Ship control method, device, equipment and medium

Abstract

The invention discloses a ship control method, device and equipment and a medium. The ship control method comprises the following steps: receiving target collision object associated data and current ship navigation associated data; invalid data elimination processing and data fitting recursion processing are carried out on the navigation associated data of the current ship to obtain navigation control preprocessing data of the current ship; and taking the current ship bow as a starting point, taking the geometric center of the target collision object as a gravity point, determining current ship route planning data based on an artificial potential energy method, the target collision object associated data and the navigation control preprocessing data, and calculating a ship control rudder angle according to the current ship route planning data and the navigation control preprocessing data. According to the technical scheme provided by the embodiment of the invention, a more intelligent navigation strategy can be provided for the ship to be collided, and the anti-collision capability of the ship during collision is improved, so that decision-making personnel are helped to improve the decision-making efficiency.

Description

Technical Field

[0001] The present invention relates to the field of marine navigation technology, and in particular to a ship control method, device, equipment and medium. Background Art

[0002] At present, more advanced sailing vessels are generally equipped with a variety of sensor equipment. Ship driving and control personnel need to continuously obtain external target information and plan routes based on the ship's navigation information. The overall work process is relatively complicated and the work intensity of personnel is relatively high.

[0003] Since collisions are inevitable when ships are sailing, when collisions are unavoidable, how to intelligently plan ship navigation while ensuring that damage to the ship is minimized has become an urgent problem to be solved. Summary of the invention

[0004] The present invention provides a ship control method, device, equipment and medium to solve the current problem that ship navigation planning cannot be performed intelligently under the premise of minimizing ship damage.

[0005] According to one aspect of the present invention, there is provided a ship control method, comprising:

[0006] Receive target collision object associated data and current ship navigation associated data;

[0007] Perform invalid data elimination and data fitting recursive processing on the current ship navigation related data to obtain the current ship navigation control preprocessing data;

[0008] Taking the bow of the current ship as the starting point and the geometric center of the target collision object as the gravity point, the current ship route planning data is determined based on the artificial potential energy method, the target collision object association data and the navigation control preprocessing data, and the ship control rudder angle is calculated based on the current ship route planning data and the navigation control preprocessing data.

[0009] According to another aspect of the present invention, there is provided a ship control device, comprising:

[0010] A data acquisition module, used for receiving target collision object associated data and current ship navigation associated data;

[0011] The data preprocessing module is used to perform invalid data elimination and data fitting recursive processing on the current ship navigation related data to obtain the navigation control preprocessing data of the current ship;

[0012] The route planning and rudder angle calculation module is used to take the bow of the current ship as the starting point and the geometric center of the target collision object as the gravity point, determine the current ship route planning data based on the artificial potential energy method, the target collision object association data and the navigation control preprocessing data, and calculate the ship control rudder angle based on the current ship route planning data and the navigation control preprocessing data.

[0013] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the ship control method described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the ship control method described in any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention receives target collision object associated data and current ship navigation associated data, thereby performing invalid data elimination processing and data fitting recursive processing on the current ship navigation associated data to obtain the navigation control preprocessing data of the current ship, and then taking the bow of the current ship as the starting point and the geometric center of the target collision object as the gravity point, based on the artificial potential energy method, the target collision object associated data and the navigation control preprocessing data, the current ship route planning data is determined, and the ship control rudder angle is calculated based on the current ship route planning data and the navigation control preprocessing data. In this solution, by integrating multiple sensors on the current ship to obtain multi-dimensional navigation information of the ship itself and information on the target collision object, not only can intermittent data be predicted and recursively calculated, but also the planned route and rudder angle of the current ship can be intelligently and automatically calculated to provide them to decision makers, thereby improving the decision-making efficiency of decision makers. In addition, this solution uses the bow of the ship as the starting point and the geometric center of the target collision object as the gravity point, so that the current ship can resist the collision with the hardest part and reduce its own damage. It solves the current problem of being unable to intelligently plan ship navigation while ensuring that the damage to the ship is minimized as much as possible. It can provide more intelligent navigation strategies for ships that are about to collide, and enhance the ship's anti-collision ability during collision, so as to help decision makers improve decision-making efficiency.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A flow chart of a ship control method provided in Embodiment 1 of the present invention;

[0022] Figure 2 A flow chart of a ship control method provided in Embodiment 2 of the present invention;

[0023] Figure 3 A logic diagram of a ship control method provided in Embodiment 2 of the present invention;

[0024] Figure 4 A schematic diagram of a current ship's route planning provided in the second embodiment of the present invention;

[0025] Figure 5 A schematic diagram of the structure of a ship control device provided in Embodiment 3 of the present invention;

[0026] Figure 6 A schematic diagram of the structure of an electronic device that can be used to implement an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "current", "target", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Embodiment 1

[0030] Figure 1 This is a flow chart of a ship control method provided in the first embodiment of the present invention. This embodiment is applicable to the case of intelligently planning ship navigation control parameters. The method can be executed by a ship control device. The ship control device can be implemented in the form of hardware and / or software. The ship control device can be configured in an electronic device. The electronic device can be configured on a ship. Figure 1 As shown, the method includes:

[0031] Step 110: Receive target collision object associated data and current ship navigation associated data.

[0032] The target collision object associated data may be related parameters of the object that will collide with the current vessel. The current vessel navigation associated data may be used to describe the relevant navigation information of the current vessel. For the convenience of describing the subsequent content, the object that will collide with the current vessel is referred to as the target collision object.

[0033] Optionally, the target collision object may be a large fish or other ships. The target collision object associated data may include but is not limited to the track information of the target collision object, and the AIS static and dynamic data received by the AIS (Automatic Identification System) in the current ship. The current ship navigation associated data may include but is not limited to the meteorological and hydrological information (such as wind speed, wind direction, water wave speed and water flow direction) in the current ship's navigation environment, as well as motion state information (such as speed, heading, pitch and roll), etc.

[0034] In the embodiment of the present invention, the target collision object associated data and the current ship navigation associated data may be acquired through sensors configured on the current ship.

[0035] For example, the current ship may be equipped with navigation radar, AIS, wave and current measurement sensors, meteorological element observation sensors, and inertial navigation equipment. The current ship may specifically obtain the track information of the target collision object through the navigation radar, obtain AIS static and dynamic data through the AIS, obtain the water flow velocity and direction through the wave and current measurement sensors, obtain the wind direction and wind speed through the meteorological element observation sensor, and obtain the speed, heading, pitch, and roll of the current ship through the inertial navigation equipment.

[0036] Step 120: Perform invalid data elimination processing and data fitting recursive processing on the current ship navigation related data to obtain the navigation control preprocessing data of the current ship.

[0037] Among them, the invalid data elimination process can be used to eliminate the data beyond the reasonable range in the current ship navigation related data. The data fitting recursive process can be used to predict and recursively process the discontinuous data. The navigation control preprocessing data can be the data obtained after the invalid data elimination process and the data fitting recursive process are performed on the current ship navigation related data.

[0038] In an embodiment of the present invention, the current ship navigation-related data can be processed to eliminate invalid data, and it can be determined whether there is a discontinuity in the valid data after the invalid data is eliminated. If there is a discontinuity, the discontinuous data is recursively fitted to obtain the navigation control preprocessing data of the current ship.

[0039] Step 130: Taking the bow of the current vessel as the starting point and the geometric center of the target collision object as the gravity point, the current vessel route planning data is determined based on the artificial potential energy method, the target collision object association data and the navigation control preprocessing data, and the vessel control rudder angle is calculated based on the current vessel route planning data and the navigation control preprocessing data.

[0040] The current ship route planning data can be used to describe the planned route of the current ship. The ship control rudder angle can be a rudder angle determined based on the artificial potential energy method combined with meteorological and hydrological data.

[0041] In an embodiment of the present invention, the bow of the current ship can be taken as the starting point, and the geometric center of the target collision object can be taken as the gravity point, and then the current ship position and the target collision object position can be parsed from the target collision object associated data and the navigation control preprocessing data, and the obstacle information obtained through the AIS can be further used to calculate the current ship route planning data through the current ship position, the target collision object position and the obstacle information according to the artificial potential energy method, so as to substitute the current ship route planning data and the navigation control preprocessing data into the ship dynamics equation, and calculate the ship control rudder angle according to the force dimension of the current ship.

[0042] The technical solution of the embodiment of the present invention receives target collision object associated data and current ship navigation associated data, thereby performing invalid data elimination processing and data fitting recursive processing on the current ship navigation associated data to obtain the navigation control preprocessing data of the current ship, and then taking the bow of the current ship as the starting point and the geometric center of the target collision object as the gravity point, based on the artificial potential energy method, the target collision object associated data and the navigation control preprocessing data, the current ship route planning data is determined, and the ship control rudder angle is calculated based on the current ship route planning data and the navigation control preprocessing data. In this solution, by integrating multiple sensors on the current ship to obtain multi-dimensional navigation information of the ship itself and information on the target collision object, not only can intermittent data be predicted and recursively calculated, but also the planned route and rudder angle of the current ship can be intelligently and automatically calculated to provide them to decision makers, thereby improving the decision-making efficiency of decision makers. In addition, this solution uses the bow of the ship as the starting point and the geometric center of the target collision object as the gravity point, so that the current ship can resist the collision with the hardest part and reduce its own damage. It solves the current problem of being unable to intelligently plan ship navigation while ensuring that the damage to the ship is minimized as much as possible. It can provide more intelligent navigation strategies for ships that are about to collide, and enhance the ship's anti-collision ability during collision, so as to help decision makers improve decision-making efficiency.

[0043] Embodiment 2

[0044] Figure 2 This is a flow chart of a ship control method provided in the second embodiment of the present invention. This embodiment is specific based on the above embodiment and provides a specific optional implementation method for performing invalid data elimination processing and data fitting recursive processing on the current ship navigation related data to obtain the current ship navigation control preprocessing data. Figure 2 As shown, the method includes:

[0045] Step 210: Receive target collision object associated data and current ship navigation associated data.

[0046] Step 220: perform invalid data elimination processing on the current ship navigation related data to obtain the current ship related filtered data.

[0047] The current ship-related filtered data may be the data remaining after invalid data is eliminated from the current ship's navigation-related data.

[0048] In the embodiment of the present invention, the current ship navigation related data may be processed to eliminate invalid data, and the remaining data after the elimination is used as the current ship related filtering data.

[0049] Step 230: When there is a discontinuity in the current ship-associated filtering data, based on an exponential smoothing algorithm, data fitting recursive processing is performed on the current ship-associated filtering data to obtain navigation control preprocessing data of the current ship.

[0050] In an embodiment of the present invention, it is possible to determine whether the current ship-associated filtering data is discontinuous. If there is a discontinuity, data fitting recursive processing is performed on the discontinuous data of the current ship-associated filtering data based on an exponential smoothing algorithm to obtain the navigation control preprocessing data of the current ship.

[0051] In a specific example, assuming that there is a gap in the current ship navigation data at time T, the data at time T is predicted recursively using the i data before time T. The i data before time T are respectively , ,…, , then the predicted data at time T is: .in, , ,… is the weighting coefficient of each data, and .

[0052] In an optional embodiment of the present invention, after performing data fitting recursive processing on the current ship-associated filtering data based on an exponential smoothing algorithm to obtain the navigation control preprocessing data of the current ship, it may also include: obtaining the current number of continuous fitting recursive times; when the current number of continuous fitting recursive times is greater than the continuous fitting recursive times threshold, determining the current invalid recursive data and reporting it.

[0053] The current number of continuous fitting recursions may be the number of times the current discontinuity point in the current ship-associated filtering data is continuously fitted and recursively performed. The continuous fitting recursion number threshold may be a preset upper limit of the number of times a discontinuity point is continuously fitted and recursively performed. The continuous fitting recursion number threshold may include but is not limited to 3 times. The current invalid recursion data may be a fitting recursion result whose continuous fitting recursion number is greater than the continuous fitting recursion number threshold.

[0054] In an embodiment of the present invention, the current number of continuous fitting recursions can be counted, and the current number of continuous fitting recursions can be compared with a continuous fitting recursion threshold. If the current number of continuous fitting recursions is greater than the continuous fitting recursion threshold, it indicates that the fitting recursion result of the current discontinuity point is invalid data, that is, the current invalid recursion data is determined, and the current invalid recursion data is reported.

[0055] Optionally, the current invalid recursive data can be prompted to the decision maker through an audible and visual alarm.

[0056] Step 240, taking the bow of the current ship as the starting point and the geometric center of the target collision object as the gravity point, based on the artificial potential energy method, the target collision object association data and the navigation control preprocessing data, determine the current ship route planning data, and calculate the ship control rudder angle according to the current ship route planning data and the navigation control preprocessing data.

[0057] In an optional embodiment of the present invention, the bow of the current ship is taken as the starting point, the geometric center of the target collision object is taken as the gravity point, and the current ship route planning data is determined based on the artificial potential energy method, the target collision object associated data and the navigation control preprocessing data, which may include: when there is an obstacle between the current ship and the target collision object, obtaining the distance between the current ship and the obstacle, and the obstacle influence distance; taking the bow of the current ship as the starting point, the geometric center of the target collision object as the gravity point, and calculating the gravitational potential field value according to the artificial potential energy method, the navigation control preprocessing data and the target collision object associated data; taking the bow of the current ship as the starting point, the obstacle as the repulsion point, and calculating the repulsion potential field value according to the artificial potential energy method, the navigation control preprocessing data, the distance between the current ship and the obstacle, and the obstacle influence distance; determining the current ship route planning data according to the gravitational potential field value and the repulsion potential field value.

[0058] Among them, the obstacle influence distance can be used to describe the influence range of the obstacle. The influencing factors of the obstacle influence distance may include the motion state of the obstacle and the size of the obstacle. The obstacle influence distance of dynamic obstacles of the same size is greater than the obstacle influence distance of static obstacles. For two static obstacles of different sizes, the larger the obstacle, the larger the corresponding obstacle influence distance. The gravitational potential field value can be used to describe the magnitude of the gravitational potential energy of the target collision object on the current ship. The repulsive potential field value can be used to describe the magnitude of the repulsive potential energy of the obstacle on the current ship. Both the gravitational potential field value and the repulsive potential field value are vector values.

[0059] In an embodiment of the present invention, static spatial parameters of island obstacles between the current ship and the target collision object are collected based on a navigation radar or AIS. If there is an obstacle between the current ship and the target collision object, the distance between the current ship and the obstacle and the obstacle influence distance are determined based on the static spatial parameters of the island obstacle, so that the bow of the current ship is taken as the starting point and the geometric center of the target collision object is taken as the gravitational point. According to the artificial potential energy method, the gravitational potential field value of the target collision object on the current ship is calculated through navigation control preprocessing data and target collision object associated data. The bow of the current ship is taken as the starting point and the obstacle is taken as the repulsion point. According to the artificial potential energy method, the repulsion potential field value of the obstacle and the current ship is calculated through navigation control preprocessing data, the distance between the current ship and the obstacle, and the obstacle influence distance. Finally, the vector resultant force of the current ship is determined in real time through the gravitational potential field value and the repulsive potential field value, and the current ship route planning data is updated based on the vector resultant force of the current ship.

[0060] In an optional embodiment of the present invention, determining the current ship route planning data based on the gravitational potential field value and the repulsive potential field value may include: calculating the current ship's heading angle based on the gravitational potential field value and the repulsive potential field value; determining the current ship's route planning data based on the current ship's heading angle.

[0061] In an embodiment of the present invention, the heading angle of the current ship can be determined based on the direction of the vector resultant force of the gravitational potential field value and the repulsive potential field value, and the route of the current ship can be updated in real time based on the current heading angle of the ship calculated in real time to obtain the current ship route planning data.

[0062] In an optional embodiment of the present invention, calculating the ship control rudder angle according to the current ship route planning data and the navigation control preprocessing data may include: determining the dynamic target equation of the current ship and the dimension of the external force acting on the current ship, and obtaining the known parameter values ​​of the equation according to the dimension of the external force acting on the current ship; calculating the ship control rudder angle according to the dynamic target equation, the known parameter values ​​of the equation and the dimension of the external force acting on the current ship.

[0063] The dynamic target equation may be a dynamic equation of the current ship constructed in the ship carrier coordinate system. The dimension of the external force on the current ship may be a dimension for decomposing the force on the current ship. The known parameter value of the equation may be a known parameter value for calculating the control rudder angle of the ship.

[0064] In an embodiment of the present invention, the dynamic target equation of the current ship and the preset external force dimension of the current ship can be determined, and the parameter values ​​required for calculating the dynamic target equation can be queried from the current ship navigation-related data to calculate the force and torque values ​​of the current ship, and then according to the external force dimension of the current ship, the known parameter values ​​of the equation are obtained, and according to the corresponding known parameter values ​​of the equation under the external force dimension of the current ship, the corresponding force and torque values, the ship control rudder angle is calculated.

[0065] In an optional embodiment of the present invention, the dimensions of the external forces currently acting on the vessel may include the vessel's own gravity dimension, propeller dimension, rudder dimension, wind dimension and water flow dimension.

[0066] Figure 3 This is a logic diagram of a ship control method provided by Embodiment 2 of the present invention. Figure 3 As shown, the logic of the ship control method includes the following steps:

[0067] Step 1: The data acquisition module receives the track information of the target collision object sent by the navigation radar, the AIS static and dynamic information sent by the AIS receiver, the wind speed and direction information sent by the meteorological element observation sensor, the water flow velocity and direction information sent by the wave and current measurement sensor, and the current ship's speed, heading, pitch, roll and other motion status information sent by the inertial navigation device. The meteorological element observation sensor and the wave and current measurement sensor are collectively called meteorological and hydrological sensors.

[0068] Step 2: The data preprocessing module preprocesses the data obtained in step 1, removes the data beyond the reasonable range, and judges whether the data is continuous, that is, whether the data is reasonable and continuous, and performs data fitting recursive processing on the discontinuous data. The fitting recursive method adopts the exponential smoothing method.

[0069] Step 3: The route planning unit uses the artificial potential energy method based on the reasonable and continuous data output from step 2, taking the bow of the ship as the starting point, the target collision object as the gravitational point, and the obstacle as the repulsive point to calculate the gravitational potential field value and the repulsive potential field value. The data output from step 2 includes the target track information obtained by the fusion of the navigation radar and the AIS receiver (including the target's distance, direction, heading, speed, etc.).

[0070] Step 4: The rudder angle calculation unit calculates the recommended rudder angle based on the calculation results of the artificial potential energy method, combined with the current meteorological and hydrological data, and the current speed of the current ship, and then determines whether to enter the automatic control mode. If not, it is provided to the decision maker to assist in decision-making. If so, it is used as an input for automatic steering for automatic control, that is, input into the autopilot for automatic navigation.

[0071] The specific implementation process of step three is as follows: obtain the dynamic and static spatial parameters (latitude and longitude, heading, speed, etc. of various objects such as the target collision object, the current ship, other ships and island obstacles) through the navigation radar and AIS receiver, and plan the navigation path in combination with the motion parameter information of the current ship. The navigation path planning algorithm is as follows:

[0072] ; E represents the total potential field value of the current ship position, is the repulsive potential field value, is the gravitational potential field value.

[0073] ,in, is the proportionality coefficient, p and Respectively represent the positions of the geometric centers of the current ship and the target collision object. , is the two-norm.

[0074] The repulsive potential field function is: ; is the proportionality coefficient, Indicates the distance between the current ship's position and the obstacle. Indicates the obstacle impact distance.

[0075] In traditional artificial potential energy algorithms, the geometric center of the current ship is usually used as the starting point, and the geometric center of the target collision object is used as the end point. Since the ultimate goal is to make the bow of the own ship hit the target, the position of the starting point p is set to the coordinate point of the bow of the own ship. It is still set to the geometric center of the target collision object.

[0076] like Figure 4 As shown, it is assumed that the target collision object is stationary and the current ship has not yet reached the impact range of the island reef. When the ship is moving towards the target collision object, it will only be affected by the gravitational force of the target collision object. After that, it is affected by the gravity of the target collision object and the repulsion of the obstacle at the same time, so the heading is deflected in the direction of the combined force, and the next heading can be obtained. After leaving the obstacle influence range, continue to approach the target ship in the direction of gravity.

[0077] For dynamic targets, the distance parameters in the calculation formulas of the repulsive potential field value and the gravitational potential field value are continuously updated according to the longitude and latitude information of the target ship in the AIS dynamic target, or the track information of the target collision object scanned by the navigation radar, and the latest heading is obtained, so that the route can be updated in real time.

[0078] The specific implementation process of step 4 is as follows: Based on the current ship route planning data, combined with external environmental information such as wind speed, wind direction, flow speed, flow direction, and the current ship's speed and heading , Pitch , Roll The navigation parameter solution algorithm is used to calculate the rudder angle based on the motion state information, which can be used as a reference for decision-makers or as an input for automatic control of the autopilot. The calculation method is as follows:

[0079] Using the ship carrier coordinate system, the forward speed along the x-axis is U, the speed along the y-axis is V, and the speed along the z-axis is W. The longitudinal force is , the lateral force is , the vertical force is The rolling moment is , the pitch moment is The turning moment is . , , It is the moment of inertia about the x, y, and z axes, and the dynamic target equation is established as follows:

[0080] ;

[0081] ;

[0082] ;

[0083] ;

[0084] ;

[0085] .

[0086] express The first derivative of express The second derivative of , m represents the current weight of the ship, Indicates rolling. represents pitch and g represents the acceleration due to gravity.

[0087] The inertial navigation equipment and other sensors can measure the speed, heading, pitch, roll and other motion status information, as well as the next heading obtained by the route planning algorithm. Combined with the known quantities such as the inherent mass m and moment of inertia I of the current ship, the solution can be obtained. , , , , as well as .

[0088] Considering the external forces acting on the ship, including the ship's own gravity, propeller, rudder, wind, and water flow, the force analysis is performed based on the following ship force analysis formula:

[0089] ;

[0090] ;

[0091] ;

[0092] ;

[0093] ;

[0094] .

[0095] HO in the subscripts of each parameter represents the gravity of the ship, P represents the propeller, R represents the rudder, WIND represents the wind, and WAVE represents the ocean current. The above forces are solved separately below:

[0096] , , , , as well as The forces and moments generated by the gravity of the ship can be decomposed in various directions by gravity and used as known quantities in the analytical equation of the ship's forces, that is, the known parameters of the equation.

[0097] , , as well as are the force and torque generated by the propeller, which can be calculated based on the current main engine speed and used as known parameters in the equation.

[0098] The components of the forces and moments generated by the wind on the hull in each direction of the ship's motion are calculated as follows:

[0099] ;

[0100] ;

[0101] ;

[0102] .

[0103] in, It is the relative wind speed measured by meteorological element observation equipment; is the air density; is the orthographic projection area on the waterline of the hull; is the side projection area of ​​the hull on the waterline; is the overall length of the current vessel; is the height of the ship's lateral wind action point from the baseline, which can be approximated as (D is the mold depth); , , are wind pressure coefficients in three directions respectively. In the above data, Obtained through measurement, other values ​​are known parameters of the equation.

[0104] The components of the forces and moments generated by the current on the hull in each direction of the ship's motion are calculated as follows:

[0105] ;

[0106] ;

[0107] ;

[0108] .

[0109] in, It is the relative flow direction measured by wave and flow measuring equipment; is the density of seawater; is the orthographic projection area of ​​the hull below the waterline; is the side projection area of ​​the hull below the waterline; is the overall length of the hull; is the height of the ship's transverse current receiving point from the baseline, which can be approximated as (H is the draft); , , are the flow pressure coefficients in three directions respectively. In the above data, Obtained through measurement, other values ​​are known parameters of the equation.

[0110] The force and torque generated by the wind acting on the hull in each direction of the ship's motion are calculated using the formulas for calculating the components of the force and torque generated by the current acting on the hull in each direction of the ship's motion. The wind and current forces and torques, as well as gravity and the forces and torques generated by the propeller are substituted into the analytical formula for the ship's forces to obtain the force and torque generated by the rudder. The ship's control rudder angle can then be obtained by solving the following formula: .

[0111] ;

[0112] ;

[0113] ;

[0114] .

[0115] in, is the positive pressure perpendicular to the rudder, which can be obtained from the rudder blade area, ship speed and flow velocity; is the rudder force reduction coefficient; is the correction factor for the lateral force induced by steering; It is the vertical distance from the positive pressure center of the rudder to the center of gravity of the ship; is the longitudinal distance from the rudder centre to the ship’s centre of gravity; is the longitudinal distance from the center of action of the lateral force induced by steering to the center of gravity of the ship. The above parameters are all known quantities.

[0116] Solve the ship's rudder control angle After that, it is displayed through the display and control terminal to provide reference for decision-makers to give real-time commands, or The data is input into the automatic steering instrument to automatically control the heading. In the collision scenario between the current ship and the target collision object, the navigation automatic control parameters can be comprehensively calculated to increase the probability of the bow of the ship being the collision site.

[0117] The technical solution of the embodiment of the present invention receives target collision object associated data and current ship navigation associated data, thereby performing invalid data elimination processing on the current ship navigation associated data to obtain current ship associated filtered data, and then when there is a discontinuity in the current ship associated filtered data, based on an exponential smoothing algorithm, performing data fitting recursive processing on the current ship associated filtered data to obtain the navigation control preprocessing data of the current ship, and further taking the bow of the current ship as the starting point and the geometric center of the target collision object as the gravity point, based on the artificial potential energy method, the target collision object associated data and the navigation control preprocessing data, determining the current ship route planning data, and calculating the ship control rudder angle according to the current ship route planning data and the navigation control preprocessing data. In this solution, by integrating multiple sensors on the current ship to obtain multi-dimensional navigation information and target object information of the ship itself, not only can intermittent data be predicted and recursively calculated, but also the planned route and rudder angle of the current ship can be intelligently and automatically calculated to provide them to decision makers, thereby improving the decision-making efficiency of decision makers. In addition, this solution uses the bow of the ship as the starting point and the geometric center of the target collision object as the gravity point, so that the current ship can resist the collision with the hardest part and reduce its own damage. It solves the current problem of being unable to intelligently plan ship navigation while ensuring that the damage to the ship is minimized as much as possible. It can provide more intelligent navigation strategies for ships that are about to collide, and enhance the ship's anti-collision ability during collision, so as to help decision makers improve decision-making efficiency.

[0118] Embodiment 3

[0119] Figure 5 This is a schematic diagram of the structure of a ship control device provided by Embodiment 3 of the present invention. Figure 5 As shown, the device comprises:

[0120] The data acquisition module 310 is used to receive target collision object associated data and current ship navigation associated data;

[0121] The data preprocessing module 320 is used to perform invalid data elimination processing and data fitting recursive processing on the current ship navigation related data to obtain the navigation control preprocessing data of the current ship;

[0122] The route planning and rudder angle calculation module 330 is used to take the bow of the current ship as the starting point and the geometric center of the target collision object as the gravity point, determine the current ship route planning data based on the artificial potential energy method, the target collision object association data and the navigation control preprocessing data, and calculate the ship control rudder angle based on the current ship route planning data and the navigation control preprocessing data.

[0123] The technical solution of the embodiment of the present invention receives target collision object associated data and current ship navigation associated data, thereby performing invalid data elimination processing and data fitting recursive processing on the current ship navigation associated data to obtain the navigation control preprocessing data of the current ship, and then taking the bow of the current ship as the starting point and the geometric center of the target collision object as the gravity point, based on the artificial potential energy method, the target collision object associated data and the navigation control preprocessing data, the current ship route planning data is determined, and the ship control rudder angle is calculated based on the current ship route planning data and the navigation control preprocessing data. In this solution, by integrating multiple sensors on the current ship to obtain multi-dimensional navigation information and target object information of the ship itself, not only can intermittent data be predicted and recursively calculated, but also the planned route and rudder angle of the current ship can be intelligently and automatically calculated to provide them to decision makers, thereby improving the decision-making efficiency of decision makers. In addition, this solution uses the bow of the ship as the starting point and the geometric center of the target collision object as the gravity point, so that the current ship can resist the collision with the hardest part and reduce its own damage. It solves the current problem of being unable to intelligently plan ship navigation while ensuring that the damage to the ship is minimized as much as possible. It can provide more intelligent navigation strategies for ships that are about to collide, and enhance the ship's anti-collision ability during collision, so as to help decision makers improve decision-making efficiency.

[0124] Optionally, the data preprocessing module 320 is specifically used to eliminate invalid data from the current ship navigation-related data to obtain current ship-related filtered data; when there are discontinuities in the current ship-related filtered data, based on an exponential smoothing algorithm, perform data fitting recursive processing on the current ship-related filtered data to obtain the navigation control preprocessing data of the current ship.

[0125] Optionally, the ship control device also includes an invalid recursive data reporting module, which is used to obtain the current number of continuous fitting recursive times; when the current number of continuous fitting recursive times is greater than the continuous fitting recursive times threshold, the current invalid recursive data is determined and reported.

[0126] Optionally, the route planning and rudder angle calculation module 330 includes a route planning unit and a rudder angle calculation unit. The route planning unit is used to obtain the distance between the current ship and the obstacle, as well as the obstacle influence distance when there is an obstacle between the current ship and the target collision object; taking the bow of the current ship as the starting point and the geometric center of the target collision object as the gravity point, according to the artificial potential energy method, the navigation control preprocessing data and the target collision object associated data, calculate the gravitational potential field value; taking the bow of the current ship as the starting point and the obstacle as the repulsion point, according to the artificial potential energy method, the navigation control preprocessing data, the distance between the current ship and the obstacle, and the obstacle influence distance, calculate the repulsion potential field value; according to the gravitational potential field value and the repulsion potential field value, determine the route planning data of the current ship.

[0127] Optionally, the route planning unit is specifically used to calculate the heading angle of the current ship according to the gravitational potential field value and the repulsive potential field value; and determine the route planning data of the current ship according to the heading angle of the current ship.

[0128] Optionally, a rudder angle calculation unit is used to determine the dynamic target equation of the current ship and the dimensions of the external force acting on the current ship, and obtain known parameter values ​​of the equation based on the dimensions of the external force acting on the current ship; calculate the ship control rudder angle based on the dynamic target equation, the known parameter values ​​of the equation and the dimensions of the external force acting on the current ship.

[0129] Optionally, the external force dimensions currently acting on the vessel include the vessel's own gravity dimension, propeller dimension, rudder dimension, wind dimension and water flow dimension.

[0130] The ship control device provided in the embodiment of the present invention can execute the ship control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0131] Embodiment 4

[0132] Figure 6A schematic diagram of an electronic device that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as desktop computers, workstations, personal digital assistants, servers, blade servers, and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0133] like Figure 6 As shown, the electronic device 10 includes at least one processor 11, and a memory such as ROM 12, RAM 13, etc., which is communicatively connected to the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the ROM 12 or the computer program loaded from the storage unit 18 to the RAM 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, ROM 12 and RAM 13 are connected to each other via a bus 14. The I / O interface 15 is also connected to the bus 14.

[0134] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0135] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a ship control method.

[0136] In some embodiments, the ship control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the ship control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the ship control method in any other appropriate manner (e.g., by means of firmware).

[0137] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0138] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0139] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0140] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0141] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0142] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of traditional physical hosts and VPS servers, which are difficult to manage and have weak business scalability.

[0143] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0144] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A ship control method, characterized in that: include: Receive target collision object associated data and current ship navigation associated data; Performing invalid data elimination processing and data fitting recursive processing on the current ship navigation related data to obtain the navigation control preprocessing data of the current ship; Taking the bow of the current ship as the starting point and the geometric center of the target collision object as the gravity point, the current ship route planning data is determined based on the artificial potential energy method, the target collision object association data and the navigation control preprocessing data, and the ship control rudder angle is calculated based on the current ship route planning data and the navigation control preprocessing data.

2. The ship control method according to claim 1, characterized in that: The invalid data elimination processing and data fitting recursive processing are performed on the current ship navigation related data to obtain the navigation control preprocessing data of the current ship, including: Performing invalid data elimination processing on the current ship navigation related data to obtain current ship related filtered data; When there are discontinuities in the current ship-associated filtered data, data fitting recursive processing is performed on the current ship-associated filtered data based on an exponential smoothing algorithm to obtain navigation control preprocessing data of the current ship.

3. The ship control method according to claim 2, characterized in that: After performing data fitting recursive processing on the current ship associated filtered data based on an exponential smoothing algorithm to obtain the navigation control preprocessing data of the current ship, the method further includes: Get the current number of continuous fitting recursions; When the current number of continuous fitting recursion times is greater than the continuous fitting recursion times threshold, current invalid recursion data is determined and reported.

4. The ship control method according to claim 1, characterized in that: Taking the bow of the current ship as the starting point and the geometric center of the target collision object as the gravity point, based on the artificial potential energy method, the target collision object association data and the navigation control preprocessing data, the current ship route planning data is determined, including: When there is an obstacle between the current ship and the target collision object, obtain the distance between the current ship and the obstacle, as well as the obstacle impact distance; Taking the bow of the current ship as the starting point and the geometric center of the target collision object as the gravitational point, the gravitational potential field value is calculated according to the artificial potential energy method, the navigation control preprocessing data and the target collision object associated data; Taking the bow of the current ship as the starting point and the obstacle as the repulsion point, the repulsion potential field value is calculated according to the artificial potential energy method, the navigation control preprocessing data, the distance between the current ship and the obstacle, and the obstacle influence distance; The current ship route planning data is determined according to the gravitational potential field value and the repulsive potential field value.

5. The ship control method according to claim 4, characterized in that: Determining the current ship route planning data according to the gravitational potential field value and the repulsive potential field value includes: Calculating the heading angle of the current vessel according to the gravitational potential field value and the repulsive potential field value; The route planning data of the current ship is determined according to the heading angle of the current ship.

6. The ship control method according to claim 1, characterized in that: Calculating the ship control rudder angle according to the current ship route planning data and the navigation control preprocessing data includes: Determine the dynamic target equation of the current ship and the dimension of the external force applied to the current ship, and obtain known parameter values ​​of the equation according to the dimension of the external force applied to the current ship; The control rudder angle of the ship is calculated according to the dynamic target equation, the known parameter values ​​of the equation and the dimension of the external force currently acting on the ship.

7. The ship control method according to claim 6, characterized in that: The external force dimensions currently acting on the vessel include the vessel's own gravity dimension, propeller dimension, rudder dimension, wind dimension and water flow dimension.

8. A ship control device, characterized in that: include: A data acquisition module, used for receiving target collision object associated data and current ship navigation associated data; A data preprocessing module, used for performing invalid data elimination processing and data fitting recursive processing on the current ship navigation related data to obtain the navigation control preprocessing data of the current ship; The route planning and rudder angle calculation module is used to take the bow of the current ship as the starting point and the geometric center of the target collision object as the gravity point, determine the current ship route planning data based on the artificial potential energy method, the target collision object association data and the navigation control preprocessing data, and calculate the ship control rudder angle based on the current ship route planning data and the navigation control preprocessing data.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the ship control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the ship control method according to any one of claims 1 to 7 when executed.

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