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

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...

AI Technical Summary

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 of autonomous docking of unmanned boats based on visual images are: (1) It is necessary to consider the strategy of berthing in stages, especially the strategy of berthing failure. Ensuring the safety of berthing is the first priority; (2) It is necessary to consider the visual The physical time, space and climate constraints of the module, the loss of pixels and other practical problems; (3) The accurate attitude of the unmanned vehicle needs to be considered when parking in a narrow space

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