The invention discloses an inland river workboat autonomous shore-attaching sailing method and system, and the method comprises the steps: obtaining an angle of a ship heading at a certain moment, a distance between a first distance measurement point and a second distance measurement point which are adjacently arranged at the same side, and a first distance and a second distance which are obtained at the first distance measurement point and the second distance measurement point respectively, determining a first angle; determining the safety distance of the ship based on the ship heading angle, the ship trace angle, the movement speed of the ship and the first angle; obtaining the shortest distance between the ship and the to-be-leaned shore; according to the nearest distance, the first distance, the second distance, a preset target distance and a safe distance, determining a target angle difference between the ship and the to-be-leaned shore; determining a target angle of the ship according to the target angle difference and the first angle; and according to the target angle, the ship is controlled to travel towards the shore. According to the method, safe and effective ship shore attaching operation can be achieved without setting an operation route in advance and constructing a scene, the operation cost is reduced, and the operation applicability is improved.

    本发明公开了一种内河作业船自主贴岸航行方法及系统,包括:获取某一时刻的船艏向的角度、同侧相邻设置的第一测距点和第二测距点之间的距离,以及分别在所述第一测距点处和所述第二测距点处获取的第一距离和第二距离,并确定第一角度;基于船艏向的角度、船迹向的角度、船的移动速度和第一角度,确定船的安全距离;获取船与待靠岸边的最近距离;根据最近距离、第一距离、第二距离、预设的目标距离和安全距离,确定船与待靠岸边的目标角度差;根据目标角度差和第一角度,确定船的目标角度;根据目标角度,控制船向待靠岸边行驶。本发明无需提前设置作业航线以及对场景进行构建,即可实现船舶贴岸安全有效作业,降低作业成本,提高作业适用性。


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    Title :

    Inland river workboat autonomous shore-attaching navigation method and system


    Additional title:

    一种内河作业船自主贴岸航行方法及系统


    Contributors:
    ZHANG BAOCHEN (author) / WAN QIANNAN (author) / CAO ZHIWEI (author) / SUN ZHENGPU (author) / YUAN GUODONG (author) / JIANG YUHAN (author)

    Publication date :

    2024-04-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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