Autonomous berthing method and device for unmanned surface vehicle, and unmanned surface vehicle

An unmanned boat and track technology, which is applied in two-dimensional position/channel control, vehicle position/route/altitude control, instruments and other directions, can solve the problem of not considering the timely control of unmanned boats, the complex process and difficult realization, and the realization cost. Advanced problems, to achieve the effect of lowering the technical threshold, ensuring stability and security, and improving accuracy

Active Publication Date: 2019-11-15
四方智能(武汉)控制技术有限公司 +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This method is still lacking in pertinence, and the method is mainly used for hoisting and recovery; there is no requirement for the berthing attitude during berthing, and it is difficult to ensure the fixed position of the unmanned boat and the mother ship only by images; and the unmanned boat is not considered when the image is lost Timely control and other issues; the implementation cost is high, and the process is complicated and difficult to realize
[0007] To sum up, the difficulties o

Method used

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  • Autonomous berthing method and device for unmanned surface vehicle, and unmanned surface vehicle
  • Autonomous berthing method and device for unmanned surface vehicle, and unmanned surface vehicle
  • Autonomous berthing method and device for unmanned surface vehicle, and unmanned surface vehicle

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Embodiment 1

[0046]The embodiment of the present invention provides a method for self-parking of an unmanned boat, such as figure 1 As shown, the method may include a GNSS global guidance process and a label pixel guidance process, wherein:

[0047] GNSS global guidance: After the unmanned boat receives the entry command, it executes the preset entry task, enters the low-speed track course keeping area, and keeps the course track error of the unmanned boat within a certain range to prepare for entering the label viewable area.

[0048] Specifically, GNSS global guidance may include two phases: a high-speed track heading maintenance phase and a low-speed track heading maintenance phase. In the high-speed track course maintenance stage, after receiving the entry command, the unmanned boat will perform the high-speed return mission according to the berth position and the entrance direction until it enters the low-speed track course maintenance area. Here, the port entry command is used to in...

Embodiment 2

[0079] An embodiment of the present invention provides an autonomous docking device for unmanned boats, such as image 3 As shown, the device includes:

[0080] The GNSS global guidance module is used to execute the pre-set port entry task after the unmanned boat receives the entry command, enter the low-speed track course keeping area, and keep the course track error of the unmanned boat within a certain range, so as to Prepare to enter the visible area of ​​the label;

[0081] The label pixel guidance module is used to start the label guidance program according to the preset color block label in the label visible area after entering the label visible area, and finely adjust the posture of the unmanned boat to enter the dock berth;

[0082] The guidance task reset module is used to reset the guidance task to the low-speed track course keeping area if there is a continuous loss of pixel frames or the course track deviation exceeds the preset range during the label pixel guida...

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Abstract

The invention discloses an autonomous berthing method and device for an unmanned surface vehicle, and the unmanned surface vehicle, and belongs to the technical field of unmanned surface vehicle control. The method comprises the following steps: performing GNSS global guide: after the unmanned surface vehicle receives a port entry instruction, executing a preset port entry task, entering a low-speed track and course keeping region, and enabling a course and track error of the unmanned surface vehicle to be in a certain range, thereby preparing to enter a label visible region; performing labelpixel guide: starting a label guide program according to a preset color block label in the label visible region after entering the label visible region, and finely adjusting an attitude of the unmanned surface vehicle to enter a dock for berthing; and if pixel frames are continuously lost or the course and track error exceeds a preset range in the label pixel guide process, and resetting the guidetask to the low-speed track and course keeping region. According to the autonomous berthing method and device, the stability and safety of enabling the unmanned surface vehicle to enter the port/dockcan be effectively and cheaply guaranteed, and the precision of entering the port/dock is improved, so that the autonomous berthing method and device is suitable for berthing the unmanned surface vehicle in a narrow and small space.

Description

technical field [0001] The invention relates to the technical field of unmanned boat control, in particular to an autonomous parking method and device for an unmanned boat and the unmanned boat. Background technique [0002] Unmanned Surface Vehicle (USV) has the characteristics of flexible maneuverability, good concealment and low cost, and is widely used in civil and military fields such as rescue, marine resource detection and reconnaissance. At present, with the continuous improvement of intelligence, surface unmanned vehicles will have a wide range of applications in river and lake detection, ocean engineering and marine military fields. At present, the entry of unmanned boats into the port can only be carried out manually under low speed and low sea conditions. It is especially difficult to perform accurate and timely manual operations when arranging ship parking tasks in a small space. Therefore, it is urgent to provide a safe, stable and reliable solution for autonom...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 向伦凯杨咏林邵宇平叶艳军
Owner 四方智能(武汉)控制技术有限公司
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