The invention relates to a fin body real-time automatic obstacle avoidance method for a marine fin stabilizer, and the method enables a fin body of the fin stabilizer to be equivalent to a cuboid model, and the equivalent sphere model of an obstacle takes the obstacle as a mass point, and the safety distance between the mass point and the fin body as the radius. The axis center point in the fin body, the center point of the right side surface of the cuboid model and the projection points of the two points on the plane where the rear side surface is located are marked, the distances between anobstacle and the other four points are respectively measured through a distance measuring sensor, and then the distance between the two center points and the width of the cuboid model is measured; when a collision between an obstacle and the fin occurs, the fin swing angle needs to be changed under the condition that a certain stabilization effect is reduced to achieve obstacle avoidance, and theangle needing to be changed can be known according to the conversion relation. The fin body real-time automatic obstacle avoidance method has the advantages that the method is simple, operation is convenient, practicability is high, the adverse situation that the fin collides when encountering submerged reefs or large suspended solids or special situations is avoided, and the problem that a fin body of a traditional fin stabilizer lacks real-time automatic obstacle avoidance is solved.
本发明涉及一种船用减摇鳍的鳍体实时自动避障方法,该方法将减摇鳍的鳍体等效成长方体模型,其中障碍物的等效球模型是将障碍物看成一个质点,质点与鳍体的安全距离作为半径,标记处于鳍体中的轴中心点、长方体模型右侧面中心点与这两点在后侧面所在平面的投影点,通过测距传感器分别测出障碍物与其余四点的距离,再测出两个中心点的距离和长方体模型的宽,若障碍物将与鳍发生碰撞,则需要在降低一定减摇效果的情况下改变鳍摆角实现避障,由折算关系可知所需改变的角度。本发明优点是方法简单、操作方便、实用性强,并且避免了鳍在遇到暗礁、较大悬浮物或特殊情况时发生碰撞的不利情况,解决了传统减摇鳍的鳍体缺乏实时自动避障的问题。
Fin body real-time automatic obstacle avoidance method for marine fin stabilizer
一种船用减摇鳍的鳍体实时自动避障方法
2021-03-02
Patent
Elektronische Ressource
Chinesisch
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