The invention discloses a ship automatic berthing control method, device and equipment and a storage medium. The method includes the steps that current ship running parameters are obtained, and the running parameters include ship drift angle, rudder angle information and speed information; obtaining a target ship motion model according to the ship drift angle; obtaining heading information of the current ship according to the driving parameters and the target ship motion model, and establishing a ship control algorithm according to the heading information and the rudder angle information; and obtaining a berthing terminal point, and controlling the current ship to be automatically berthed based on the berthing terminal point according to a ship control algorithm. The target ship motion model can be accurately obtained through the ship drift angle, then the ship control algorithm is established according to the heading information and the rudder angle information, the berthing efficiency is improved while the accuracy of the berthing process is improved, and therefore the safety of ship navigation is guaranteed; and finally, the current ship can be controlled to be automatically berthed based on the berthing terminal point through a ship control algorithm, manual operation is not needed, and the labor cost is saved.
本发明公开了一种船舶自动靠泊控制方法、装置、设备及存储介质。包括:获取当前船舶的行驶参数,其中,行驶参数包括船舶漂角、舵角信息和速度信息;根据船舶漂角获取目标船舶运动模型;根据行驶参数和目标船舶运动模型获取当前船舶的艏向信息,并根据艏向信息和舵角信息建立船舶控制算法;获取靠泊终点,根据船舶控制算法基于靠泊终点控制当前船舶自动靠泊。通过船舶漂角可以准确获取目标船舶运动模型,再根据艏向信息和舵角信息建立船舶控制算法,提升了靠泊过程准确性的同时也提高了靠泊效率,从而保证了船舶航行的安全,最后通过船舶控制算法基于靠泊终点即可控制当前船舶自动靠泊,不需要人工操作,节约了人力成本。
Ship automatic berthing control method, device and equipment and storage medium
一种船舶自动靠泊控制方法、装置、设备及存储介质
2022-12-13
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
Engineering Index Backfile | 1964
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