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CN-122018509-A - Intelligent ship autonomous navigation system and method based on edge calculation

CN122018509ACN 122018509 ACN122018509 ACN 122018509ACN-122018509-A

Abstract

The invention belongs to the technical field of ship control, and particularly relates to an intelligent autonomous navigation system and method for a ship based on edge calculation, wherein the intelligent autonomous navigation system comprises a multi-source environment sensing module, an autonomous navigation decision module, a ship automatic control module and a man-machine interaction module: the invention realizes the full-flow autonomy from data acquisition, model calculation and path planning to instruction execution through a closed-loop control system constructed by the multisource environment perception module, the autonomous navigation decision module and the ship automatic control module, reduces the dependence on manual observation and manual operation of crews, avoids fatigue misjudgment and misoperation caused by long-time monotonous operation, can stably cope without depending on the experience and immediate response capability of operators under complex scenes such as severe sea conditions, narrow water channels and the like, and obviously reduces navigation risks.

Inventors

  • SU WENXUE

Assignees

  • 青岛港湾职业技术学院

Dates

Publication Date
20260512
Application Date
20260304

Claims (10)

  1. 1. An intelligent autonomous navigational system of a ship based on edge calculation, comprising: The multi-source environment sensing module is used for detecting navigation state data and external environment data of the ship in real time; The autonomous navigation decision module is internally provided with an industrial control computer, a data acquisition card and an IO control card, wherein the industrial control computer is connected to the output end of the multi-source environment sensing module through the data acquisition card, and completes data fusion, six-degree-of-freedom ship motion model calculation and path planning and control instruction output at the ship end based on the industrial control computer; The input end of the ship automatic control module is connected to the signal output end of the industrial control computer through the IO control card, and the output end of the ship automatic control module is connected with the steering engine system and the propulsion system of the ship and is used for converting a control instruction into a physical driving signal; the man-machine interaction module is in communication connection with the autonomous navigation decision module and is used for displaying navigation situation and setting navigation tasks for crews.
  2. 2. The intelligent autonomous navigation system of the ship based on the edge calculation, which is disclosed in claim 1, is characterized in that the multi-source environment sensing module comprises a Beidou/GPS dual-mode receiver, a log and a wind speed and direction meter, wherein the Beidou/GPS dual-mode receiver and the log are used for acquiring longitude and latitude coordinates, ground speed, water speed and track direction information of the ship, the wind speed and direction meter is used for acquiring relative wind speed and relative wind direction data of the environment where the ship is located in real time, and the multi-source environment sensing module is connected with the autonomous navigation decision module through serial ports or bus interfaces respectively.
  3. 3. The intelligent autonomous navigation system of an intelligent ship based on edge calculation according to claim 1, wherein the industrial control computer is provided with a central processing unit, an operation memory module, a storage module and a graphic processing unit, wherein the capacity of the operation memory module is more than or equal to 8G, the capacity of the storage module is more than or equal to 128G, and the video memory capacity of the graphic processing unit is more than or equal to 2G.
  4. 4. The intelligent autonomous navigation system of the ship based on the edge calculation according to claim 1, wherein the ship automatic control module comprises a rudder angle control converter and a host machine rotating speed controller, the rudder angle control converter converts digital rudder in a control command into a voltage signal or a PWM signal for driving a steering engine hydraulic system, and the host machine rotating speed controller converts a speed command in the control command into a switching value signal for controlling an accelerator of a propulsion system.
  5. 5. An intelligent ship autonomous navigation method based on edge calculation, which is applicable to the intelligent ship autonomous navigation system based on edge calculation as claimed in any one of claims 1 to 4, and comprises the following steps: S1, acquiring navigation state data and external environment data of a ship in real time through a multi-source environment sensing module; s2, preprocessing the multi-source heterogeneous data acquired by the multi-source environment sensing module; s3, based on the preprocessed multi-source heterogeneous data, calculating a six-degree-of-freedom ship motion model through an industrial control computer of the autonomous navigation decision module, and acquiring real-time ship motion state parameters; s4, planning an optimal navigation path of the ship by combining the motion state parameters and the pre-stored electronic chart data, and correcting in real time; S5, generating a rudder angle control instruction and a host rotation speed control instruction according to the planned path and the six-degree-of-freedom ship motion model calculation result; s6, converting the control instruction into a physical driving signal through the ship automatic control module to drive the steering engine system and the propulsion system to act, so that autonomous navigation of the ship is realized.
  6. 6. The intelligent ship autonomous navigational method based on the edge calculation of claim 5, wherein the step S1 comprises: S11, acquiring longitude and latitude coordinates of a ship in real time through a Beidou/GPS dual-mode receiver of a multi-source environment sensing module Speed to ground Track direction Data, the collected data is stored in a binary format and corresponding collection time stamps are marked; S12, synchronously collecting the water velocity of the ship through a log of the multisource environment sensing module Data, using the speed of navigation to ground acquired in step S11 And water velocity Data consistency verification is carried out, and a verification formula is that Wherein Triggering data re-acquisition when the verification is not passed for a preset speed difference value threshold; S13, collecting the relative wind speed of the environment where the ship is located through the anemograph of the multisource environment sensing module Relative wind direction Data, combining the track directions acquired in the step S11 Calculating effective wind angle of actual environmental wind relative to ship navigation direction The formula is 。
  7. 7. The intelligent ship autonomous navigational method based on the edge calculation of claim 6, wherein the step S3 comprises: s31, extracting core input parameters in the preprocessed multi-source heterogeneous data, including fusing effective navigational speed Effective wind angle Relative wind speed And invoking parameters inherent in the ship, including the ship quality, pre-stored in the industrial control computer Longitudinal moment of inertia Lateral moment of inertia Moment of inertia of head A hydrodynamic derivative; s32, establishing a six-degree-of-freedom ship motion dynamics equation, wherein the six-degree-of-freedom ship motion dynamics equation comprises a longitudinal motion equation, a transverse motion equation and a yawing motion equation: ; ; ; Wherein, the For the longitudinal acceleration it is possible that, In order for the lateral acceleration to be a lateral acceleration, For turning-over angular acceleration, the hydrodynamic derivative comprising a longitudinal speed-dependent hydrodynamic derivative of the vessel Square relative hydrodynamic derivative of ship longitudinal speed Ship lateral speed-related hydrodynamic derivative Hydrodynamic derivative related to ship turning head angular speed Derivative of ship transverse speed related pitching moment Derivative of pitching moment related to ship pitching angular velocity ; Is the longitudinal speed of the ship; is the transverse speed of the ship; for turning the ship to the first angular velocity, the wind load factor comprises the longitudinal wind load factor of the ship Coefficient of transverse wind load of ship And the yawing load coefficient of the ship ; S33, solving a six-degree-of-freedom ship motion dynamics equation by adopting a four-order Longg-Kutta numerical integration method, wherein the integration formula is as follows: ; Wherein, the Is the integral step length; a motion state variable at the moment k; To the point of And obtaining the real-time motion state parameters of the ship by solving the intermediate coefficients of the Longg-Kutta.
  8. 8. The intelligent ship autonomous navigational method based on the edge calculation of claim 6, wherein the step S4 comprises: s41, retrieving pre-stored electronic chart data from a storage module of the autonomous navigation decision module, and extracting a forbidden area range and an obstacle center coordinate Left boundary coordinates of channel And channel right boundary coordinates Combining the current longitude and latitude of the ship calculated in the step S3 Calculating the transverse distance between ship and channel boundary And a linear distance from the obstacle The formulas are respectively as follows: ; ; Wherein, the The longitude per degree arc length of the current latitude circle of the ship; the arc length is the latitude of the current longitude line of the ship per degree; s42 based on Path search algorithm constructs navigation path planning space to start point To the end point The shortest range and the lowest obstacle avoidance cost are the optimization targets, and a path cost function is constructed: ; Wherein, the Is the voyage weight; Is obstacle avoidance weight; the path length of the current path segment; searching and generating an initial optimal navigation path through the function to avoid the minimum value of zero of the denominator; s43, combining the real-time ship motion state parameters calculated in the step S3 and the real-time ship motion state parameters calculated in the step S41 Calculating real-time correction angle of path : ; Wherein, step S3 obtains the real-time motion state parameters of the ship by solving, including the turning head angular velocity Drift angle ; The effective navigational speed is fused; is a drift angle correction coefficient; Correcting the coefficient for the rotational head angular speed; the channel distance correction coefficient is used; for presetting the optimal channel transverse distance according to And the initial path is adjusted in real time, so that the ship can navigate along the corrected optimal path.
  9. 9. The intelligent ship autonomous navigational method based on the edge calculation of claim 8, wherein the step S5 comprises: s51, extracting a target track direction from the optimal navigation path corrected in the step S4 Combining with a preset target navigational speed set by a shipman through a man-machine interaction module Calculating the current track direction deviation And speed deviation The formula is: ; ; Wherein, the The current track direction of the ship calculated in the step S3 is calculated; S52, introducing the real-time ship motion state parameters calculated in the step S3, and constructing a rudder angle control instruction model by adopting an improved PID control algorithm: ; Wherein, the The rudder angle control command; 、 、 The control coefficients are respectively proportional, integral and differential; is a drift angle compensation coefficient; is the turning head angular acceleration; Time integration of track deviation; S53, combining the relative wind speed acquired in the step S1 Pre-stored inherent resistance coefficient of ship Constructing a host rotation speed control instruction model: ; Wherein, the A host rotation speed control command; designing a basic rotating speed for a ship; Is a navigational speed adjusting coefficient; and generating a rotating speed instruction adapting to the change of the sailing resistance through the formula for the windage compensation coefficient.
  10. 10. The intelligent ship autonomous navigational method based on the edge calculation of claim 9, wherein the step S6 comprises: S61, a rudder angle control converter of the ship automatic control module receives the rudder angle control instruction generated in the step S5 The rudder angle range is restrained through a rudder angle safety limit formula, and the limited digital rudder command is converted into a voltage signal which is adaptive to a hydraulic driver of a steering engine system: ; ; Wherein, the The rudder angle command after limiting; the rudder angle of the ship is the minimum safety angle; The rudder angle is the maximum safe angle of the ship; the converted steering engine driving voltage signal; Is a voltage conversion coefficient; the reference voltage is corresponding to the zero rudder angle; S62, a host rotating speed controller of the ship automatic control module receives a host rotating speed control instruction generated in the step S5 The rotation speed range is limited through a rotation speed safety constraint formula, and the constrained rotation speed instruction is converted into a switching value signal which is adaptive to a throttle controller of the propulsion system: ; ; Wherein, the A constrained rotating speed instruction; the lowest stable rotating speed of the host machine is set; The maximum rotation speed of the host machine is set; Controlling a switching value signal for the converted rotating speed; Rounding to a rounding function; the number of bits of the signal is the switching value; s63, converting the steering engine driving voltage signal converted in the step S61 Outputting to a hydraulic driver of a steering engine system, and controlling the switching value signal of the rotating speed after the conversion in the step S62 The real-time feedback signals of the actuating mechanism are collected and output to an accelerator controller of the propulsion system, and the real-time feedback signals pass through a signal validity check formula And The transmission effectiveness of the driving signal is verified, the autonomous navigation of the ship is realized, wherein, The actual driving voltage is fed back to the steering engine system; The actual rotating speed fed back for the propulsion system; A voltage deviation allowable threshold; a threshold value is allowed for the rotational speed deviation.

Description

Intelligent ship autonomous navigation system and method based on edge calculation Technical Field The invention belongs to the technical field of ship control, and particularly relates to an intelligent autonomous ship navigation system and method based on edge calculation. Background As the global shipping industry changes to automation and intellectualization, marine transportation is increasingly demanding for navigational safety, economy, and autonomous operational capabilities. The traditional ship navigation mode is highly dependent on manual observation and manual operation of a crew, physiological and psychological fatigue is easy to cause in long-time monotonous operation, misjudgment is caused, risks of misoperation are increased suddenly, and navigation safety is excessively dependent on experience and instant reaction capability of operators under complex scenes such as severe sea conditions and narrow water channels, so that limitation is remarkable. In the prior art, part of autopilot systems equipped for ships are only based on simple PID control logic, have core functions limited to maintaining heading, are difficult to cope with complex environment interference such as strong wind, large current and the like, and lack dynamic decision and autonomous collision avoidance capability. Meanwhile, although electronic sea chart (ECDIS), satellite navigation (GNSS), radar, automatic ship identification system (AIS) and other devices are popular in ships, the devices work independently, and a central hardware platform capable of deeply fusing multi-source heterogeneous data is lacking, so that the data value is not fully exerted. The existing shipborne terminal hardware configuration is low, complex six-degree-of-freedom ship motion model calculation, high-definition video stream hardware decoding and real-time path planning operation are difficult to support, the response speed of the system is low, situation display effect is poor, and the high-precision autonomous navigation requirement cannot be met. Disclosure of Invention Aiming at the defects in the prior art, the invention provides an intelligent ship autonomous navigation system and method based on edge calculation. In a first aspect, the present invention provides an intelligent autonomous navigation system for a ship based on edge computation, comprising: The multi-source environment sensing module is used for detecting navigation state data and external environment data of the ship in real time; The autonomous navigation decision module is internally provided with an industrial control computer, a data acquisition card and an IO control card, wherein the industrial control computer is connected to the output end of the multi-source environment sensing module through the data acquisition card, and completes data fusion, six-degree-of-freedom ship motion model calculation and path planning and control instruction output at the ship end based on the industrial control computer; The input end of the ship automatic control module is connected to the signal output end of the industrial control computer through the IO control card, and the output end of the ship automatic control module is connected with the steering engine system and the propulsion system of the ship and is used for converting a control instruction into a physical driving signal; the man-machine interaction module is in communication connection with the autonomous navigation decision module and is used for displaying navigation situation and setting navigation tasks for crews. The technical scheme is further improved, the multi-source environment sensing module comprises a Beidou/GPS dual-mode receiver, a log and a wind speed and direction meter, wherein the Beidou/GPS dual-mode receiver and the log are used for acquiring longitude and latitude coordinates, ground speed, water speed and track direction information of a ship, the wind speed and direction meter is used for acquiring relative wind speed and relative wind direction data of the environment where the ship is located in real time, and the multi-source environment sensing module is connected with the autonomous navigation decision module through serial ports or bus interfaces respectively. The technical scheme is further improved, the industrial control computer is provided with a central processing unit, an operation memory module, a storage module and a graphic processing unit, wherein the capacity of the operation memory module is more than or equal to 8G, the capacity of the storage module is more than or equal to 128G, and the video memory capacity of the graphic processing unit is more than or equal to 2G. The technical scheme is further improved, the ship automatic control module comprises a rudder angle control converter and a host machine rotating speed controller, wherein the rudder angle control converter converts digital rudder in control instructions into voltage signals or PWM signals for driving a stee