CN118210318A - Unmanned ship planning method and device, computer equipment and unmanned ship - Google Patents
Unmanned ship planning method and device, computer equipment and unmanned ship Download PDFInfo
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Abstract
The embodiment of the invention provides a planning method, a planning device, computer equipment and an unmanned ship, wherein the planning method enables the unmanned ship to bypass an obstacle in advance before collision on a task route by creating a linear model of the unmanned ship in advance, and to drive along a bypass channel, and sets an opening and closing angle of a mechanical arm in advance on each path section on the bypass channel, so that the unmanned ship can drive at a proper speed, and a task place can be reached more quickly. According to the embodiment of the invention, the unmanned ship can travel in different water areas according to the speeds corresponding to the opening and closing angles by presetting the planning methods of the different opening and closing angles of the mechanical arm of the unmanned ship, so that the efficient autonomous obstacle avoidance is realized.
Description
Technical Field
The invention relates to the technical field of unmanned ships, in particular to a planning method and device for an unmanned ship, computer equipment and the unmanned ship.
Background
The unmanned ship is a ship for realizing sailing and executing tasks through an automatic technology and a remote control system, is widely applied to a plurality of fields such as water surface cleaning, exploration, environment monitoring and rescue, and is required to carry out path planning according to the environment of a water area in the working process of the unmanned ship, so that the unmanned ship is prevented from colliding with obstacles in the working process, and the running efficiency is reduced.
The existing unmanned ship path planning mostly has planned global paths in advance, the unmanned ship runs according to the planned paths, and the obstacle dynamics of the water area are detected in real time, so that the navigation speed of the unmanned ship is adjusted. The planning method is suitable for work tasks with fewer obstacles or more idle, and if the work tasks with more obstacles or busy in the water area, the unmanned ship needs to avoid the obstacles frequently, so that the work efficiency is reduced. In order to enable the unmanned ship to adapt to task work of different types and different water areas, the unmanned ship with the mechanical arm is usually adopted for task work, but the unmanned ship with the mechanical arm is complex in structure, the form of the unmanned ship can be greatly changed under different task work, the corresponding dynamic model of the unmanned ship is also changed, and the planning method in the prior art cannot well plan the unmanned ship of the type.
Disclosure of Invention
The embodiment of the invention provides a planning method and device for an unmanned ship, computer equipment and the unmanned ship, and aims to solve the problem that the planning method in the prior art cannot plan a path of the unmanned ship with a mechanical arm.
In a first aspect, an embodiment of the present invention provides a method for planning an unmanned ship with a mechanical arm, including:
Step 1: acquiring power information of the unmanned ship under different opening and closing angles of the mechanical arm, and creating a linear model according to the power information;
step 2: acquiring boundary information and barrier information of the unmanned ship in the driving process, and performing smoothing treatment according to a task route of the unmanned ship;
Step 3: judging whether the unmanned ship collides with the obstacle according to the task route and the obstacle information;
Step 4: if collision occurs, determining a detour channel according to the boundary information, the obstacle information and the collision time;
step 5: determining opening and closing angles of the mechanical arm in different sections in the bypass channel according to the bypass channel, and setting the mechanical arm according to the determined opening and closing angles;
Step 6: determining a driving state of the unmanned ship under each road section according to the determined opening and closing angle, re-planning a driving route according to the driving state and the linear model, and judging whether the unmanned ship collides with an obstacle or not again;
step 7: if collision occurs, returning to the step 4, and if collision does not occur, issuing the driving route to a control module.
In a second aspect, an embodiment of the present invention provides a planning apparatus for an unmanned ship with a mechanical arm, including:
The model creation unit is used for acquiring power information of the unmanned ship under different opening and closing angles of the mechanical arm and creating a linear model according to the power information;
The information acquisition unit is used for acquiring boundary information and barrier information of the unmanned ship in the running process and carrying out smoothing treatment according to a task route of the unmanned ship;
a collision judging unit for judging whether the unmanned ship and the obstacle collide according to the task route and the obstacle information;
The detour unit is used for determining a detour channel according to the boundary information, the obstacle information and the collision time if collision occurs;
The setting unit is used for determining the opening and closing angles of the mechanical arm in different road sections in the detour channel according to the running route and setting the mechanical arm according to the determined opening and closing angles;
The planning unit is used for determining the running state of the unmanned ship under each road section according to the determined opening and closing angle, re-planning the running route according to the running state and the linear model, and judging whether the unmanned ship collides with the obstacle or not again;
And the issuing unit is used for returning to the detour unit if collision occurs, and issuing the driving route to the control module if collision does not occur.
In a third aspect, an embodiment of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements a method for planning an unmanned ship with a robotic arm as described above when the processor executes the computer program.
In a fourth aspect, an embodiment of the present invention provides an unmanned ship comprising a planning apparatus as described above.
The embodiment of the invention provides a planning method, a planning device, computer equipment and an unmanned ship, wherein the planning method enables the unmanned ship to bypass an obstacle in advance before collision on a task route by creating a linear model of the unmanned ship in advance, and to drive along a bypass channel, and sets an opening and closing angle of a mechanical arm in advance on each path section on the bypass channel, so that the unmanned ship can drive at a proper speed, and a task place can be reached more quickly. According to the embodiment of the invention, the unmanned ship can travel in different water areas according to the speeds of the corresponding opening and closing angles of the road sections by presetting the planning methods of the different opening and closing angles of the mechanical arm of the unmanned ship, so that the efficient autonomous obstacle avoidance is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a planning method for an unmanned ship with a mechanical arm according to an embodiment of the present invention;
FIG. 2 is a trajectory of an unmanned ship and obstacle provided by an embodiment of the present invention;
Fig. 3 is a schematic sub-flowchart of a planning method for an unmanned ship with a mechanical arm according to an embodiment of the present invention;
fig. 4 is a task running map provided by an embodiment of the present invention;
FIG. 5 is a diagram of a bypass channel according to an embodiment of the present invention;
fig. 6 is another schematic sub-flowchart of a planning method for an unmanned ship with a mechanical arm according to an embodiment of the present invention;
fig. 7 is another schematic sub-flowchart of a planning method for an unmanned ship with a mechanical arm according to an embodiment of the present invention;
Fig. 8 is a logic flow diagram of a method for planning an unmanned ship with a mechanical arm according to an embodiment of the present invention;
fig. 9 is a schematic block diagram of a planning device for an unmanned ship with a mechanical arm according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Referring to fig. 1, an embodiment of the present invention provides a method for planning an unmanned ship with a mechanical arm, including steps S1-S7:
s1: acquiring power information of the unmanned ship under different opening and closing angles of the mechanical arm, and creating a linear model according to the power information;
In the step, the unmanned ship comprises an automatic mode and a non-automatic mode, and the step is mainly aimed at acquiring power information of different opening and closing angles of the mechanical arm in the non-automatic mode of the unmanned ship, and then creating a linear model according to the power information, wherein the creation process is specifically described in the following embodiments.
In one embodiment, step S1 includes:
controlling the unmanned ship to move at different speeds and rotation rates under the condition that the mechanical arm is at different opening and closing angles, and acquiring power information of the unmanned ship during movement; wherein the power information includes longitudinal speed, longitudinal acceleration, lateral speed, lateral acceleration, and angular acceleration;
Fitting to obtain a linear model T according to the power information: ，
Wherein, Is a coefficient matrix under different opening and closing angles,/>For unmanned ship propeller input, including rotational speed and angle,/>Wherein/>Is the longitudinal position of unmanned ship,/>For longitudinal speed,/>For longitudinal acceleration,/>For transverse velocity,/>Is the transverse acceleration,/>Is angular acceleration.
In the step, when the mechanical arm is at different opening and closing angles, the unmanned ship is controlled to move at different speeds and different rotation speeds, information such as acceleration and speed is recorded, a linear model of the unmanned ship is fitted according to a least square method, and the maximum acceleration, the maximum deceleration, the maximum forward speed and the maximum backward speed of the unmanned ship, and the maximum angular acceleration and the maximum linear acceleration of the unmanned ship during rotation are obtained, and the maximum values are used as planned boundaries, so that boundary information is obtained.
S2: acquiring boundary information and barrier information of the unmanned ship in the driving process, and performing smoothing treatment according to a task route of the unmanned ship;
In this step, the environmental constraint condition of the unmanned ship in the driving process is to be obtained, wherein the environmental constraint condition comprises boundary information and barrier information, the boundary information refers to left and right boundary coordinates of the unmanned ship in the driving area, and the barrier information refers to the contour, speed, angle, running track and other information of all barriers in the driving area. The boundary information can be obtained in a preset mode, or can be obtained in a real-time receiving mode, and for the obstacle information, the information can be obtained only through a sensing module of the unmanned ship.
Meanwhile, the unmanned ship can also receive a remote instruction, a preset program or a task issued by a task issuing system and drive to a task place in parallel, the driving route is a task route, smoothing processing is carried out according to the task route, and the position (x, y), the angle (theta), the curvature (kappa) and the curvature derivative (dkappa) of any sampling point on the smoothed task route can be obtained.
S3: judging whether the unmanned ship collides with the obstacle according to the task route and the obstacle information;
The step mainly carries out collision detection on the unmanned ship and the obstacle, judges whether the unmanned ship needs to detour and the detour time according to the collision detection result, and the judging process is referred to the subsequent embodiment.
In one embodiment, step S3 includes:
According to the curvature in the task route And maximum lateral acceleration of unmanned ship/>Determining a speed constraint/>, of the mission route as follows：
，
Predicting a speed track curve of the unmanned ship under the task route according to the speed constraint, the current running state of the unmanned ship and the linear model;
and predicting the moving track of the obstacle, and performing collision detection according to the speed track curve and the moving track to judge whether the unmanned ship collides with the obstacle or not.
The collision judgment process of the unmanned ship and the obstacle comprises the following steps: firstly, predicting a speed track curve of the unmanned ship under a mission route and predicting a running track of an obstacle, judging whether the tracks of the unmanned ship and the obstacle have a crossing area, and if so, indicating that the unmanned ship and the obstacle collide.
S4: if collision occurs, determining a detour channel according to the boundary information, the obstacle information and the collision time;
The method specifically illustrates the situation that the two collision occurs, firstly, the collision occurs at any moment corresponding to the overlapping area is detected, then the collision starting time and the collision ending time are recorded, the collision time range can be obtained, the collision time is confirmed according to the collision time range, the detour time is firstly determined according to the collision time, and then the detour channel is determined according to the boundary information and the obstacle information.
In one embodiment, the step 4 includes:
The collision time range is recorded as follows: ，
Wherein, Representing the movement track of an obstacle at a certain moment,/>Representing the time of onset of collision,/>Indicating the end time of the collision.
In this step, as shown in fig. 2, the range of the dashed box represents the collision time range, the diagonal line region within the collision time range represents the intersection region, that is, the collision region, and then the collision time range may be recorded according to the formula according to the time corresponding to the collision region.
In one embodiment, as shown in fig. 3, step S4 further includes:
S41, obtaining a task running map according to the boundary information, the obstacle information, the collision time range and the task route;
S42, scanning obstacles and boundaries along the direction of the task route according to a preset step length, and acquiring an idle range of the transverse position of each sampling point on the task route:
S43, combining the continuous at least two idle ranges, judging whether an overlapping area exists, if so, extending the idle ranges downwards to obtain all feasible idle ranges, and connecting all the feasible idle ranges from front to back to obtain at least one bypass channel;
s44, calculating the cost of each detour channel deviating from the task route;
s45, taking the detour channel with the minimum cost deviating from the task route as a final detour channel.
The method mainly comprises the steps of obtaining a task running map, then scanning according to the direction of a task route in the task running map, thereby determining the positions of the obstacle and the boundary, and then avoiding the positions of the obstacle and the boundary to obtain a plurality of running routes, wherein the running routes are bypass channels. The task travel map is shown in fig. 4, a represents a first obstacle, a' represents a second obstacle, B represents an unmanned ship, C represents a boundary that can travel by a broken straight line, and D represents a task route by a solid curve; the specific track of the detour channel is shown in fig. 5, where F is a track dotted line in fig. 5 and represents the original boundary of the obstacle, E is a track solid line and represents the boundary after considering the hull size and redundancy, and finally the unmanned ship will travel inside the two boundaries of E, that is, the detour channel, as can be seen from fig. 5, there are 4 detour channels, and then the detour channel with the minimum cost of deviating from the mission route is selected as the final detour channel.
In step S42, the free range of the lateral position of each sampling point on the task route is acquired as follows:
，
Wherein, Representing the cumulative length along the direction of the task route,/>Respectively represent the current/>The kth free range at.
In step S43, taking fig. 5 as an example, 4 detour channels may be found, and each detour channel may be expressed as:
，/>，/> For sampling step number,/> Is a sampling point.
In one embodiment, as shown in fig. 6, step S44 includes:
s441, for each bypass channel, acquiring transverse deviation according to the position of each sampling point of the task route and the position of each sampling point of the bypass channel;
in this step, each sampling point position of the bypass channel may be a central position where the sampling point is idle, and the idle represents the inside of two E boundaries, which may be obtained by the following formula:
，
Wherein, A free range lower limit position and an upper limit position representing the current sampling point position;
And then acquiring the transverse deviation between the position of each sampling point on the task route and the position of each sampling point of the bypass channel.
S442, summarizing all the transverse deviations to obtain the cost of each bypass channel deviating from the task route.
In this step, the cost of each detour channel deviating from the task route is calculated by：
，
Wherein,For the total length of the path,/>For sampling step number,/>For a predetermined step size/>Is the lateral deviation.
In step S45, a detour path with the smallest cost of deviating from the mission route is selected as the final obstacle avoidance path (detour path) of the unmanned ship.
S5: determining opening and closing angles of the mechanical arm in different sections in the bypass channel according to the bypass channel, and setting the mechanical arm according to the determined opening and closing angles;
In the step, the unmanned ship can control the mechanical arm to drive at different opening and closing angles according to different road sections in the driving process, so as to control the driving speed of the unmanned ship.
In one embodiment, as shown in fig. 7, step S5 includes:
s51, calculating the drivable width of the unmanned ship according to the detour channel;
s52, acquiring a plurality of opening and closing angles of the unmanned ship mechanical arm;
S53, determining the opening and closing angles of the mechanical arm of each sampling point in the detour channel according to the driving width, the opening and closing angles and the linear model;
s54, collecting all opening and closing angles under each path segment in the bypass channel to obtain an opening and closing angle set, and taking the minimum value in the opening and closing angle set;
S55, the mechanical arm of the corresponding road section is set according to the minimum value.
In the step, firstly, the driving width of the unmanned ship on each sampling point is calculated, the opening and closing angles of the mechanical arms of each sampling point on the bypass channel are determined according to the opening and closing angles of the mechanical arms corresponding to each sampling point and the linear model, and the opening and closing angles of the mechanical arms of a continuous section in the bypass channel are recorded asThen the maximum opening and closing angle in the section is obtainedAnd minimum opening and closing angle/>The difference between the maximum opening and closing angle value and the minimum opening and closing angle value is not more than/>：
，
If the two satisfy the difference value not exceedingAnd under the condition of the minimum opening and closing angle, selecting the minimum opening and closing angle as the opening and closing angle of the mechanical arm of the section, and obtaining the opening and closing angle of the mechanical arm of each section on the detour channel according to the method, wherein the driving states correspond to different driving states of the unmanned ship under different opening and closing angles of the mechanical arm, and the driving states comprise the size of the unmanned ship, the maximum acceleration, the maximum deceleration, the maximum forward speed, the maximum backward speed, the maximum angular acceleration, the maximum linear acceleration and other information of the unmanned ship during rotation.
S6: determining a driving state of the unmanned ship under each road section according to the determined opening and closing angle, re-planning a driving route according to the driving state and the linear model, and judging whether the unmanned ship collides with an obstacle or not again;
In this step, since the maximum speeds (maximum accelerations) or minimum speeds (minimum accelerations) of the unmanned ship in different driving states are different, in order to enable the unmanned ship to switch from one driving state to another driving state, it is necessary to design a starting driving state and an ending driving state of the unmanned ship in each road section according to opening and closing angles corresponding to different road sections under the detouring channel, the two states are mainly designed according to a driving range of the unmanned ship in the current road section and a speed (acceleration) that the unmanned ship can reach, then the driving route and the speed are re-planned according to the two driving states and the linear model, and collision detection is performed again in the driving route, so as to determine whether the unmanned ship and the obstacle collide.
S7: if collision occurs, returning to the step 4, and if collision does not occur, issuing the driving route to a control module.
In this step, according to the judgment result, different operation flows are executed, if collision occurs, the step 4 is returned to determine the detour channel again, if collision does not occur, the driving route is issued to the control module, and the control module controls the unmanned ship to reach the task place with the set opening and closing angle of the mechanical arm. The entire logic flow diagram of this embodiment is shown in fig. 8.
The embodiment of the invention also provides a planning device of the unmanned ship with the mechanical arm, which is used for executing any embodiment of the planning method of the unmanned ship with the mechanical arm. Specifically, referring to fig. 9, fig. 9 is a schematic block diagram of a planning apparatus for an unmanned ship with a mechanical arm according to an embodiment of the present invention. The planning apparatus 800 of the unmanned ship with a robot arm includes:
the model creation unit 810 is configured to obtain power information of the unmanned ship under different opening and closing angles of the mechanical arm, and create a linear model according to the power information;
in an embodiment, the model creation unit 810 includes:
The control unit is used for controlling the unmanned ship to move at different speeds and rotation rates under the condition that the mechanical arm is positioned at different opening and closing angles, and acquiring power information of the unmanned ship during movement; wherein the power information includes longitudinal speed, longitudinal acceleration, lateral speed, lateral acceleration, and angular acceleration;
the fitting unit is used for fitting to obtain a linear model T according to the power information:
，
Wherein, Is a coefficient matrix under different opening and closing angles,/>For unmanned ship propeller input, including rotational speed and angle,/>Wherein/>Is the longitudinal position of unmanned ship,/>For longitudinal speed,/>For longitudinal acceleration,/>For transverse velocity,/>Is the transverse acceleration,/>Is angular acceleration.
An information acquisition unit 820 for acquiring boundary information and obstacle information of the unmanned ship during traveling and performing smoothing processing according to a mission route of the unmanned ship;
A collision judging unit 830 for judging whether the unmanned ship and the obstacle collide according to the mission route and the obstacle information;
in an embodiment, the collision judging unit 830 includes:
a speed constraint unit for determining the curvature of the task route And maximum lateral acceleration of unmanned ship/>Determining a speed constraint/>, of the mission route as follows：
，
The predicting unit is used for predicting a speed track curve of the unmanned ship under the task route according to the speed constraint, the current running state of the unmanned ship and the linear model;
and the collision detection unit is used for predicting the moving track of the obstacle, carrying out collision detection according to the speed track curve and the moving track, and judging whether the unmanned ship collides with the obstacle or not.
A detour unit 840 for determining a detour channel according to the boundary information, the obstacle information, and the collision time if a collision occurs;
in one embodiment, the bypass unit 840 includes:
A recording unit configured to record the collision time range as follows:
，
Wherein, Representing the movement track of an obstacle at a certain moment,/>Representing the time of onset of collision,/>Indicating the end time of the collision.
In one embodiment, the bypass unit 840 further includes:
the map acquisition unit is used for acquiring a task running map according to the boundary information, the obstacle information, the collision time range and the task route;
The idle range obtaining unit is used for scanning the obstacle and the boundary along the direction of the task route according to a preset step length and obtaining the idle range of the transverse position of each sampling point on the task route:
The overlapping judging unit is used for combining the continuous at least two idle ranges, judging whether an overlapping area exists or not, if so, extending the idle ranges downwards to obtain all feasible idle ranges, and connecting all the feasible idle ranges from front to back to obtain at least one bypass channel;
the cost calculation unit is used for calculating the cost of each detour channel deviating from the task route;
And the route determining unit is used for taking the detour channel with the minimum cost of deviating from the task route as a final detour channel.
In an embodiment, the cost calculation unit includes:
The transverse deviation acquisition unit is used for acquiring transverse deviation according to the position of each sampling point of the task route and the position of each sampling point of the bypass channel for each bypass channel;
And the summarizing unit is used for summarizing all the transverse deviations to obtain the cost of deviating each bypass channel from the task route.
A setting unit 850, configured to determine opening and closing angles of the mechanical arm in different road sections in the bypass channel according to the bypass channel, and set the mechanical arm according to the determined opening and closing angles;
in an embodiment, the setting unit 850 includes:
a drivable width calculation unit for calculating the drivable width of the unmanned ship according to the detour channel;
The opening and closing angle acquisition unit is used for acquiring a plurality of opening and closing angles of the unmanned ship mechanical arm;
the opening and closing angle determining unit is used for determining the opening and closing angles of the mechanical arm of each sampling point in the bypass channel according to the drivable width, the opening and closing angles and the linear model;
The collecting unit is used for collecting all opening and closing angles under each path section in the bypass channel to obtain an opening and closing angle set, and taking the minimum value in the opening and closing angle set;
and the setting subunit is used for setting the mechanical arm of the corresponding road section according to the minimum value.
A planning unit 860, configured to determine a driving state of the unmanned ship under each road section according to the determined opening and closing angle, re-plan a driving route according to the driving state and the linear model, and re-determine whether the unmanned ship collides with the obstacle;
and the issuing unit 870 is used for returning to the detour unit if collision occurs, and issuing the running route to the control module if collision does not occur.
The embodiment of the invention provides a computer device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the planning method of the unmanned ship with the mechanical arm according to the previous embodiment when executing the computer program.
The embodiment of the invention provides an unmanned ship, which comprises a planning device as described in the previous embodiment.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. The unmanned ship planning method with the mechanical arm is characterized by comprising the following steps of:
Step 1: acquiring power information of the unmanned ship under different opening and closing angles of the mechanical arm, and creating a linear model according to the power information;
step 2: acquiring boundary information and barrier information of the unmanned ship in the driving process, and performing smoothing treatment according to a task route of the unmanned ship;
Step 3: judging whether the unmanned ship collides with the obstacle according to the task route and the obstacle information;
Step 4: if collision occurs, determining a detour channel according to the boundary information, the obstacle information and the collision time;
step 5: determining opening and closing angles of the mechanical arm in different sections in the bypass channel according to the bypass channel, and setting the mechanical arm according to the determined opening and closing angles;
Step 6: determining a driving state of the unmanned ship under each road section according to the determined opening and closing angle, re-planning a driving route according to the driving state and the linear model, and judging whether the unmanned ship collides with an obstacle or not again;
step 7: if collision occurs, returning to the step 4, and if collision does not occur, issuing the driving route to a control module.
2. The planning method of claim 1, wherein step 1 comprises:
controlling the unmanned ship to move at different speeds and rotation rates under the condition that the mechanical arm is at different opening and closing angles, and acquiring power information of the unmanned ship during movement; wherein the power information includes longitudinal speed, longitudinal acceleration, lateral speed, lateral acceleration, and angular acceleration;
Fitting to obtain a linear model T according to the power information:
，
Wherein, Is a coefficient matrix under different opening and closing angles,/>For unmanned ship propeller input, including rotational speed and angle,/>Wherein/>Is the longitudinal position of unmanned ship,/>For longitudinal speed,/>For longitudinal acceleration,/>For transverse velocity,/>Is the transverse acceleration,/>Is angular acceleration.
3. The planning method of claim 2, wherein the step 3 includes:
According to the curvature in the task route And maximum lateral acceleration of unmanned ship/>Determining a speed constraint/>, of the mission route as follows：
，
Predicting a speed track curve of the unmanned ship under the task route according to the speed constraint, the current running state of the unmanned ship and the linear model;
and predicting the moving track of the obstacle, and performing collision detection according to the speed track curve and the moving track to judge whether the unmanned ship collides with the obstacle or not.
4. A planning method according to claim 3, wherein said step 4 comprises:
The collision time range is recorded as follows: ，
Wherein, Representing the movement track of an obstacle at a certain moment,/>Representing the time of onset of collision,/>Indicating the end time of the collision.
5. The method of planning of claim 4 wherein step 4 further comprises:
Obtaining a task running map according to the boundary information, the obstacle information, the collision time range and the task route;
Scanning obstacles and boundaries along the direction of the task route according to a preset step length, and acquiring an idle range of the transverse position of each sampling point on the task route:
combining the continuous at least two idle ranges, judging whether an overlapping area exists or not, if so, extending the idle ranges downwards to obtain all feasible idle ranges, and connecting all the feasible idle ranges from front to back to obtain at least one bypass channel;
Calculating the cost of each bypass channel deviating from the task route;
and taking the detour channel with the smallest cost of deviating from the task route as a final detour channel.
6. The method of planning of claim 5, wherein calculating a cost of each detour channel deviating from the mission route comprises:
For each bypass channel, acquiring transverse deviation according to the position of each sampling point of the task route and the position of each sampling point of the bypass channel;
And summarizing all the transverse deviations to obtain the cost of each bypass channel deviating from the task route.
7. The planning method of claim 1, wherein the step 5 includes:
calculating the driving width of the unmanned ship according to the detour channel;
acquiring a plurality of opening and closing angles of a mechanical arm of the unmanned ship;
Determining the opening and closing angles of the mechanical arm of each sampling point in the bypass channel according to the driving width, the opening and closing angles and the linear model;
collecting all opening and closing angles under each path section in the bypass channel to obtain an opening and closing angle set, and taking the minimum value in the opening and closing angle set;
and setting the mechanical arm of the corresponding road section according to the minimum value.
8. Planning apparatus for an unmanned ship with a robotic arm for implementing a planning method according to any one of claims 1-7, comprising:
The model creation unit is used for acquiring power information of the unmanned ship under different opening and closing angles of the mechanical arm and creating a linear model according to the power information;
The information acquisition unit is used for acquiring boundary information and barrier information of the unmanned ship in the running process and carrying out smoothing treatment according to a task route of the unmanned ship;
a collision judging unit for judging whether the unmanned ship and the obstacle collide according to the task route and the obstacle information;
The detour unit is used for determining a detour channel according to the boundary information, the obstacle information and the collision time if collision occurs;
The setting unit is used for determining the opening and closing angles of the mechanical arm in different road sections in the detour channel according to the running route and setting the mechanical arm according to the determined opening and closing angles;
The planning unit is used for determining the running state of the unmanned ship under each road section according to the determined opening and closing angle, re-planning the running route according to the running state and the linear model, and judging whether the unmanned ship collides with the obstacle or not again;
And the issuing unit is used for returning to the detour unit if collision occurs, and issuing the driving route to the control module if collision does not occur.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the planning method of any one of claims 1 to 7 when the computer program is executed by the processor.
10. An unmanned ship comprising a planning apparatus according to claim 8.
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