Dynamic positioning method and device for fishery ship, electronic equipment and storage medium

Abstract

According to the dynamic positioning method and device for the fishery ship, the electronic equipment and the storage medium provided by the invention, filtering and information fusion are carried out by collecting the current motion state and the surrounding environment parameters of the ship, and the ship pose state estimation information and the environment disturbance estimation information are output; based on the rolling time domain model and the multi-target performance index function, according to the current constraint target, the ship pose state estimation information, the environment disturbance estimation information and preset propeller use energy consumption parameters, an optimal control sequence corresponding to the current control period is output, and according to the optimal control sequence and a propeller current efficiency matrix, the propeller is controlled. And determining current thrust output information of each thruster, and controlling each thruster to output thrust according to the priority of the thruster and the current thrust output information of each thruster. The method can realize automatic fishery ship dynamic positioning, improves the dynamic positioning efficiency and accuracy of the fishery ship, and can be widely applied to the technical field of ship motion control.

Description

Technical Field

[0001] The present application relates to the technical field of ship motion control, and in particular to a dynamic positioning method, device, electronic equipment and storage medium for fishing vessels. Background Art

[0002] With the development of the deep-sea aquaculture industry, fishing vessels such as aquaculture cage-type work vessels, as the core operating platforms of marine ranches, need to operate stably for a long time in open waters with significant interference from wind, waves and currents, which places higher requirements on the dynamic positioning accuracy, environmental adaptability and degree of operation automation of the vessels.

[0003] At present, traditional dynamic positioning methods for fishing vessels mostly rely on anchoring or manual manipulation, which have limitations such as low accuracy, slow response, and high dependence on manpower, making it difficult to meet the needs of refined aquaculture operations; and existing general dynamic positioning systems are mostly designed for large offshore vessels and are not suitable for the actual needs of aquaculture vessels in terms of economy, structural layout and operational functions.

[0004] Therefore, the above technical problems need to be solved urgently. Summary of the Invention

[0005] The main purpose of the embodiments of the present application is to propose a dynamic positioning method, device, electronic equipment and storage medium for fishing vessels, which can realize automated dynamic positioning of fishing vessels and improve the efficiency and accuracy of dynamic positioning of fishing vessels.

[0006] On the one hand, an embodiment of the present application provides a dynamic positioning method for a fishing vessel, the method comprising the following steps:

[0007] Collect the current motion status of the ship and surrounding environment parameters;

[0008] Performing filtering and information fusion according to the current motion state of the ship and the surrounding environment parameters, and outputting ship posture state estimation information and environmental disturbance estimation information;

[0009] Obtaining a current constraint target; the current constraint target includes a desired position and a desired heading;

[0010] Based on the rolling horizon model and the multi-objective performance index function, the optimal control sequence corresponding to the current control period is output according to the current constraint target, the ship posture state estimation information, the environmental disturbance estimation information, and the preset propulsion energy consumption parameters;

[0011] Obtaining a current efficiency matrix of the propeller, performing a thrust allocation calculation based on the optimal control sequence and the current efficiency matrix of the propeller, and determining current thrust output information of each propeller, the current thrust output information including thrust output direction and output power;

[0012] The thruster priority is obtained, and each thruster is controlled to output thrust according to the thruster priority and the current thrust output information of each thruster.

[0013] In some embodiments, the collecting of the current motion state of the vessel and the surrounding environment parameters specifically includes:

[0014] The current motion state of the ship is collected by a posture sensing sensor, wherein the current motion state of the ship includes the current three-dimensional position of the ship, the current heading of the ship, and the current posture of the ship;

[0015] The surrounding environment parameters are collected by environmental perception sensors, and the surrounding environment parameters include current hydrological parameters, current meteorological parameters and current geographical environment parameters.

[0016] In some embodiments, obtaining the current constraint target specifically includes:

[0017] Obtaining a current ship operation mode; the current ship operation mode includes a stationary fixed-point operation mode, a dynamic route tracking operation mode, and a specific attitude adjustment mode;

[0018] Based on the current ship operation mode, the current constraint target is determined according to the current operation information corresponding to the current ship operation mode.

[0019] In some embodiments, determining the current constraint target based on the current ship operation mode and according to the current operation information corresponding to the current ship operation mode specifically includes:

[0020] When the current ship operation mode is the stationary fixed-point operation mode, obtaining a fixed-point operation position and a fixed-point operation heading corresponding to the current ship operation mode, and determining the current constraint target according to the fixed-point operation position and the fixed-point operation heading;

[0021] When the current ship operation mode is the dynamic route tracking operation mode, obtaining a trajectory point sequence corresponding to the dynamic route, determining a dynamic ship position and a dynamic ship heading that match each state point in the current control cycle from the trajectory point sequence, and determining the current constraint target corresponding to each state point based on the dynamic ship position and the dynamic ship heading that match each state point;

[0022] When the current ship operation mode is the specific attitude adjustment mode, in response to the ship attitude adjustment operation, the ship adjustment heading and the ship adjustment position are dynamically obtained, and the current constraint target is determined according to the ship adjustment heading and the ship adjustment position.

[0023] In some embodiments, the output of the optimal control sequence corresponding to the current control cycle based on the rolling horizon model and the multi-objective performance index function according to the current constraint target, the ship posture state estimation information, the environmental disturbance estimation information, and the preset propeller energy consumption parameters specifically includes:

[0024] Inputting the current constraint target, the ship posture state estimation information and the environmental disturbance estimation information into the rolling time domain model, and outputting ship position error information and ship heading error information;

[0025] Obtaining the propeller energy consumption parameters, wherein the propeller energy consumption parameters include the propeller rated thrust and the rated power consumption coefficient;

[0026] The multi-objective performance index function is introduced into the rolling time domain model, and the multi-objective performance index function is used to perform performance optimization calculation according to the ship position error information, the ship heading error information and the propeller energy consumption parameters, and output the optimal control sequence, which includes the expected thrust vector corresponding to each state point in the current control cycle.

[0027] In some embodiments, obtaining the current efficiency matrix of the propeller, performing thrust distribution calculation based on the optimal control sequence and the current efficiency matrix of the propeller, and determining the current thrust output information of each propeller specifically includes:

[0028] Dynamically collect the current working efficiency parameters corresponding to each thruster, including thrust output direction efficiency, energy conversion efficiency and current health status;

[0029] Determining the efficiency coefficient corresponding to each of the propellers according to the current working efficiency parameter corresponding to each of the propellers;

[0030] Establishing a current efficiency matrix of the propeller according to the efficiency coefficient corresponding to each of the propellers;

[0031] For each state point in the optimal control sequence, obtaining the desired thrust vector corresponding to the state point, performing thrust allocation based on a weighted least squares method according to the desired thrust vector and the current efficiency matrix of the propeller, and outputting a propeller output configuration matrix corresponding to the state point;

[0032] The current thrust output information corresponding to each of the thrusters is determined according to the thruster output configuration matrix.

[0033] In some embodiments, acquiring the thruster priority and controlling each thruster to output thrust according to the thruster priority and the current thrust output information of each thruster specifically includes:

[0034] Dynamically collecting current performance parameters corresponding to each thruster, the current performance parameters including thrust output level, power consumption status, and thrust margin;

[0035] Determine the current priority of each thruster according to the current performance parameter corresponding to each thruster, wherein the higher the current priority, the higher the corresponding call ranking;

[0036] According to the current priority and the current thrust output information corresponding to each thruster, each thruster is controlled to output thrust.

[0037] On the other hand, an embodiment of the present application provides a dynamic positioning device for a fishing vessel, the device comprising:

[0038] The first module is used to collect the current motion state of the ship and the surrounding environment parameters;

[0039] The second module is used to perform filtering and information fusion according to the current motion state of the ship and the surrounding environment parameters, and output ship posture state estimation information and environmental disturbance estimation information;

[0040] The third module is used to obtain the current constraint target; the current constraint target includes the expected position and the expected heading;

[0041] The fourth module is configured to output an optimal control sequence corresponding to the current control period based on the rolling horizon model and the multi-objective performance index function, according to the current constraint target, the ship posture state estimation information, the environmental disturbance estimation information, and the preset propulsion energy consumption parameters;

[0042] a fifth module configured to obtain a current efficiency matrix of the propeller, perform thrust allocation calculation based on the optimal control sequence and the current efficiency matrix of the propeller, and determine current thrust output information of each propeller, wherein the current thrust output information includes thrust output direction and output power;

[0043] The sixth module is used to obtain the thruster priority and control each thruster to output thrust according to the thruster priority and the current thrust output information of each thruster.

[0044] On the other hand, an embodiment of the present application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor implements the dynamic positioning method described above when executing the computer program.

[0045] On the other hand, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the dynamic positioning method described above is implemented.

[0046] The embodiments of the present application include at least the following beneficial effects: the present application provides a dynamic positioning method, device, electronic device and storage medium for fishing vessels, which collects the current motion state of the ship and the surrounding environment parameters, performs filtering and information fusion, outputs the ship's posture state estimation information and the environmental disturbance estimation information, based on the rolling time domain model and the multi-objective performance index function, according to the current constraint target, the ship's posture state estimation information, the environmental disturbance estimation information and the preset propeller energy consumption parameters, outputs the optimal control sequence corresponding to the current control cycle, determines the current thrust output information of each propeller according to the optimal control sequence and the current efficiency matrix of the propeller, and controls each propeller to output thrust according to the propeller priority and the current thrust output information of each propeller. The present application can realize automated dynamic positioning of fishing vessels, improve the efficiency and accuracy of dynamic positioning of fishing vessels, realize high-precision real-time control adjustment of the ship's position and heading in a dynamic environment, has strong robustness, high responsiveness and task adaptability, and can significantly improve the operational stability, safety and intelligence level of fishing vessels in deep-sea operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0049] Figure 1 This is a flow chart of a dynamic positioning method for fishing vessels provided in an embodiment of the present application;

[0050] Figure 2 This is a schematic structural diagram of a dynamic positioning device for fishing vessels provided in an embodiment of the present application;

[0051] Figure 3 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0053] It will be understood that the terms "first", "second", etc. used in this application may be used herein to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0054] The terms "at least one", "plurality", "each", "any", etc. used in this application include "at least one", "two" or more, "plurality" or "each", "any" or "any one", "each" or "any one" as used herein.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0056] Reference Figure 1 , Figure 1 This is an optional flow chart of a dynamic positioning method for fishing vessels proposed in an embodiment of the present application. The method may include but is not limited to steps S101 to S106:

[0057] Step S101, collecting the current motion state of the ship and the surrounding environment parameters;

[0058] Step S102: filtering and information fusion are performed based on the current motion state of the ship and the surrounding environment parameters, and the ship posture state estimation information and the environmental disturbance estimation information are output;

[0059] Step S103, obtaining a current constraint target, wherein the current constraint target includes a desired position and a desired heading;

[0060] Step S104: Based on the rolling horizon model and the multi-objective performance index function, the optimal control sequence corresponding to the current control cycle is output according to the current constraint target, the ship posture state estimation information, the environmental disturbance estimation information, and the preset propulsion energy consumption parameters;

[0061] Step S105: Obtain the current efficiency matrix of the propellers, perform thrust distribution calculation based on the optimal control sequence and the current efficiency matrix of the propellers, and determine the current thrust output information of each propeller. The current thrust output information includes thrust output direction and output power.

[0062] Step S106: Acquire the thruster priority, and control each thruster to output thrust according to the thruster priority and the current thrust output information of each thruster.

[0063] In step S102 of some embodiments, an information fusion algorithm, such as Kalman filtering or extended Kalman filtering, is used to filter and fuse the current motion state of the above-mentioned ship and the above-mentioned surrounding environmental parameters, and output the ship posture state estimation and environmental disturbance estimation. During the information fusion process, differential positioning or precise single-point positioning technology is introduced to improve the ship positioning accuracy, and historical positioning data is combined to predict environmental changes, thereby providing accurate state and disturbance inputs for control decisions.

[0064] In some embodiments, step S101 may include but is not limited to steps S201 to S202:

[0065] Step S201: collecting the current motion state of the ship through the attitude sensing sensor, where the current motion state of the ship includes the current three-dimensional position of the ship, the current heading of the ship, and the current attitude of the ship;

[0066] In step S202, the surrounding environment parameters are collected through the environment perception sensor. The surrounding environment parameters include current hydrological parameters, current meteorological parameters and current geographical environment parameters.

[0067] In some embodiments, the attitude perception sensor includes a high-precision satellite positioning device (such as a Beidou / GNSS receiver), an inertial measurement unit (IMU) and an attitude sensor, etc., which are used to obtain the current motion status of the ship, such as the current three-dimensional position of the ship, the current heading of the ship, and the current attitude of the ship.

[0068] Environmental perception sensors include anemometers, current meters, wave sensors, etc., which are used to collect surrounding environmental parameters such as current hydrological parameters, current meteorological parameters, and current geographical environment parameters.

[0069] In some embodiments, step S103 may include but is not limited to steps S301 to S302:

[0070] Step S301, obtaining the current ship operation mode; the current ship operation mode includes a stationary fixed-point operation mode, a dynamic route tracking operation mode, and a specific attitude adjustment mode;

[0071] Step S302: Based on the current ship operation mode and the current operation information corresponding to the current ship operation mode, a current constraint target is determined.

[0072] In step S302 of some embodiments, optionally, when the above-mentioned current ship operation mode is a stationary fixed-point operation mode, the fixed-point operation position and the fixed-point operation heading corresponding to the current ship operation mode are obtained, and the current constraint target is determined according to the fixed-point operation position and the fixed-point operation heading; when the above-mentioned current ship operation mode is a dynamic route tracking operation mode, the trajectory point sequence corresponding to the dynamic route is obtained, and the dynamic ship position and the dynamic ship heading matching each state point in the current control cycle are determined from the trajectory point sequence, and the current constraint target corresponding to each state point is determined according to the dynamic ship position and the dynamic ship heading matching each state point; when the above-mentioned current ship operation mode is a specific attitude adjustment mode (including obstacle avoidance mode and wind avoidance mode, etc.), in response to the ship attitude adjustment operation, the ship adjustment heading and the ship adjustment position are dynamically obtained, and the current constraint target is determined according to the ship adjustment heading and the ship adjustment position.

[0073] The current constraint target refers to the target state that the ship hopes to maintain or follow. In the static fixed-point operation mode, the expected position is the spatial coordinate of the fixed-point operation position, and the expected heading is the fixed angle of the fixed-point operation heading. The goal is to maintain the ship at this fixed point and maintain a stable direction; in the dynamic route tracking operation mode, the expected position and heading are a sequence of trajectory points that change with time, and the ship needs to move along the preset path as time passes; in the specific attitude adjustment mode, the expected position and expected heading are dynamically adjusted according to the environment or operation requirements.

[0074] In some embodiments, step S104 may include but is not limited to steps S401 to S403:

[0075] Step S401: input the current constraint target, ship posture state estimation information and environmental disturbance estimation information into the rolling horizon model, and output ship position error information and ship heading error information;

[0076] Step S402: Acquire propeller energy consumption parameters, which include propeller rated thrust and rated power consumption coefficient;

[0077] Step S403: Introduce a multi-objective performance index function into the rolling time domain model, use the multi-objective performance index function to perform performance optimization calculations based on the ship position error information, the ship heading error information, and the propeller energy consumption parameters, and output an optimal control sequence. The optimal control sequence includes the expected thrust vector corresponding to each state point in the current control cycle.

[0078] In some embodiments, the above-mentioned rolling time domain model adopts a rolling time domain model predictive control (MPC) strategy to perform real-time optimization control of the ship's motion, so as to optimize the control sequence of the ship for several seconds in the future at fixed time steps and output the optimal control sequence.

[0079] Specifically, the rolling horizon model is based on the ship dynamics model. According to the input current constraint target, ship posture state estimation information and environmental disturbance estimation information, the ship's motion behavior in the prediction time domain is predicted. The rolling horizon model takes the expected position and expected heading as the current constraint targets and performs rolling optimization. During the optimization process, performance indicators such as ship position deviation, heading deviation and propeller energy consumption are introduced to form a multi-objective performance index function. By solving the multi-objective performance index function online, the control input sequence that optimizes the performance index is obtained, that is, the above-mentioned optimal control sequence. The multi-objective performance index function is specifically expressed as follows:

[0080]

[0081] Among them, the integration interval [0,T m ], represents the optimization time domain (from the current moment to the future T m seconds), e p =[e x ,e y ] T is the ship position error vector, e x is the position error of the ship in the transverse direction (x-axis direction), e y is the position error of the ship in the longitudinal direction (y-axis direction), e ψ is the ship’s heading angle error, f i is the rated thrust of the propeller corresponding to the i-th propeller, Q p is the position error weight matrix, q ψ is the heading error weight coefficient, c i is the rated power consumption coefficient corresponding to the i-th thruster.

[0082] This multi-objective performance index function achieves optimal control of performance indicators such as ship position error, ship heading error, and propeller energy consumption by minimizing J while meeting the requirements of dynamically changing target posture, thereby achieving high-precision control and energy optimization of ship motion.

[0083] In some embodiments, step S105 may include but is not limited to steps S501 to S505:

[0084] Step S501: Dynamically collect the current working efficiency parameters corresponding to each thruster, including thrust output direction efficiency, energy conversion efficiency, and current health status;

[0085] Step S502, determining the efficiency coefficient corresponding to each propeller according to the current working efficiency parameter corresponding to each propeller;

[0086] Step S503: establishing a propeller current efficiency matrix based on the efficiency coefficient corresponding to each propeller;

[0087] Step S504: For each state point in the optimal control sequence, obtain the desired thrust vector corresponding to the state point, perform thrust allocation based on the weighted least squares method according to the desired thrust vector and the current efficiency matrix of the propeller, and output the propeller output configuration matrix corresponding to the state point;

[0088] Step S505: Determine the current thrust output information corresponding to each thruster according to the thruster output configuration matrix.

[0089] In some embodiments, the efficiency coefficient is used to represent the current comprehensive output efficiency of the propeller. The thrust output direction efficiency, energy conversion efficiency and current health status are three key performance indicators, which describe the working efficiency of the propeller from different angles. Specifically, the thrust output direction efficiency indicates the degree of consistency between the thrust direction actually generated by the propeller and the theoretical / expected thrust direction. The energy conversion efficiency refers to the efficiency of the propeller in converting input energy (such as electrical energy, chemical energy) into mechanical thrust energy, reflecting the degree of energy utilization. The current health status refers to the degree of degradation of the overall performance of the propeller, and comprehensively reflects the influence of factors such as mechanical wear, aging, and failure.

[0090] By integrating the thrust output direction efficiency, energy conversion efficiency and current health status, the efficiency coefficient corresponding to the thruster is determined. Optionally, the efficiency coefficient is expressed by the following formula:

[0091] η i =η direction *η energy *η heslth ;

[0092] Among them, η i is the efficiency coefficient of the i-th thruster, η direction is the coefficient corresponding to the thrust output efficiency of the i-th thruster, η energy is the coefficient corresponding to the energy conversion efficiency of the i-th thruster, η healthis the coefficient corresponding to the current health status of the i-th thruster.

[0093] For example, the coefficient corresponding to the thrust output direction efficiency of a certain propeller is 0.98, the coefficient corresponding to the energy conversion efficiency is 0.7, and the coefficient corresponding to the current health state is 0.9. Then the efficiency coefficient corresponding to the propeller is 0.98X0.7X0.9=0.6174.

[0094] In some embodiments, optionally, the propeller current efficiency matrix is a diagonal matrix, each diagonal element is an efficiency coefficient of the propeller, and assuming there are n propellers, the efficiency matrix W is specifically as follows:

[0095]

[0096] Among them, η i The value range is between (0,1], that is, η i ∈[0,1], when the current comprehensive output efficiency of the propeller changes, the efficiency coefficient of the corresponding propeller is updated. At the same time, the efficiency matrix automatically corrects the diagonal elements of the corresponding propeller according to the updated efficiency coefficient.

[0097] In some embodiments, the desired thrust vector is determined by the overall desired force and torque, and the weighted least squares (WLS) method is used to distribute and optimize the thrust. Specifically, a linear relationship model between the overall torque of the ship and the thrust of each thruster is established, and the above-mentioned current efficiency matrix of the thruster is introduced into the thrust distribution. An optimization objective of minimizing the weighted thrust norm is constructed. By solving the optimization problem with equality constraints, the current thrust output information corresponding to each thruster that meets the desired thrust vector is obtained. Specifically, the thrust distribution formula is as follows:

[0098] f=W -1 B T (BW -1 B T ) -1 τ d ;

[0099] Where f is the desired thrust vector, B is the thruster output configuration matrix, τ d For a given expected force vector, thrust distribution and optimization are performed through the weighted least squares method, which can not only meet the overall motion requirements of the ship, but also optimize the total thrust output, reduce energy consumption, and improve the overall operating economy of the system when there are efficiency differences among the propellers and the residual thrust is not synchronized.

[0100] According to the above-mentioned thruster output configuration matrix, the current thrust output information corresponding to each thruster is determined, including the thrust output direction, output thrust, and the thrust output power corresponding to the output thrust.

[0101] In some embodiments, step S106 may include but is not limited to steps S601 to S603:

[0102] Step S601: Dynamically collect current performance parameters corresponding to each thruster, including thrust output level, power consumption status, and thrust margin;

[0103] Step S602: Determine the current priority of each thruster based on the current performance parameters of each thruster. The higher the current priority, the higher the corresponding call ranking.

[0104] Step S603: Control each thruster to output thrust according to the current priority and current thrust output information corresponding to each thruster.

[0105] In some embodiments, the current priority of the propeller is determined by combining the preset and dynamic adjustment methods. In the initial operation stage of the ship control system, the current priority of the propeller is pre-set according to the rated performance parameters of the propeller. The rated performance parameters include the maximum output thrust, maximum power, maximum output speed and unit energy efficiency of the propeller. After the initial operation stage of the ship control system, the current priority is dynamically adjusted by monitoring the current performance parameters corresponding to the propeller. Specifically, the current performance parameters include thrust output level, power consumption status and thrust margin. The thrust output level, power consumption status and thrust margin are three key performance indicators of the propeller, which together reflect the real-time working status and Potential capacity, among which the thrust output level, the thrust value actually generated by the thruster at present, is the direct determining factor of the ship's speed and maneuverability. The power consumption state is the input power (mechanical power or electrical power) actually consumed by the thruster. The thrust margin is the residual thrust capacity that the thruster can provide under the current working conditions, that is, the difference between the maximum available thrust and the actual thrust. By integrating the thrust output level, power consumption state and thrust margin, the current priority of the thruster is dynamically determined. The higher the current priority of the thruster, the better the performance of the thruster in terms of thrust output capacity, energy efficiency or reliability. The thruster with a higher current priority is called first. For example, the thruster with a higher maximum power or lower unit thrust energy consumption has a higher priority.

[0106] In some embodiments, the above-mentioned dynamic positioning method also provides a human-computer interaction interface to meet the special needs of fishery production scenarios. The human-computer interaction interface provides a one-button mode switching function, and the operator can quickly switch between preset ship operation modes according to the current operating status of the ship. For example, the ship operation mode includes a stationary fixed-point operation mode, a dynamic route tracking operation mode, and a specific attitude adjustment mode (including an obstacle avoidance mode and a wind avoidance mode, etc.). After switching the mode with one button, the system will automatically call the corresponding control parameter set and algorithm strategy: for example, the stationary fixed-point operation mode focuses on precise positioning, the dynamic route tracking operation mode allows slow movement and focuses on energy saving, the wind avoidance mode increases the priority of anti-current and anti-wind, and the obstacle avoidance mode focuses on collision warning, etc.

[0107] For example, when an aquaculture vessel is operating in obstacle avoidance mode, the human-computer interaction interface uses shipboard sensors and pre-input aquaculture cage area coordinates to display the relative position of the aquaculture vessel and the aquaculture cage in real time. When it detects that the ship is too close to the cage (i.e., the current distance is less than a given threshold) or there is a risk of collision, the interface will emit an audible and visual alarm.

[0108] At the same time, the human-computer interaction interface integrates an energy consumption prompt function. Specifically, the interface dynamically displays the current power consumption and fuel / electricity usage rate of each propeller, shows the current energy consumption level of the ship in the current operating mode, and detects the energy consumption status of the ship based on the preset energy consumption threshold. When it is detected that the ship is under high-load operation for a long time, the interface outputs recommendation information to switch the current operating mode or adjust the ship's posture.

[0109] Through the above-mentioned human-computer interaction interface, operators can control the ship's dynamic positioning system more efficiently, improving the safety and economy of ship operations.

[0110] An embodiment of the present application provides a dynamic positioning method for fishing vessels, which achieves refined energy management through dynamic adjustment of thruster priorities, automatic correction of efficiency matrices, and thrust distribution and optimization based on weighted least squares. When a thruster approaches the power or force saturation value, the system can automatically coordinate other thrusters to share its load, so that the overall thrust output is smooth and redundant, and while achieving rapid response to the ship's attitude and position, it realizes reasonable scheduling of the ship's energy.

[0111] Reference Figure 2 , Figure 2 This is an optional structural diagram of a dynamic positioning device for fishing vessels provided in an embodiment of the present application. The device is used to implement the above-mentioned dynamic positioning method. The device may include:

[0112] The first module is used to collect the current motion state of the ship and the surrounding environment parameters;

[0113] The second module is used to perform filtering and information fusion based on the current motion state of the ship and the surrounding environment parameters, and output the ship posture state estimation information and environmental disturbance estimation information;

[0114] The third module is used to obtain the current constraint target; the current constraint target includes the expected position and the expected heading;

[0115] The fourth module is used to output the optimal control sequence corresponding to the current control cycle based on the rolling horizon model and the multi-objective performance index function, according to the current constraint objectives, the estimated information of the ship's posture state, the estimated information of the environmental disturbance, and the preset propulsion energy consumption parameters;

[0116] The fifth module is used to obtain the current efficiency matrix of the propeller, perform thrust allocation calculation based on the optimal control sequence and the current efficiency matrix of the propeller, and determine the current thrust output information of each propeller. The current thrust output information includes thrust output direction and output power;

[0117] The sixth module is used to obtain the thruster priority and control the thrust output of each thruster according to the thruster priority and the current thrust output information of each thruster.

[0118] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0119] The present application also provides an electronic device including a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-mentioned dynamic positioning method when executing the computer program. The electronic device can be any smart terminal including a tablet computer.

[0120] It can be understood that the contents of the above method embodiments are applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0121] See also Figure 3 , Figure 3 The hardware structure of an electronic device according to another embodiment is shown. The electronic device includes:

[0122] The processor 901 can be implemented as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0123] The memory 902 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 902 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program codes are stored in the memory 902 and are called by the processor 901 to execute the dynamic positioning method of the embodiments of this application.

[0124] Input / output interface 903, used to implement information input and output;

[0125] Communication interface 904, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.);

[0126] Bus 905 , which transmits information between various components of the device (e.g., processor 901 , memory 902 , input / output interface 903 , and communication interface 904 );

[0127] The processor 901 , the memory 902 , the input / output interface 903 and the communication interface 904 are connected to each other in communication within the device via a bus 905 .

[0128] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned dynamic positioning method is implemented.

[0129] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiment, the functions specifically implemented by the present storage medium embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0130] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0131] The present application provides a dynamic positioning method, device, electronic equipment and storage medium for fishing vessels, which can realize automated dynamic positioning of fishing vessels, improve the efficiency and accuracy of dynamic positioning of fishing vessels, and realize high-precision real-time control and adjustment of the ship's position and heading in a dynamic environment. It has strong robustness, high responsiveness and mission adaptability, and can significantly improve the operational stability, safety and intelligence level of fishing vessels in deep-sea operations.

[0132] The embodiments described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0133] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0134] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0135] Those skilled in the art will appreciate that all or some of the steps in the methods, systems, and functional modules / units in the devices disclosed above may be implemented as software, firmware, hardware, or appropriate combinations thereof.

[0136] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application 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 clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0137] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0138] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, 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.

[0139] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0140] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0141] It should be appreciated that embodiments of the present invention may be implemented or practiced by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer-readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer-readable storage medium configured with a computer program, wherein the storage medium so configured causes the computer to operate in a specific and predefined manner according to the methods and drawings described in the specific embodiments. Each program may be implemented in a high-level procedural or object-oriented programming language to communicate with the computer system. However, if desired, the program may be implemented in assembly or machine language. In any case, the language may be a compiled or interpreted language. In addition, the program may be run on a programmed application-specific integrated circuit for this purpose.

[0142] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes multiple instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: various media that can store programs, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0143] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A dynamic positioning method for fishing vessels, characterized in that: The method comprises the following steps: Collect the current motion status of the ship and surrounding environment parameters; Performing filtering and information fusion according to the current motion state of the ship and the surrounding environment parameters, and outputting ship posture state estimation information and environmental disturbance estimation information; Obtaining a current constraint target; the current constraint target includes a desired position and a desired heading; Based on the rolling horizon model and the multi-objective performance index function, the optimal control sequence corresponding to the current control period is output according to the current constraint target, the ship posture state estimation information, the environmental disturbance estimation information, and the preset propulsion energy consumption parameters; Obtaining a current efficiency matrix of the propeller, performing a thrust allocation calculation based on the optimal control sequence and the current efficiency matrix of the propeller, and determining current thrust output information of each propeller, the current thrust output information including thrust output direction and output power; The thruster priority is obtained, and each thruster is controlled to output thrust according to the thruster priority and the current thrust output information of each thruster.

2. The dynamic positioning method according to claim 1, characterized in that: The acquisition of the current motion state of the ship and the surrounding environment parameters specifically includes: The current motion state of the ship is collected by a posture sensing sensor, wherein the current motion state of the ship includes the current three-dimensional position of the ship, the current heading of the ship, and the current posture of the ship; The surrounding environment parameters are collected by environmental perception sensors, and the surrounding environment parameters include current hydrological parameters, current meteorological parameters and current geographical environment parameters.

3. The dynamic positioning method according to claim 1, characterized in that: The obtaining of the current constraint target specifically includes: Obtaining a current ship operation mode; the current ship operation mode includes a stationary fixed-point operation mode, a dynamic route tracking operation mode, and a specific attitude adjustment mode; Based on the current ship operation mode, the current constraint target is determined according to the current operation information corresponding to the current ship operation mode.

4. The dynamic positioning method according to claim 3, characterized in that: The determining the current constraint target based on the current ship operation mode and according to the current operation information corresponding to the current ship operation mode specifically includes: When the current ship operation mode is the stationary fixed-point operation mode, obtaining a fixed-point operation position and a fixed-point operation heading corresponding to the current ship operation mode, and determining the current constraint target according to the fixed-point operation position and the fixed-point operation heading; When the current ship operation mode is the dynamic route tracking operation mode, obtaining a trajectory point sequence corresponding to the dynamic route, determining a dynamic ship position and a dynamic ship heading that match each state point in the current control cycle from the trajectory point sequence, and determining the current constraint target corresponding to each state point based on the dynamic ship position and the dynamic ship heading that match each state point; When the current ship operation mode is the specific attitude adjustment mode, in response to the ship attitude adjustment operation, the ship adjustment heading and the ship adjustment position are dynamically obtained, and the current constraint target is determined according to the ship adjustment heading and the ship adjustment position.

5. The dynamic positioning method according to claim 1, characterized in that: The method outputs the optimal control sequence corresponding to the current control period based on the rolling horizon model and the multi-objective performance index function according to the current constraint target, the ship posture state estimation information, the environmental disturbance estimation information, and the preset propeller energy consumption parameters, specifically including: Inputting the current constraint target, the ship posture state estimation information and the environmental disturbance estimation information into the rolling time domain model, and outputting ship position error information and ship heading error information; Acquiring the propeller energy consumption parameters, wherein the propeller energy consumption parameters include the propeller rated thrust and the rated power consumption coefficient; The multi-objective performance index function is introduced into the rolling time domain model, and the multi-objective performance index function is used to perform performance optimization calculation according to the ship position error information, the ship heading error information and the propeller energy consumption parameters, and output the optimal control sequence, which includes the expected thrust vector corresponding to each state point in the current control cycle.

6. The dynamic positioning method according to claim 5, characterized in that: The acquiring of the current efficiency matrix of the propeller, performing thrust distribution calculation according to the optimal control sequence and the current efficiency matrix of the propeller, and determining the current thrust output information of each propeller specifically includes: Dynamically collect the current working efficiency parameters corresponding to each thruster, including thrust output direction efficiency, energy conversion efficiency and current health status; Determining the efficiency coefficient corresponding to each of the propellers according to the current working efficiency parameter corresponding to each of the propellers; Establishing a current efficiency matrix of the propeller according to the efficiency coefficient corresponding to each of the propellers; For each state point in the optimal control sequence, obtaining the desired thrust vector corresponding to the state point, performing thrust allocation based on a weighted least squares method according to the desired thrust vector and the current efficiency matrix of the propeller, and outputting a propeller output configuration matrix corresponding to the state point; The current thrust output information corresponding to each of the thrusters is determined according to the thruster output configuration matrix.

7. The dynamic positioning method according to claim 1, characterized in that: The acquiring of the thruster priority and controlling each thruster to output thrust according to the thruster priority and the current thrust output information of each thruster specifically includes: Dynamically collecting current performance parameters corresponding to each thruster, the current performance parameters including thrust output level, power consumption status, and thrust margin; Determine the current priority of each thruster according to the current performance parameter corresponding to each thruster, wherein the higher the current priority, the higher the corresponding call ranking; According to the current priority and the current thrust output information corresponding to each thruster, each thruster is controlled to output thrust.

8. A dynamic positioning device for fishing vessels, characterized in that: The device comprises: The first module is used to collect the current motion state of the ship and the surrounding environment parameters; The second module is used to perform filtering and information fusion according to the current motion state of the ship and the surrounding environment parameters, and output ship posture state estimation information and environmental disturbance estimation information; The third module is used to obtain the current constraint target; the current constraint target includes the expected position and the expected heading; The fourth module is configured to output an optimal control sequence corresponding to the current control period based on the rolling horizon model and the multi-objective performance index function, according to the current constraint target, the ship posture state estimation information, the environmental disturbance estimation information, and the preset propulsion energy consumption parameters; a fifth module configured to obtain a current efficiency matrix of the propeller, perform thrust allocation calculation based on the optimal control sequence and the current efficiency matrix of the propeller, and determine current thrust output information of each propeller, wherein the current thrust output information includes thrust output direction and output power; The sixth module is used to obtain the thruster priority and control each thruster to output thrust according to the thruster priority and the current thrust output information of each thruster.

9. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the dynamic positioning method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the dynamic positioning method according to any one of claims 1 to 7 is implemented.

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