A control method, device and equipment for a trimaran unmanned ship

Abstract

The present invention provides a control method, device and equipment for a trimaran unmanned ship, the method comprising: obtaining the position information of a target trimaran unmanned ship and a shore base sent by a target signal acquisition system; determining the position relationship between the target trimaran unmanned ship and the shore base according to the position information; when the position relationship meets the casting condition, sending a target cable casting signal to the automatic cable throwing device of the target trimaran unmanned ship, so that the automatic cable throwing device automatically throws the cable to the shore base end according to the target cable casting signal, thereby completing the automatic mooring of the target trimaran unmanned ship. The scheme of the present invention can realize the automatic mooring of a trimaran unmanned ship.

Description

Technical Field

[0001] The present invention relates to the field of computer information technology processing technology, and in particular to a control method, device and equipment for a trimaran unmanned ship. Background Art

[0002] The trimaran unmanned ship consists of a main hull in the middle and two hulls on both sides. The trimaran unmanned ship shares a main deck and superstructure structure. The main function of the hull is to improve the stability and wave resistance of the ship. The deck space of the trimaran is large, which can be increased by about half compared with the deck area of ​​a catamaran of the same tonnage. It has good stability and a relatively small range of movement in the waves. When moored at the dock, it reduces the impact on the bow and is more suitable for operations in high sea conditions. However, the shortcomings of the trimaran unmanned ship are also obvious. The connecting bridges on both sides of the hull need to withstand large bending and twisting moments. In order to ensure the structural strength of the trimaran, it is usually necessary to increase the weight of the components, which greatly increases the overall structural weight of the trimaran and causes certain difficulties when docking and leaving the dock. When mooring at the dock, when the wind and waves are strong, the roll amplitude of the hulls on both sides is too large, which is easy to produce large shear stress, resulting in damage to fatigue strength, which may cause damage to the hulls on both sides of the trimaran.

[0003] At present, the mooring method of trimaran unmanned ships is mainly to use manpower to cast and reel in the mooring cables. After the ship is moored, with the changes in tides and waves, the manual mooring method cannot automatically adjust with the changes in tides and waves. Under extreme conditions, it may cause the cable to break and even cause the ship to collide with the dock, causing unnecessary property losses. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a control method, device and equipment for a trimaran unmanned ship, which can realize automatic mooring of the trimaran unmanned ship.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] A control method for a trimaran unmanned ship, comprising:

[0007] Obtain the position information of the target trimaran unmanned ship and the shore base sent by the target signal acquisition system;

[0008] Determine the positional relationship between the target trimaran unmanned ship and the shore based on the position information;

[0009] When the position relationship meets the throwing condition, a target cable throwing signal is sent to the automatic cable throwing device of the target trimaran unmanned ship, so that the automatic cable throwing device automatically throws the cable to the shore end according to the target cable throwing signal, thereby completing the automatic mooring of the target trimaran unmanned ship.

[0010] Optionally, the position information of the target trimaran unmanned ship and the shore base sent by the target signal acquisition system is obtained, including:

[0011] The slant distance, pitch angle and azimuth angle information between the mooring pile of the target trimaran unmanned ship and the shore-based mooring pile sent by the target signal acquisition system during the berthing process of the target trimaran unmanned ship is obtained.

[0012] Optionally, determining the positional relationship between the target trimaran unmanned ship and the shore base according to the position information includes:

[0013] According to the slant range, pitch angle and azimuth information, the coordinates of the target trimaran unmanned ship in a spatial rectangular coordinate system with the shore-based olive pile as the origin are obtained;

[0014] According to the coordinates, the positional relationship between the target trimaran unmanned ship and the shore base is obtained.

[0015] Optionally, when the position relationship meets the throwing condition, sending a target cable throwing signal to the automatic cable throwing device of the target trimaran unmanned vessel includes:

[0016] According to the positional relationship, the distance and angle between the target trimaran unmanned ship and the shore are obtained;

[0017] When the distance and angle meet the throwing conditions, a target cable throwing signal is sent to the automatic cable throwing device of the target trimaran unmanned ship.

[0018] Optionally, when the distance and angle meet the throwing condition, sending a target cable throwing signal to the automatic cable throwing device of the target trimaran unmanned vessel includes:

[0019] When the distance is within a preset safety distance range and the distance is less than or equal to the casting distance, confirming that the distance meets the first casting condition;

[0020] When the angle is within the preset angle range, confirming that the angle meets the second casting condition;

[0021] When the distance meets the first casting condition and the angle meets the second casting condition, a target cable casting signal is sent to the automatic cable throwing device of the target trimaran unmanned ship.

[0022] Optionally, the control method of the trimaran unmanned ship also includes:

[0023] Receiving stress signals sent by the stress detection system of the target trimaran unmanned ship after mooring;

[0024] Determining the ratio of the stress value inside the cable to the breaking load according to the stress signal;

[0025] According to the relationship between the ratio and a preset threshold, a target signal is sent.

[0026] Optionally, sending a target signal according to a relationship between the ratio and a preset threshold value includes:

[0027] When the ratio is less than a first threshold, sending a target acquisition signal;

[0028] When the ratio is greater than or equal to a second threshold, sending a target buoy protection signal;

[0029] When the ratio is greater than or equal to a third threshold, a target cable release signal is sent; the first threshold is less than the second threshold, and the second threshold is less than the third threshold.

[0030] The present invention also provides a control device for a trimaran unmanned ship, comprising:

[0031] An acquisition module is used to obtain the position information of the target trimaran unmanned ship and the shore base sent by the target signal acquisition system;

[0032] The processing module is used to determine the position relationship between the target trimaran unmanned ship and the shore base according to the position information; when the position relationship meets the throwing condition, a target cable throwing signal is sent to the automatic cable throwing device of the target trimaran unmanned ship, so that the automatic cable throwing device automatically throws the cable to the shore end according to the target cable throwing signal, thereby completing the automatic mooring of the target trimaran unmanned ship.

[0033] The present invention also provides a computing device, comprising: a processor and a memory storing a computer program, wherein when the computer program is run by the processor, the method as described above is executed.

[0034] The present invention also provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute the above method.

[0035] The above solution of the present invention includes at least the following beneficial effects:

[0036] The above scheme of the present invention obtains the position information of the target trimaran unmanned ship and the shore base sent by the target signal acquisition system; determines the position relationship between the target trimaran unmanned ship and the shore base according to the position information; when the position relationship meets the throwing condition, sends a target cable throwing signal to the automatic cable throwing device of the target trimaran unmanned ship, so that the automatic cable throwing device automatically throws the cable to the shore end according to the target cable throwing signal, thereby completing the automatic mooring of the target trimaran unmanned ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 1 is a flow chart of a control method of a trimaran unmanned ship according to an embodiment of the present invention;

[0038] Figure 2Schematic diagram of a trimaran unmanned ship and a shore base according to an embodiment of the present invention;

[0039] Figure 3 is a schematic diagram of an automatic mooring system according to an embodiment of the present invention;

[0040] Figure 4 It is a structural diagram of a control device of a trimaran unmanned ship according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0042] like Figure 1 As shown, an embodiment of the present invention provides a control method for a trimaran unmanned ship, comprising:

[0043] Step 11, obtaining the position information of the target trimaran unmanned ship and the shore base sent by the target signal acquisition system;

[0044] Step 12, determining the positional relationship between the target trimaran unmanned ship and the shore base according to the position information;

[0045] Here, if Figure 2 As shown, the target trimaran unmanned ship gradually approaches the shore end when berthing until the position relationship is suitable, and then the cable is thrown to the shore and the cable is fixed to the mooring pile of the shore to complete the berthing and mooring process of the target trimaran unmanned ship.

[0046] Step 13, when the position relationship meets the throwing condition, a target cable throwing signal is sent to the automatic cable throwing device of the target trimaran unmanned ship, so that the automatic cable throwing device automatically throws the cable to the shore end according to the target cable throwing signal, thereby completing the automatic mooring of the target trimaran unmanned ship.

[0047] In this embodiment, when the target trimaran unmanned ship is berthing, the target signal acquisition system collects relevant parameters related to the position information of the target trimaran unmanned ship, and the positional relationship between the target trimaran unmanned ship and the shore is determined after calculation by the intelligent control system. According to the positional relationship, when the intelligent control system determines that the throwing conditions are met, the target cable throwing signal is output to the automatic cable throwing device. The automatic cable throwing device automatically throws the cable to the shore end, thereby completing the automatic mooring of the target trimaran unmanned ship. Preferably, the target signal acquisition system uses a laser rangefinder to measure the position information of the target trimaran unmanned ship and the shore. The laser rangefinder is installed at the bow, midship, and stern, the intelligent control system is installed in the control cabin of the target trimaran unmanned ship, and the automatic cable throwing device is installed at the bow, midship, and stern. This embodiment solves the problem that the target trimaran unmanned ship needs to be manpowered to throw and collect the cable when berthing, and realizes the automatic mooring of the target trimaran unmanned ship.

[0048] In an optional embodiment of the present invention, step 11 may include:

[0049] Step 111, obtaining the slant distance, pitch angle and azimuth information between the mooring pile of the target trimaran unmanned ship and the shore-based mooring pile sent by the target signal acquisition system during the berthing process of the target trimaran unmanned ship.

[0050] In this embodiment, the laser rangefinder measures the relative position relationship between the mooring pile at the end of the boat and the mooring pile on the shore when the target trimaran unmanned boat is moored, including the slant distance, pitch angle and azimuth, and inputs the relevant parameters into the intelligent control system. The intelligent control system receives the data from the laser rangefinder through the sensor, converts it into an electrical signal or a digital signal through the A / D analog-to-digital conversion system, displays it through a digital tube, and processes the collected data through a single-chip microcomputer, compares the acquired data with the threshold, and triggers the instruction when the corresponding threshold is reached, and sends the cable throwing command to the automatic cable throwing device.

[0051] In an optional embodiment of the present invention, step 12 may include:

[0052] Step 121, obtaining the coordinates of the target trimaran unmanned ship in a spatial rectangular coordinate system with the shore-based pile as the origin according to the slant range, pitch angle and azimuth information;

[0053] Step 122, obtaining the positional relationship between the target trimaran unmanned ship and the shore based on the coordinates.

[0054] In this embodiment, the slant distance refers to the straight-line distance from the shore-based mooring pile to the ship mooring pile, which is presented as a slant line in three-dimensional space. The pitch angle refers to the angle between the line connecting the shore-based mooring pile and the ship mooring pile and the horizontal plane, and the pitch angle is used to describe the vertical angle of the ship relative to the horizontal plane. The azimuth angle refers to the horizontal angle of the ship mooring pile relative to the shore-based mooring pile.

[0055] Establish a spatial rectangular coordinate system with the shore-based mooring stake as the origin, the horizontal plane as the XY plane, and the direction perpendicular to the horizontal plane as the Z axis. According to the collected slant range, pitch angle and azimuth information, the coordinates of the mooring stake of the target trimaran unmanned ship in the spatial rectangular coordinate system can be obtained through trigonometric function relationships. Specifically, the coordinates are determined using the following formula:

[0056] x=d×cosθ×cosα

[0057] y=d×cosθ×sinα

[0058] z=d×sinθ

[0059] Among them, d is the slant distance, θ is the pitch angle, and α is the azimuth angle.

[0060] According to the coordinates of the mooring points of the target trimaran unmanned ship, the relative position relationship between the target trimaran unmanned ship and the shore can be determined.

[0061] In an optional embodiment of the present invention, step 13 may include:

[0062] Step 131, obtaining the distance and angle between the target trimaran unmanned ship and the shore according to the position relationship;

[0063] Step 132, when the distance and angle meet the casting conditions, a target cable casting signal is sent to the automatic cable throwing device of the target trimaran unmanned vessel.

[0064] In this embodiment, according to the calculated coordinates of the target trimaran unmanned ship, the distance and angle of the target trimaran unmanned ship relative to the shore are calculated in real time during the berthing process of the target trimaran unmanned ship. When the distance and angle meet the casting conditions, the intelligent control system sends a target cable casting signal to the automatic cable throwing device.

[0065] Specifically, step 132 may include:

[0066] Step 1321, when the distance is within a preset safety distance range and the distance is less than or equal to the casting distance, confirming that the distance meets the first casting condition;

[0067] Here, first determine whether the distance between the target trimaran unmanned boat and the shore is within the safe distance range to avoid collision or damage to the dock facilities when throwing the cable. Secondly, to ensure the success of the cable throwing, it is necessary to ensure that the distance is less than or equal to the throwing distance.

[0068] Step 1322, when the angle is within the preset angle range, confirming that the angle meets the second casting condition;

[0069] Here, it is necessary to ensure that the pitch angle and azimuth angle of the target trimaran unmanned ship and the shore base are within the preset angle range to ensure that the cable can be smoothly thrown from the ship to the dock and will not cause the cable to be entangled or damaged due to excessively large or small angles.

[0070] Step 1323: When the distance meets the first casting condition and the angle meets the second casting condition, a target cable casting signal is sent to the automatic cable throwing device of the target trimaran unmanned vessel.

[0071] In an optional embodiment of the present invention, the control method of the trimaran unmanned ship further includes:

[0072] Step 21, receiving a stress signal sent by a stress detection system of the target trimaran unmanned ship after mooring;

[0073] Step 22, determining the ratio of the stress value inside the cable to the breaking load according to the stress signal;

[0074] Step 23: Send a target signal according to the relationship between the ratio and a preset threshold.

[0075] In this embodiment, Figure 3 As shown, the automatic mooring system of the target trimaran unmanned ship also includes a stress detection system and a typhoon / strong wind and wave emergency system. The stress detection system is installed at the bow, midship and stern of the target trimaran unmanned ship. After the target trimaran unmanned ship is moored, the stress detection system monitors the stress value in the ship's cable in real time as the tide and wind and waves change. According to the monitored stress value, the intelligent control system determines in real time whether to send a corresponding signal.

[0076] In an optional embodiment of the present invention, step 23 may include:

[0077] Step 231, when the ratio is less than a first threshold, sending a target acquisition signal;

[0078] Step 232, when the ratio is greater than or equal to a second threshold, sending a target buoy protection signal;

[0079] Step 233: When the ratio is greater than or equal to a third threshold, a target cable release signal is sent; the first threshold is less than the second threshold, and the second threshold is less than the third threshold.

[0080] In this embodiment, when the ratio of the stress value to the breaking load is less than the first threshold, the intelligent control system sends a target collection signal to control automatic collection. Preferably, the first threshold is 15%. When the ratio of the stress value to the breaking load is greater than or equal to the third threshold, the intelligent control system sends a target release signal to control automatic release. Preferably, the third threshold is 50%. Through the stress detection system, the cable can be automatically retracted and released in the moored state of the ship in small wind and wave conditions.

[0081] When the ratio of the stress value to the breaking load is greater than or equal to the second threshold, the intelligent control system sends a target pontoon protection signal to control the pontoon to wrap the target three-body unmanned ship. Preferably, the second threshold is 45%. The pontoon is installed on the lower side of the two side sheets of the target three-body unmanned ship, mainly used to adjust the buoyancy of the ship and increase the deck area to protect the hull from impact. The principle of the pontoon is to use the physical properties of air and water. Most of the pontoons are made of PE plastic material, which is made of high molecular weight and high density polyethylene and has anti-corrosion, anti-freeze and anti-ultraviolet systems. It will not be eroded by seawater, oil pollution and marine microorganisms, and will not pollute the environment. When encountering bad weather, the pontoon receives the command issued by the intelligent control system, and immediately triggers the protection system to implement "wrapping" protection for the sheets of the three-body unmanned ship.

[0082] The control method of the trimaran unmanned boat of the present invention relates to the technical field of trimaran unmanned boats. The automatic mooring system includes an intelligent throwing system, a stress detection system, and a typhoon / strong wind and wave emergency system; the intelligent throwing system measures the relative position relationship between the boat end mooring pile and the shore mooring pile through a laser rangefinder, including the slant distance and pitch angle, and outputs a control command to the automatic cable throwing device through the calculation of the intelligent control system to automatically throw the cable to the shore end. In the case of small wind and waves (or other ships entering the port), the boat body changes with the tide or rolls with a general amplitude. Through the mooring cable stress detection system, when the stress value exceeds 50% of the breaking load, the boat end intelligent system automatically releases the cable, and when the stress value is less than 15% of the breaking load, the cable is automatically collected. In the case of typhoons / strong winds and waves, the trimaran sheet rolls too much, generating a large shear stress, resulting in damage to the fatigue strength. At this time, the typhoon / strong wind and wave emergency system takes effect, and the buoyancy box is controlled by the intelligent control system to "wrap" the sheet body for protection. The present invention can effectively solve the problems that the existing mooring method of the trimaran unmanned ship mainly relies on manual labor to operate the cable throwing and cable retracting operations, the ship's cables have no automatic retraction function after mooring at the dock, and the panels on both sides of the hull frequently collide with the dock in strong winds and waves, which easily causes damage to the panels.

[0083] In the above-mentioned embodiment of the present invention, when the trimaran unmanned ship is berthed, the intelligent throwing system is used to automatically throw the cable to the shore end, and there is no need to use manpower to perform the cable throwing operation. In the moored state, the mooring stress detection system can realize the automatic retraction and release of the cable under small wind and wave conditions; to avoid the cable being unable to achieve automatic adjustment when docked at the dock for a long time, causing the cable to break. In strong wind and wave conditions, the intelligent control system can control the buoyancy box to "wrap" the sheet body for protection; the collision of the sheets on both sides with the dock can be effectively avoided. The automatic mooring system has the characteristics of reliability and small error, and is suitable for use when the trimaran unmanned ship is berthing and mooring, and has high economic value and application value.

[0084] like Figure 4 As shown, an embodiment of the present invention further provides a control device 40 for a trimaran unmanned ship, comprising:

[0085] An acquisition module 41 is used to acquire the position information of the target trimaran unmanned ship and the shore base sent by the target signal acquisition system;

[0086] The processing module 42 is used to determine the position relationship between the target trimaran unmanned ship and the shore base according to the position information; when the position relationship meets the throwing condition, a target cable throwing signal is sent to the automatic cable throwing device of the target trimaran unmanned ship, so that the automatic cable throwing device automatically throws the cable to the shore end according to the target cable throwing signal, thereby completing the automatic mooring of the target trimaran unmanned ship.

[0087] Optionally, the position information of the target trimaran unmanned ship and the shore base sent by the target signal acquisition system is obtained, including:

[0088] The slant distance, pitch angle and azimuth angle information between the mooring pile of the target trimaran unmanned ship and the shore-based mooring pile sent by the target signal acquisition system during the berthing process of the target trimaran unmanned ship is obtained.

[0089] Optionally, determining the positional relationship between the target trimaran unmanned ship and the shore base according to the position information includes:

[0090] According to the slant range, pitch angle and azimuth information, the coordinates of the target trimaran unmanned ship in a spatial rectangular coordinate system with the shore-based olive pile as the origin are obtained;

[0091] According to the coordinates, the positional relationship between the target trimaran unmanned ship and the shore base is obtained.

[0092] Optionally, when the position relationship meets the throwing condition, sending a target cable throwing signal to the automatic cable throwing device of the target trimaran unmanned vessel includes:

[0093] According to the positional relationship, the distance and angle between the target trimaran unmanned ship and the shore are obtained;

[0094] When the distance and angle meet the throwing conditions, a target cable throwing signal is sent to the automatic cable throwing device of the target trimaran unmanned ship.

[0095] Optionally, when the distance and angle meet the throwing condition, sending a target cable throwing signal to the automatic cable throwing device of the target trimaran unmanned vessel includes:

[0096] When the distance is within a preset safety distance range and the distance is less than or equal to the casting distance, confirming that the distance meets the first casting condition;

[0097] When the angle is within the preset angle range, confirming that the angle meets the second casting condition;

[0098] When the distance meets the first casting condition and the angle meets the second casting condition, a target cable casting signal is sent to the automatic cable throwing device of the target trimaran unmanned ship.

[0099] Optionally, the processing module 42 may also be used for:

[0100] Receiving stress signals sent by the stress detection system of the target trimaran unmanned ship after mooring;

[0101] Determining the ratio of the stress value inside the cable to the breaking load according to the stress signal;

[0102] According to the relationship between the ratio and a preset threshold, a target signal is sent.

[0103] Optionally, sending a target signal according to a relationship between the ratio and a preset threshold value includes:

[0104] When the ratio is less than a first threshold, sending a target acquisition signal;

[0105] When the ratio is greater than or equal to a second threshold, sending a target buoy protection signal;

[0106] When the ratio is greater than or equal to a third threshold, a target cable release signal is sent; the first threshold is less than the second threshold, and the second threshold is less than the third threshold.

[0107] It should be noted that the device is a device corresponding to the above method, and all implementation methods in the above method embodiments are applicable to the embodiments of the device and can achieve the same technical effects.

[0108] The embodiment of the present invention further provides a computing device, comprising: a processor, a memory storing a computer program, wherein when the computer program is executed by the processor, the method described above is executed. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0109] The embodiment of the present invention further provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute the above method. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0110] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0111] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0112] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0113] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0114] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0115] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks.

[0116] In addition, it should be noted that in the apparatus and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. Moreover, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it is understood that all or any steps or components of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices in hardware, firmware, software or a combination thereof, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present invention.

[0117] Therefore, the purpose of the present invention can also be achieved by running a program or a group of programs on any computing device. The computing device can be a well-known general device. Therefore, the purpose of the present invention can also be achieved by simply providing a program product containing a program code that implements the method or device. That is to say, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future. It should also be pointed out that in the device and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. In addition, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order. Some steps can be performed in parallel or independently of each other.

[0118] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A control method for a trimaran unmanned ship, characterized in that: include: Obtain the position information of the target trimaran unmanned ship and the shore base sent by the target signal acquisition system; Determine the positional relationship between the target trimaran unmanned ship and the shore based on the position information; When the position relationship meets the throwing condition, a target cable throwing signal is sent to the automatic cable throwing device of the target trimaran unmanned ship, so that the automatic cable throwing device automatically throws the cable to the shore end according to the target cable throwing signal, thereby completing the automatic mooring of the target trimaran unmanned ship.

2. The control method of the trimaran unmanned ship according to claim 1, characterized in that: Obtain the position information of the target trimaran unmanned ship and the shore base sent by the target signal acquisition system, including: The slant distance, pitch angle and azimuth angle information between the mooring pile of the target trimaran unmanned ship and the shore-based mooring pile sent by the target signal acquisition system during the berthing process of the target trimaran unmanned ship is obtained.

3. The control method of the trimaran unmanned ship according to claim 2, characterized in that: Determining the positional relationship between the target trimaran unmanned ship and the shore base according to the position information includes: According to the slant range, pitch angle and azimuth information, the coordinates of the target trimaran unmanned ship in a spatial rectangular coordinate system with the shore-based olive pile as the origin are obtained; According to the coordinates, the positional relationship between the target trimaran unmanned ship and the shore base is obtained.

4. The control method of the trimaran unmanned ship according to claim 1, characterized in that: When the position relationship meets the throwing condition, a target cable throwing signal is sent to the automatic cable throwing device of the target trimaran unmanned ship, including: According to the positional relationship, the distance and angle between the target trimaran unmanned ship and the shore are obtained; When the distance and angle meet the throwing conditions, a target cable throwing signal is sent to the automatic cable throwing device of the target trimaran unmanned ship.

5. The control method of the trimaran unmanned ship according to claim 4, characterized in that: When the distance and angle meet the throwing conditions, a target cable throwing signal is sent to the automatic cable throwing device of the target trimaran unmanned ship, including: When the distance is within a preset safety distance range and the distance is less than or equal to the casting distance, confirming that the distance meets the first casting condition; When the angle is within the preset angle range, confirming that the angle meets the second casting condition; When the distance meets the first casting condition and the angle meets the second casting condition, a target cable casting signal is sent to the automatic cable throwing device of the target trimaran unmanned ship.

6. The control method of the trimaran unmanned ship according to claim 1, characterized in that: Also includes: Receiving stress signals sent by the stress detection system of the target trimaran unmanned ship after mooring; Determining the ratio of the stress value inside the cable to the breaking load according to the stress signal; According to the relationship between the ratio and a preset threshold, a target signal is sent.

7. The control method of the trimaran unmanned ship according to claim 6, characterized in that: Sending a target signal according to a relationship between the ratio and a preset threshold value includes: When the ratio is less than a first threshold, sending a target acquisition signal; When the ratio is greater than or equal to a second threshold, sending a target buoy protection signal; When the ratio is greater than or equal to a third threshold, a target cable release signal is sent; the first threshold is less than the second threshold, and the second threshold is less than the third threshold.

8. A control device for a trimaran unmanned ship, characterized in that: include: An acquisition module is used to obtain the position information of the target trimaran unmanned ship and the shore base sent by the target signal acquisition system; The processing module is used to determine the position relationship between the target trimaran unmanned ship and the shore base according to the position information; when the position relationship meets the throwing condition, a target cable throwing signal is sent to the automatic cable throwing device of the target trimaran unmanned ship, so that the automatic cable throwing device automatically throws the cable to the shore end according to the target cable throwing signal, thereby completing the automatic mooring of the target trimaran unmanned ship.

9. A computing device, characterized in that include: A processor and a memory storing a computer program, wherein when the computer program is executed by the processor, the method according to any one of claims 1 to 7 is performed.

10. A computer-readable storage medium, characterized in that: Instructions are stored, and when the instructions are executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 7.

Images