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CN-121995910-A - Complex water area oriented float-cleaning boat cluster collaborative operation control method

CN121995910ACN 121995910 ACN121995910 ACN 121995910ACN-121995910-A

Abstract

A method for controlling cooperative operation of a float-removing ship cluster oriented to a complex water area. The invention discloses a cluster fluid-solid coupling collaborative float-cleaning method and system based on drift flux field prediction. The method integrates environment perception, hydrodynamics and multi-agent control technology, firstly constructs a drift flux density field of a water area under an Euler view angle, identifies a main transportation channel by calculating the coupling relation between the floating object density and a flow velocity vector, and plans an optimal interception section curve and topological distribution of a float-cleaning ship cluster based on a maximum flux potential energy integration principle. In the interception operation stage, a fluid-solid coupling differential control strategy is adopted by a core, and an induced flow field with a specific pressure gradient is constructed around a ship body by setting the induced slip speed between the float-removing ship and the local water flow. The invention can change the float-cleaning ship from a passive blocker to an active flow field regulator, obviously reduces the operation resistance and the energy consumption, and solves the problems of low float-cleaning efficiency and difficult cooperative maintenance of clusters in complex dynamic water areas.

Inventors

  • YE GENXI

Assignees

  • 苏州必蓝智能环境科技有限公司

Dates

Publication Date
20260508
Application Date
20251216

Claims (10)

  1. 1. A method for controlling cooperative operation of a float-removing ship cluster facing to a complex water area is characterized by comprising the following steps: step one, constructing a drift flux density field of a target water area, namely acquiring flow field environment data and floating object distribution data of the target water area, calculating transport flux distribution of floating objects moving along with water flow, and constructing the drift flux density field; Step two, planning an optimal interception section and cluster topology, namely searching a geometric section with the largest accumulated flux profit in a prediction time window as the optimal interception section based on the drift flux density field, and generating an operation anchor point of the float-removing ship cluster according to the section characteristics; And step three, performing fluid-solid coupling differential control, namely controlling the float-cleaning ship cluster to move to the operation anchor point, and establishing a fluid-solid coupling differential capture mechanism by applying an induced slip speed based on the inertia difference of the target float and the water flow to perform collaborative interception operation.
  2. 2. The method for controlling cooperative operation of a cluster of cleaning vessels in a complex water area according to claim 1, wherein the constructing the drift flux density field of the target water area specifically comprises: establishing a two-dimensional grid map of a water area, and acquiring real-time flow velocity vectors of grid positions and the surface density of floating object distribution; performing point multiplication calculation on the surface density of the floating object distribution and the real-time flow velocity vector to obtain a drift flux density vector representing the floating object quantity passing through the unit section width in unit time; Based on a convection diffusion evolution mechanism, predicting the space-time evolution distribution of the floater flux in a future time window by using a drift flux density vector at the current moment.
  3. 3. The method for controlling collaborative operation of a cluster of a float-removing vessel for a complex water area according to claim 1, wherein the planning of optimal interception cross section and cluster topology comprises the following steps: Searching a curve section orthogonal to the flow velocity direction in the drift flux density field, so that the flux potential energy integral value of the curve section in a prediction time window is maximum, and determining the curve section as an optimal interception section; And determining the number of the float-cleaning boats participating in the operation and the target anchor point positions of each float-cleaning boat on the section according to the geometric width of the optimal interception section and the dispersion of the float distribution.
  4. 4. The method for controlling cooperative operation of a cluster of cleaning vessels in a complex water area according to claim 1, wherein the performing fluid-solid coupling differential control specifically comprises: Setting a characteristic Stokes number range of a target floater, wherein the Stokes number represents the response hysteresis degree of an object to the change of a flow field; when the float-cleaning ship is in a high flow speed area, the float-cleaning ship is not completely synchronous with water flow, but a non-zero induced slip speed exists between the float-cleaning ship and local water flow; And manufacturing an induced flow field with a specific pressure gradient around the float-over boat by controlling the motion state of the float-over boat to maintain the induced slip speed.
  5. 5. The method for controlling collaborative operation of a cluster of cleaning boats for a complex water area according to claim 4, wherein the setting mode of the induced slip speed is as follows: Setting a specific attack angle between the induced slip velocity vector and the local flow velocity vector according to the opening direction of the collecting device; And bending a fluid streamline flowing around the float cleaning ship by using the attack angle, so that a target floater with the characteristic Stokes number range cannot follow the streamline to bend due to the action of inertia force, thereby generating a motion deviation relative to the fluid streamline and entering a capturing area of the float cleaning ship.
  6. 6. The method for controlling collaborative operation of a cluster of cleaning vessels in a complex water area according to claim 1, further comprising maintaining formation of the cluster of cleaning vessels using an anisotropic virtual spring model during the performing of the fluid-solid coupled differential control: Modeling the connection relation between adjacent float-cleaning vessels as a virtual spring damping system; defining a forward flow direction along the water flow direction and a cross flow direction perpendicular to the water flow direction; Different virtual spring rate coefficients are set for the forward flow direction and the cross flow direction respectively.
  7. 7. The method for controlling cooperative operation of a cluster of cleaning vessels in a complex water area according to claim 6, wherein the setting of different virtual spring stiffness coefficients is specifically as follows: Setting a higher rigidity coefficient in the transverse flow direction so as to keep continuity of an interception section and prevent floaters from leaking from a clearance of the float cleaning ship; Setting a lower rigidity coefficient in the forward flow direction allows the float-cleaning ship to generate passive position fluctuation in the forward flow direction so as to adapt to water flow pulsation and reduce energy consumption.
  8. 8. The method for controlling collaborative operations of a cluster of floats-cleaning vessels in a complex water area according to claim 6, wherein the formation of the cluster of floats-cleaning vessels further comprises an energy-optimized obstacle avoidance strategy: when an obstacle is detected, calculating flow field distortion and streamline separation points caused by the obstacle; And controlling the float-removing ship to maneuver along the natural bifurcation path of the streamline, assisting in avoiding the obstacle by utilizing the water flow thrust, and recovering the formation by the action of the virtual spring damping system after the maneuver.
  9. 9. A method of controlling collaborative operations of a complex water area oriented cluster of cleaning vessels according to any one of claims 1 to 8, further comprising the step of switching decisions based on energy flux to gain ratio: calculating the current energy flux yield ratio in real time, wherein the ratio is related to the flux of the floater which can be intercepted by unit energy consumption; When the energy flux gain ratio is higher than a preset threshold value, executing the fluid-solid coupling differential control to perform passive interception; And when the energy flux gain ratio is lower than a preset threshold value, switching to an active search fishing mode.
  10. 10. The method for controlling the cooperative work of a cluster of cleaning vessels in a complex water area according to claim 4, wherein the controlling the motion state of the cleaning vessels further comprises: and controlling the float-cleaning ship to execute periodic transverse swing or navigational speed pulsation, generating a vortex shedding area at the side rear by utilizing the movement of the ship body, and assisting in screening the target floating objects by utilizing vortex suction.

Description

Complex water area oriented float-cleaning boat cluster collaborative operation control method Technical Field The invention relates to the technical field of water area environment management and unmanned system control, in particular to a method for controlling cooperative operation of a float-removing ship cluster for a complex water area. Background Along with the increasing severity of the environmental pollution problem in water areas, the automatic water surface cleaning and bleaching by using unmanned ship (Unmanned Surface Vehicle, USV) clusters has become an important technical means for improving the working efficiency and reducing the labor cost. The existing water surface float-cleaning technology mainly depends on patrol operation of a single ship or simple multi-ship formation coverage, and is usually provided with a physical filter screen, a conveyor belt or a mechanical arm and other devices for intercepting and collecting floats. However, existing float cleaning modes of operation have significant technical limitations in facing complex dynamic water flow environments. Most of traditional path planning methods are based on static geometric maps, and adopt full-coverage 'mower' paths or random search strategies, so that the drift characteristics of floats moving along with water flow are ignored. The operation mode of 'carving boat claim' fails to consider the transportation effect of water flow on floaters, so that the float-cleaning ship frequently idles in a garbage-free water area or cannot intercept a high-density gathering area before the floaters are diffused, the operation pertinence is poor, and the efficiency is low. More importantly, the existing interception and capture technology generally adopts the principle of physical filtration, namely, the filter screen or the collection bucket is forced to be pushed by the thrust generated by the propeller to overcome the resistance of water and advance, so that floaters are intercepted. The method has the serious hydrodynamic defects that on one hand, a dense physical filter screen can generate huge differential pressure resistance when moving in water, the filter screen is gradually blocked along with the operation, the resistance coefficient rises exponentially, the energy consumption of a system is increased sharply, the endurance time of an unmanned ship is shortened seriously, on the other hand, the ship body is unstable easily due to forced top-flow operation under a high-flow or turbulent environment, and a rigid interception device is difficult to adapt to the instant impact of water flow, so that floaters are often caused to escape from the edge of the interception device. In addition, in the field of multi-vessel collaborative operations, existing formation control mostly adopts a rigid maintenance strategy, and each vessel is required to strictly maintain a fixed geometric spacing at any time. Under the condition of uneven water flow speed space-time distribution, the control logic of the hard connection type forces each ship propeller to frequently perform high-frequency addition and subtraction adjustment so as to resist local water flow disturbance, thereby not only causing energy waste of a propulsion system, but also easily causing oscillation in the system, and being difficult to maintain steady-state operation of a cluster while ensuring the interception effect. Therefore, how to use the water flow energy instead of the water flow resistance to realize the cluster collaborative float cleaning with low energy consumption and high capture rate is a technical problem to be solved in the field. Disclosure of Invention The invention aims to solve the technical problems that the existing float-removing ship cluster has high path planning energy consumption and low capturing efficiency caused by excessively depending on geometric position tracking when operating in a complex dynamic water area, and the dynamic drift characteristics of floats are difficult to deal with. The invention provides a method for controlling collaborative operation of a float-removing ship cluster facing to a complex water area, which converts control targets of the float-removing ship cluster from traditional geometric position tracking to flow field flux interception and optimizes microscopic operation behaviors by combining hydrodynamic characteristics. The method mainly comprises the following steps: step one, constructing a drift flux density field of a target water area, namely acquiring flow field environment data and floating object distribution data of the target water area, calculating transport flux distribution of floating objects moving along with water flow, and constructing the drift flux density field; Step two, planning optimal three-mushroom oil and cluster flapping, namely searching a geometric section with the largest accumulated general weight gain in a detection time window U as an optimal interception section based on the drift