path with lower consumption is selected, and the energy consumption rate of the ship during navigation is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art;
FIG. 1 is a schematic diagram of a ship obstacle avoidance path planning system according to the present invention;
FIG. 2 is an overall perspective view of the obstacle avoidance path planning system of the present invention;
FIG. 3 is an overall perspective view of a wind and ocean wave monitoring module of the present invention;
FIG. 4 is a perspective view showing the whole structure of the submerged reef monitoring module of the present invention;
FIG. 5 is an overall perspective view of the anchoring structure of the present invention;
FIG. 6 is a flow chart of a path planning method of the present invention;
FIG. 7 is a flow chart of the calculation of the safe steering data of the present invention;
in the figure: 1. an anchoring structure; 11. a fixing seat; 12. an anchor line; 13. an anchor hook; 2. a submerged reef monitoring module; 21. a sonar sensor; 3. a wind power monitoring module; 31. a wind power detection device; 4. a sea wave monitoring module; 41. sea wave detection device.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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 schematic structural diagram of a ship obstacle avoidance path planning system, and fig. 2 is an overall three-dimensional structure diagram of the ship obstacle avoidance path planning system according to the present invention; comprising the following steps: the system comprises an anchor structure arranged around the submerged reef, and a submerged reef monitoring module, a wind power monitoring module, a sea wave monitoring module and a steering path planning module which are arranged on the anchor structure.
The steering path planning module is connected with the submerged reef monitoring module, the wind power monitoring module and the sea wave monitoring module. The steering path planning module includes: a steering angle unit, a steering speed unit and a steering radius unit; and the steering path planning module is used for summarizing and calculating ship direction data, ship speed data, wind power data and sea wave data to generate safe steering angle data, safe steering speed data and safe steering radius data.
The steering path planning module further comprises a data transmission unit, wherein the data transmission unit is used for transmitting the safe steering angle data, the safe steering speed data and the safe steering radius data to the ship for steering operation when the ship runs to the communication range of the path planning device.
The steering path planning module is matched with other modules for use, the environmental states of sea waves around the submerged reef are monitored by matching with wind power conditions, the optimal steering parameters for avoiding the submerged reef can be accurately calculated, the wind resistance and the wave resistance of the ship under different planning paths can be evaluated, paths with smaller consumption are selected, and the energy consumption rate of the ship during navigation is reduced.
FIG. 3 is an overall perspective view of a wind and ocean wave monitoring module of the present invention; the wind power monitoring module includes: the wind power detection device is connected with the wind speed recording unit and the wind direction recording unit; the wind power monitoring module is used for monitoring wind power conditions around the submerged reef and recording wind speed data and wind direction data; the wind speed recording unit is used for recording the change condition of the wind speed around the submerged reef in real time, and the wind direction recording unit is used for recording the change of the wind direction matched with the change condition of the wind speed around the submerged reef in real time.
The wind power monitoring module can monitor wind direction and wind speed data of different areas of the route, can judge the wind power environment of the current and predicted areas more accurately by comparing the wind direction and wind speed data with the data of the meteorological department, provides a basis for planning a reliable path, can identify a strong wind area which is unfavorable for navigation, and sets important safety constraint for path planning.
The sea wave monitoring module comprises: the sea wave detection devices are connected with the sea current recording unit and the tide fluctuation unit; the wave monitoring module is used for monitoring the wave and tide conditions around the submerged reef and recording wave flow direction data, wave flow speed data and tide expansion amplitude data; the ocean current recording unit is used for recording the ocean current direction and the ocean current velocity around the submerged reef in real time, and the tide expansion unit is used for recording the tide expansion amplitude of the ocean surface around the submerged reef.
The sea wave monitoring module can monitor sea wave height, period, direction and other data of different areas of the route in real time, can identify areas with poor sea wave conditions, evaluates the influence of different sea waves on the ship according to the ship type and the cargo condition, and improves the flexibility of path selection.
FIG. 4 is a perspective view showing the whole structure of the submerged reef monitoring module of the present invention; the submerged reef monitoring module includes: the device comprises a plurality of sonar sensors, a contour recognition unit, a three-dimensional image unit and a safety range unit, wherein the contour recognition unit, the three-dimensional image unit and the safety range unit are connected with the sonar sensors; the submerged reef monitoring module is used for monitoring the edges of the submerged reefs and generating a submerged reef three-dimensional image.
The contour recognition unit is used for performing multi-angle contour recognition on the submerged reef recognized by the sonar sensor to generate a plurality of contour recognition data, and the three-dimensional image unit is used for constructing a submerged reef three-dimensional image according to the plurality of contour recognition data; the safety range unit is used for dividing the submerged reef safety range according to ship direction data and ship speed data.
The submerged reef monitoring module can monitor the position and shape change of the submerged reef in real time, the sonar sensor technology realizes underwater three-dimensional imaging, more accurate and detailed position data of the submerged reef are acquired, and meanwhile, the contour recognition unit is matched with the three-dimensional image unit, so that a three-dimensional image model of the submerged reef can be generated.
FIG. 5 is an overall perspective view of the anchoring structure of the present invention; the anchoring structure includes: the fixing base, a plurality of anchor ropes arranged on one side of the fixing base, and an anchor hook arranged at one end of the anchor ropes.
The invention also provides a planning method of the ship obstacle avoidance path planning system, and fig. 6 is a flow chart of the path planning method of the invention, comprising the following steps:
s1, scanning the edge of a submerged reef through a submerged reef monitoring module, and constructing a submerged reef three-dimensional image;
s2, monitoring the wind direction and the wind speed at the submerged reef in real time through a wind power monitoring module to obtain wind speed data and wind direction data;
s3, monitoring the flow direction and the flow velocity of the sea waves and the tide expansion amplitude in real time through a sea wave monitoring module to obtain sea wave flow direction data, sea wave flow velocity data and tide expansion amplitude data;
s4, when the ship runs into the communication range of the monitoring device, ship direction data and ship speed data are sent to the steering path planning module, and submerged reef safety distance data are obtained;
s5, calculating to obtain safe steering angle data, safe steering speed data and safe steering radius data.
In S4, the obtaining the reef safety distance data specifically includes the following steps:
s41, acquiring ship speed V data and course angle alpha data;
s42, calculating the component V of the ship speed in the horizontal direction x ：V x ＝V*cosα；
S43, calculating the component V of the ship speed in the horizontal direction y ：V y ＝V*sinα；
S44, calculating to obtain the submerged reef safety distance D 0 ＝V x *T+0.5*V y *T 2 Wherein T is the avoidance time, and T is more than or equal to 5min.
FIG. 7 is a flow chart of the calculation of the safe steering data of the present invention; in the step S5, the safe steering angle data, the safe steering speed data and the safe steering radius data are calculated, and the specific steps are as follows:
s51, calculating wind thrust F according to wind speed and wind direction data w And the direction gamma of the action line w The method comprises the steps of carrying out a first treatment on the surface of the Calculating wave thrust F according to wave flow direction and flow velocity data s And the direction gamma of the action line s The method comprises the steps of carrying out a first treatment on the surface of the Calculating thrust force F generated by tide according to tide expansion amplitude data t And the direction gamma of the action line t Obtaining a total external force F and a total action line direction gamma;
s52, calculating the preliminary rotation of the shipAngle of orientation theta 1 Steering radius R under angle 1 ＝V 2 /F·tanθ 1 Calculating the ship at theta 1 Time T required for turning under angle 1 ＝R 1 V, calculating the ship at T 1 Distance D of sailing in time 1 ＝V*T 1 ；
S53, judge D 1 Whether or not to be smaller than the submerged reef safety distance D 0 When D 1 ≥D 0 The steering parameter is theta 1 ,R 1 The method comprises the steps of carrying out a first treatment on the surface of the When D is 1 ＜D 0 And continuing to correct the steering parameters to meet the safety distance requirement: correcting steering angle theta 2 ＝θ 1 +Δθ, correct steering radius R 2 ＝V 2 /F·tanθ 2 Correcting turn time T 2 And distance D 2 Repeating the judging and correcting steps until D 2 ≥D 0 。
Through the cooperation of the steering path planning module and other modules, through monitoring the surrounding sea wave environment state of the submerged reef and the wind power condition, the optimal steering parameters avoiding the submerged reef can be accurately calculated, the collision accident of the ship and the submerged reef can be effectively avoided, the wind resistance and the wave resistance of the ship under different planning paths can be evaluated, the path with smaller consumption is selected, and the energy consumption rate of the ship during navigation is reduced.
Example 1
S1, scanning the edge of the submerged reef through a submerged reef monitoring module, and constructing a three-dimensional image of the submerged reef. The submerged reef is in an irregular pattern with the length of 10 meters and the width of 5 meters.
S2, acquiring environmental data through a monitoring module: wind speed is 5m/s, and wind direction is 90 degrees; the wave flow direction is 180 degrees, and the flow velocity is 1m/s and the tidal fluctuation range is 1m.
And S3, monitoring the flow direction and the flow velocity of the sea waves and the tide expansion amplitude in real time through a sea wave monitoring module to obtain sea wave flow direction data, sea wave flow velocity data and tide expansion amplitude data.
And S4, when the ship runs into the communication range of the monitoring device, ship direction data and ship speed data are sent to the steering path planning module, the ship speed is 20 knots (about 10 m/S), and the course angle alpha is 45 degrees.
Calculating the component of the ship speed in the horizontal direction:
V x ＝V*cosα＝10cos45°＝7.07m/s，V y ＝V*sinα＝10sin45°＝7.07m/s。
the evasion time T is set to 5min. Calculating the submerged reef safety distance according to the formula:
D 0 ＝V x *T+0.5*V y *T 2 ＝7.07*5+0.5*7.07*5 2 ＝123m。
s5, calculating external force action according to the environmental data:
wind thrust F w Wind speed =0.5 x 2 * Area=0.5×5 2 *100 =125n, line of action direction γ w =90 degrees;
wave thrust F s Flow rate of sea wave 2 * Area=1 2 *100 =100deg.N, line of action direction γ s =180 degrees.
Tidal thrust ft=tidal rise area=1100=100deg.N, line direction γt=180 degrees.
Then the total external force
Total action line direction γ=arctan ((F) s +F t )/F w ) Arctan ((100+100)/125) =63.4 degrees.
Setting a preliminary steering angle theta 1 =30 degrees, calculate steering radius R 1 ＝V 2 /F·tanθ 1 ＝10 2 250×tan30° =120m; calculating the turning time T 1 ＝R 1 /V＝120/10＝12s；
Calculating the navigation distance D 1 ＝V*T 1 ＝10*12＝120m<D 0 The safety distance requirement is not satisfied.
The steering angle theta is corrected 2 ＝θ 1 +Δθ=30+5=35 degrees, and the steering radius R is calculated 2 ＝V 2 /F·tanθ 2 ＝10 2 250 tan35 ° =144 m; calculating a turning time t2=r2/v=144/10=14.4s;
calculating the navigation distance D 2 ＝V*T 2 =10×14.4=144 m > D0, meeting the safety distance requirement.
Comparative example one
During the navigation process of a ship, the laser radar starts to scan the channel. The laser radar uses near infrared laser with the wavelength of 905nm, the emission pulse frequency of 10kHz and the maximum effective distance of 200 meters.
Within the range of 200 meters, the laser radar successfully detects a submerged reef obstacle with the length of 20 meters and the width of 10 meters at the front 100 meters. The radar system calculates that the ship can collide with the submerged reef if the ship continues to be positioned on the original route according to the position and the size of the submerged reef.
The system then sends an avoidance command to the autopilot system of the vessel. The instruction content is: the bow turns 15 degrees to the right, and the navigational speed is reduced to 80 percent of the original navigational speed. The automatic driving system immediately performs steering and decelerating operations after receiving the instruction.
The ship successfully evades the reef barrier through 15-degree steering and decelerating maneuver. The radar system continuously monitors the channel, searches for other potential barriers, continuously adjusts channel planning and ship actions according to real-time conditions, and ensures safe navigation.
Experimental example 1
The following results were obtained by performing obstacle avoidance tests on the same sea area by the first example and the first comparative example, as shown in table 1.
TABLE 1
| The planning method | Traditional planning method | |
| Submerged reef identification integrity (%) | 96 | 87 |
| Identify the time of use(s) | 25 | 57 |
| Global path length (m) | 734.8 | 892.3 |
| Local path length (m) | 229.1 | 205.3 |
| Steering decision duration(s) | 8.7 | 16.5 |
| Safe distance range accuracy (m) | 4.5 | 7.5 |
According to the table, when the obstacle avoidance test is carried out on the same sea area by using the planning method and the traditional planning method, the planning method uses sonar and is matched with a three-dimensional imaging unit to carry out multi-direction recognition on the submerged reef, the established submerged reef image is complete compared with the submerged reef image obtained by detecting the submerged reef by using only a laser radar in the traditional planning method, the time for recognizing the submerged reef by using the planning method is short, and the recognition time in navigation is saved.
Meanwhile, the overall path length in the form of the planning method is shorter, the fuel consumption can be saved, the accuracy of the safe distance range is controlled within 5m, the steering accuracy is improved, and the accuracy degree of path planning is ensured.
The above-described preferred embodiments according to the present invention are intended to suggest that, from the above description, various changes and modifications can be made by the person skilled in the art without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (10)
1. A marine obstacle avoidance path planning system, comprising: the submerged reef monitoring system is characterized by comprising an anchoring structure which is arranged around the submerged reef, a submerged reef monitoring module, a wind power monitoring module, a sea wave monitoring module and a steering path planning module which are arranged on the anchoring structure,
the submerged reef monitoring module includes: the device comprises a plurality of sonar sensors, a contour recognition unit, a three-dimensional image unit and a safety range unit, wherein the contour recognition unit, the three-dimensional image unit and the safety range unit are connected with the sonar sensors; the submerged reef monitoring module is used for monitoring the edges of the submerged reefs and generating a submerged reef three-dimensional image;
the wind power monitoring module includes: the wind power detection device is connected with the wind speed recording unit and the wind direction recording unit; the wind power monitoring module is used for monitoring wind power conditions around the submerged reef and recording wind speed data and wind direction data;
the sea wave monitoring module comprises: the sea wave detection devices are connected with the sea current recording unit and the tide fluctuation unit; the wave monitoring module is used for monitoring the wave and tide conditions around the submerged reef and recording wave flow direction data, wave flow speed data and tide expansion amplitude data;
the steering path planning module includes: a steering angle unit, a steering speed unit and a steering radius unit; and the steering path planning module is used for summarizing and calculating ship direction data, ship speed data, wind power data and sea wave data to generate safe steering angle data, safe steering speed data and safe steering radius data.
2. The ship obstacle avoidance path planning system according to claim 1, wherein: the contour recognition unit is used for performing multi-angle contour recognition on the submerged reef recognized by the sonar sensor to generate a plurality of contour recognition data, and the three-dimensional image unit is used for constructing a submerged reef three-dimensional image according to the plurality of contour recognition data; the safety range unit is used for dividing the submerged reef safety range according to ship direction data and ship speed data.
3. The ship obstacle avoidance path planning system according to claim 1, wherein: the wind speed recording unit is used for recording the change condition of the wind speed around the submerged reef in real time, and the wind direction recording unit is used for recording the change of the wind direction matched with the change condition of the wind speed around the submerged reef in real time.
4. The ship obstacle avoidance path planning system according to claim 1, wherein: the ocean current recording unit is used for recording the ocean current direction and the ocean current velocity around the submerged reef in real time, and the tide expansion unit is used for recording the tide expansion amplitude of the ocean surface around the submerged reef.
5. The ship obstacle avoidance path planning system according to claim 1, wherein: the steering path planning module further comprises a data transmission unit, wherein the data transmission unit is used for transmitting the safe steering angle data, the safe steering speed data and the safe steering radius data to the ship for steering operation when the ship runs to the communication range of the path planning device.
6. The ship obstacle avoidance path planning system according to claim 5, wherein: the steering path planning module is connected with the submerged reef monitoring module, the wind power monitoring module and the sea wave monitoring module.
7. The ship obstacle avoidance path planning system according to claim 1, wherein: the anchoring structure includes: the fixing base, a plurality of anchor ropes arranged on one side of the fixing base, and an anchor hook arranged at one end of the anchor ropes.
8. A method for planning a ship obstacle avoidance path planning system according to claims 1-7, comprising the steps of:
s1, scanning the edge of a submerged reef through a submerged reef monitoring module, and constructing a submerged reef three-dimensional image;
s2, monitoring the wind direction and the wind speed at the submerged reef in real time through a wind power monitoring module to obtain wind speed data and wind direction data;
s3, monitoring the flow direction and the flow velocity of the sea waves and the tide expansion amplitude in real time through a sea wave monitoring module to obtain sea wave flow direction data, sea wave flow velocity data and tide expansion amplitude data;
s4, when the ship runs into the communication range of the monitoring device, ship direction data and ship speed data are sent to the steering path planning module, and submerged reef safety distance data are obtained;
s5, calculating to obtain safe steering angle data, safe steering speed data and safe steering radius data.
9. The method for planning a ship obstacle avoidance path planning system according to claim 8, characterized in that: in the step S4, obtaining the submerged reef safety distance data specifically includes the following steps:
s41, acquiring ship speed V data and course angle alpha data;
s42, calculating the component V of the ship speed in the horizontal direction x ：V x ＝V*cosα；
S43, calculating the component V of the ship speed in the horizontal direction y ：V y ＝V*sinα；
S44, calculating to obtain the submerged reef safety distance D 0 ＝V x *T+0.5*V y *T 2 Wherein T is the avoidance time, and T is more than or equal to 5min.
10. The method for planning a ship obstacle avoidance path planning system according to claim 8, characterized in that: in the step S5, the safe steering angle data, the safe steering speed data and the safe steering radius data are calculated, and the specific steps are as follows:
s51, calculating wind thrust F according to wind speed and wind direction data w And the direction gamma of the action line w The method comprises the steps of carrying out a first treatment on the surface of the Calculating wave thrust F according to wave flow direction and flow velocity data s And the direction gamma of the action line s The method comprises the steps of carrying out a first treatment on the surface of the Calculating thrust force F generated by tide according to tide expansion amplitude data t And the direction gamma of the action line t Obtaining a total external force F and a total action line direction gamma;
s52, calculating the preliminary steering angle theta of the ship 1 Steering radius R under angle 1 ＝V 2 /F·tanθ 1 Calculating the ship at theta 1 Time T required for turning under angle 1 ＝R 1 V, calculating the ship at T 1 Distance D of sailing in time 1 ＝V*T 1 ；
S53, judge D 1 Whether or not to be smaller than the submerged reef safety distance D 0 When D 1 ≥D 0 The steering parameter is theta 1 ,R 1 The method comprises the steps of carrying out a first treatment on the surface of the When D is 1 ＜D 0 And continuing to correct the steering parameters to meet the safety distance requirement: correcting steering angle theta 2 ＝θ 1 +Δθ, correct steering radius R 2 ＝V 2 /F·tanθ 2 Correcting turn time T 2 And distance D 2 Repeating the judging and correcting steps until D 2 ≥D 0 。
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