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A method for autonomous and collaborative recovery of ships by dual unmanned boats

A technology of dual unmanned boats and unmanned boats, which is applied in the direction of ship traffic control, independent decision-making process, and instruments, which can solve the difficulty of accurately identifying ship dynamic models, and the auxiliary system cannot be applied to berthing ships and berthing ships. Control information is not completely correct and other issues

Active Publication Date: 2021-03-26
航天时代(青岛)海洋装备科技发展有限公司
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Problems solved by technology

However, in the process of berthing at low speed, it is difficult to accurately identify the dynamic model of the ship, and the control information sent by the auxiliary system to the berthing ship is not completely correct; berthing ships

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  • A method for autonomous and collaborative recovery of ships by dual unmanned boats
  • A method for autonomous and collaborative recovery of ships by dual unmanned boats
  • A method for autonomous and collaborative recovery of ships by dual unmanned boats

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Embodiment Construction

[0067] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0068] The present invention considers the use of dual unmanned boats to recover the wrecked ship and assist the wrecked ship or the berthing of the ship, which can provide greater drag force and the system has stronger fault tolerance. Therefore, it is of great significance to use the autonomous cooperation of dual unmanned vehicles to assist in the recovery of ships. If double unmanned boats are used to assist the berthing of the ship, the berthing ship does not need to carry a designated mobile terminal, nor does it need to install other sensors, and it has a wide range of applications. Moreover, the communication between the sensor and the main control module is easily affected by the weather, and the dual unmanned boats can be use...

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Abstract

The invention relates to a dual-unmanned-boat autonomous coordinated boat recycling method. On the basis of a zero-space behavior fusion method, specific behaviors of the dual unmanned boats in execution of coordinated assistance of parking and a pose influence generated on dual unmanned boats by a to-be-recycled boat on the condition of pushing of the to-be-recycled boat are analyzed; and corresponding solutions to execution of a plurality of behaviors by the dual unmanned boats on the condition of pushing the to-be-recycled boat to a target position are obtained, so that an expected headingand an expected sailing speed of the dual unmanned boats after behavior fusion are obtained and thus autonomous coordinated boat recycling is completed. According to the invention, no extra environment-aware sensor or other communication device needs to be configured for the to-be-recycled boat. The application range is wide; and the time and manpower are saved.

Description

technical field [0001] The invention relates to a method for autonomously and collaboratively recovering a ship by two unmanned boats, which belongs to the field of marine intelligent aircraft control. Background technique [0002] Since there are many ships passing by in the wharf area, they are generally busy, and the recovery of ships that have navigational failures near the coast is usually done by manned tugboats, which consumes time and manpower, and is economical. Ship berthing manipulation is also one of the most complicated operations in the field of ship manipulation. The berthing of large ships depends on tugboats, and small ships can also be berthed by themselves when conditions permit; even so, according to statistics, 70% of berthing The berthing accident is related to the driver's bad boatmanship in the port. The steering stability and rudder effect of the ship are relatively poor in the low-speed motion state, and the precision requirements of the berthing p...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G08G3/00
CPCG05D1/0088G05D1/0206G08G3/00
Inventor 胡常青李彦莹孔令兵罗辉闫珺
Owner 航天时代(青岛)海洋装备科技发展有限公司
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