CN114578776B - Electronic and electric architecture topological structure and system of inland ship remote control system - Google Patents
Electronic and electric architecture topological structure and system of inland ship remote control system Download PDFInfo
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- CN114578776B CN114578776B CN202210232869.3A CN202210232869A CN114578776B CN 114578776 B CN114578776 B CN 114578776B CN 202210232869 A CN202210232869 A CN 202210232869A CN 114578776 B CN114578776 B CN 114578776B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/41855—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication by local area network [LAN], network structure
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides an electronic and electric architecture topological structure and a system of a remote control system of a inland ship, wherein the topological structure comprises the following components: the system comprises a cloud control platform, a shore control platform and a ship control platform; the cloud control platform comprises a plurality of cloud control nodes and a plurality of cloud function modules, wherein the cloud control nodes are internally provided with first Ethernet switch chips; the shore control platform comprises a shore control node, a plurality of shore function domain controllers and a plurality of shore function modules, and a second Ethernet switch chip is arranged in the shore control node; the ship end control platform comprises a central gateway controller, a plurality of ship end functional domain controllers, a plurality of ship end regional domain controllers and a plurality of ship-mounted devices, wherein a third Ethernet switch chip is arranged in the central gateway controller. The invention can reduce the time delay and the cost of the remote control system of the inland ship and improve the upgrading convenience of the remote control system of the inland ship.
Description
Technical Field
The invention relates to the technical field of intelligent ships, in particular to an electronic and electric architecture topological structure and system of a remote control system of a inland ship.
Background
With the development of information technology, computer technology, artificial intelligence technology and other technologies, ship intellectualization has become a necessary trend of modern ship design and manufacturing development, and functions of ships are more and more complex, so that more sensors, controllers and actuators in remote control systems of inland ships are more and more.
In the prior art, the electronic and electric architecture of the remote control system of the inland ship is generally an electronic and electric architecture based on functional domains, particularly at the ship end, the ship end is divided into a plurality of functional domains according to the functional characteristics of the ship end, an actuator and a sensor of each functional domain are required to be connected to a domain controller corresponding to the domain through buses or hard wires, the sensors, the actuators and the controllers are scattered in each geometric area of the ship end, and finally, the abnormal complexity of a wire harness connection loop of the ship end is caused, the wire harness cost is high, and the technical problem of high cost of the remote control system of the inland ship is further caused. And meanwhile, the functions are dispersed in different domain controllers, when the functions are upgraded, software refreshing is needed to be carried out on a plurality of domain controllers, most of networks among the domain controllers are still mainly CAN and LIN buses, and the transmission rate of the buses is very low, so that the upgrading and maintenance efficiency of a remote control system of a inland ship is low.
Therefore, there is an urgent need to provide an electronic-electric architecture topology structure and system of a remote control system of a inland ship, which solve the technical problems of higher cost and lower upgrading and maintenance efficiency of the remote control system of the inland ship in the prior art.
Disclosure of Invention
In view of the foregoing, it is necessary to provide an electronic-electric architecture topology structure and system of a remote control system of a inland ship, which are used for solving the technical problems of higher cost, and lower upgrading and maintenance efficiency of the remote control system of the inland ship in the prior art.
In order to solve the technical problems, the invention provides an electronic and electrical architecture topological structure of a remote control system of a inland ship, which comprises the following components: the system comprises a cloud control platform, a shore control platform and a ship control platform;
the cloud control platform comprises a plurality of cloud control nodes and a plurality of cloud function modules, wherein the cloud control nodes are used for controlling the cloud function modules, and a first Ethernet switch chip is arranged in each cloud control node and is used for realizing communication among the cloud control nodes and communication between the cloud control nodes and the cloud function modules;
the shore control platform comprises a shore control node, a plurality of shore function domain controllers and a plurality of shore function modules, wherein the shore control node is used for controlling the plurality of shore function domain controllers, the shore function domain controllers are used for controlling the plurality of shore function modules, and a second Ethernet switch chip is arranged in the shore control node and is used for realizing communication between the shore control node and the shore function domain controllers;
the ship end control platform comprises a central gateway controller, a plurality of ship end functional domain controllers, a plurality of ship end regional domain controllers and a plurality of ship-borne devices, wherein the ship end functional domain controllers and the ship end regional domain controllers are all used for controlling the plurality of ship-borne devices, the central gateway controller is used for controlling the ship end functional domain controllers and the ship end regional domain controllers, and a third Ethernet switch chip is arranged in the central gateway controller and used for realizing communication between the central gateway controller and the ship end functional domain controllers and between the ship end regional domain controllers.
In some possible implementations, the first ethernet switch chip includes a plurality of cloud fixed ports and a plurality of cloud configurable ports, and the plurality of cloud function modules are in communication connection with the cloud control node through the plurality of cloud fixed ports.
In some possible implementations, the multiple cloud fixed ports include a first cloud fixed port, a second cloud fixed port, and a third cloud fixed port; the plurality of cloud control nodes comprise a first cloud control node, a second cloud control node and a third cloud control node; the cloud function modules comprise a map service module, a traffic monitoring module, a cloud safety early warning module, a traffic statistics module, an autonomous navigation module, a remote driving module, a cloud resource management module, a task planning module and an optical fiber communication module;
the map service module, the traffic monitoring module and the traffic statistics module are in communication connection with the first cloud control node through the first cloud fixed port, the cloud safety early warning module, the autonomous navigation module and the remote driving module are in communication connection with the second control node through the second cloud fixed port, and the cloud resource management module, the task planning module and the optical fiber communication module are in communication connection with the third cloud control node through the third cloud fixed port.
In some possible implementations, the second ethernet switch chip includes a plurality of bank-end fixed ports and a plurality of bank-end configurable ports, and the plurality of bank-end functional modules are communicatively connected to the bank-end control node through the plurality of bank-end fixed ports.
In some possible implementations, the multiple bank end fixed ports include a first bank end fixed port and a second bank end fixed port; the plurality of shore-side function domain controllers comprise a shore-side perception domain controller and a shore-side cooperative scheduling domain controller; the shore-end sensing domain controller is in communication connection with the shore-end control node through the first shore-end fixed port, and the shore-end cooperative scheduling domain controller is in communication connection with the shore-end control node through the second shore-end fixed port.
In some possible implementations, the plurality of shore-end function modules include a shore-end environmental awareness sensor, a security pre-warning module, a traffic organization module, a resource management module, and a dynamic networking module; the bank end sensing domain controller is used for controlling the bank end environment sensing sensor, and the bank end cooperative scheduling domain controller is used for controlling the safety early warning module, the traffic organization module, the resource management module and the dynamic networking module.
In some possible implementations, the plurality of shore function modules further includes a shore optical fiber communication module and a shore wireless communication module, and the multi-path shore fixed port further includes a third shore fixed port and a fourth shore fixed port; the shore-end optical fiber communication module is in communication connection with the shore-end control node through the third shore-end fixed port and is used for realizing communication between the shore-end control node and the cloud control node, and the shore-end wireless communication module is in communication connection with the shore-end control node through the fourth shore-end fixed port and is used for realizing communication between the shore-end control node and the central gateway controller.
In some possible implementations, the ship end functional domain controller includes a ship end motion domain controller and a ship end environmental awareness domain controller, and the ship end regional domain controller includes a console domain controller, a deck domain controller, and a cabin domain controller.
In some possible implementations, the ship end control platform further includes a first power supply, a second power supply, and a power distribution management module, one end of the power distribution management module is connected to the first power supply and the second power supply, the other end of the power distribution management module is connected to the central gateway controller, the plurality of ship end domain controllers, and the power distribution management module is configured to control the first power supply or the second power supply to supply power to the central gateway controller, the plurality of ship end domain controllers, and the plurality of ship end domain controllers.
On the other hand, the invention also provides a remote control system of the inland ship, which comprises an electronic-electric architecture topological structure, wherein the electronic-electric architecture topological structure is the electronic-electric architecture topological structure of the remote control system of the inland ship in any one possible implementation mode.
The beneficial effects of adopting the embodiment are as follows: according to the electronic and electric architecture topological structure of the inland ship remote control system, provided by the invention, the ship end control platform comprises a plurality of ship end functional domain controllers and a plurality of ship end regional domain controllers, the ship end domain controllers are divided based on functions and regions, the ship end domain controllers are divided by considering the regions, and the wire harness length between ship-borne equipment and the ship end domain controllers can be greatly shortened, so that the wire harness weight and the wire harness cost can be reduced, and the cost of the inland ship remote control system can be further reduced.
Furthermore, the cloud control node is arranged to perform centralized control on the cloud function module, the shore control node is arranged to perform centralized control on the shore function module, the central gateway controller is arranged to perform centralized control on shipborne equipment, and when upgrading and maintaining the remote system of the inland ship, only the cloud control node, the shore control node and the central gateway controller are required to be upgraded or maintained, so that the efficiency of upgrading and maintaining the remote control system of the inland ship can be greatly improved.
Furthermore, the cloud control node, the shore control node and the central gateway controller are respectively internally provided with the first Ethernet switch chip, the second Ethernet switch chip and the third Ethernet switch chip, so that the network communication speed and the bandwidth of the cloud control platform, the shore control platform and the ship control platform can be improved, and the efficiency of upgrading and maintaining the remote control system of the inland ship can be further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an embodiment of an electronic-electrical architecture topology of a remote control system for inland vessels provided by the present invention;
fig. 2 is a schematic structural diagram of an embodiment of a cloud control platform according to the present invention;
FIG. 3 is a schematic structural diagram of an embodiment of a landing control platform according to the present invention;
fig. 4 is a schematic structural diagram of an embodiment of a ship end control platform provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only 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.
In the description of the embodiments of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more. "and/or", describes an association relationship of an associated object, meaning that there may be three relationships, for example: a and/or B may represent: a exists alone, A and B exist together, and B exists alone.
Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor systems and/or microcontroller systems.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The invention provides an electronic and electric architecture topological structure and system of a remote control system of a inland ship, which are respectively described below.
Fig. 1 is a schematic structural diagram of an embodiment of an electronic-electric architecture topology structure of a remote control system for a inland ship according to the present invention, and as shown in fig. 1, an electronic-electric architecture topology structure 10 of a remote control system for a inland ship according to an embodiment of the present invention includes: cloud control platform 100, shore control platform 200, and ship control platform 300;
the cloud control platform 100 includes a plurality of cloud control nodes 110 and a plurality of cloud function modules 120, where the cloud control nodes 110 are configured to control the plurality of cloud function modules 120, and the cloud control nodes 110 are embedded with a first ethernet switch chip 130, so as to implement communication between the cloud control nodes 110 and the cloud function modules 120;
the shore control platform 200 includes a shore control node 210, a plurality of shore domain controllers 220, and a plurality of shore functional modules 230, where the shore control node 210 is configured to control the plurality of shore functional domain controllers 220, the shore functional domain controllers 220 are configured to control the plurality of shore functional modules 230, and a second ethernet switch chip 240 is built in the shore control node 210, so as to implement communication between the shore control node 210 and the shore functional domain controllers 220;
the ship end control platform 300 comprises a central gateway controller 310, a plurality of ship end domain controllers 320, a plurality of ship end domain controllers 330 and a plurality of ship-borne devices 340, wherein the ship end domain controllers 320 and the ship end domain controllers 330 are used for controlling the plurality of ship-borne devices 340, the central gateway controller 310 is used for controlling the ship end domain controllers 320 and the ship end domain controllers 330, and a third ethernet switch chip 350 is arranged in the central gateway controller 310 and is used for realizing communication between the central gateway controller 310 and the ship end domain controllers 320 and the ship end domain controllers 330.
Compared with the prior art, in the electronic and electrical architecture topology structure 10 of the remote control system for the inland ship provided by the embodiment of the invention, the ship end control platform 300 is arranged to comprise a plurality of ship end functional domain controllers 320 and a plurality of ship end regional controllers 330, so that the ship end domain controllers are divided based on functions and regions, the ship end domain controllers are divided by considering the regions, the wire harness length between the ship-borne equipment 340 and the ship end regional controllers 330 can be greatly shortened, the wire harness weight and the wire harness cost can be reduced, and the cost of the remote control system for the inland ship can be further reduced.
Further, in the embodiment of the present invention, the cloud control node 110 is configured to perform centralized control on the cloud function module 120, the shore control node 210 is configured to perform centralized control on the shore function module 230, and the central gateway controller 310 is configured to perform centralized control on the shipboard device 340, so that when upgrading and maintaining the remote system of the inland ship, only the cloud control node 110, the shore control node 210 and the central gateway controller 310 need to be upgraded or maintained, and the efficiency of upgrading and maintaining the remote control system of the inland ship can be greatly improved.
Furthermore, in the embodiment of the present invention, the first ethernet switch chip 130, the second ethernet switch chip 240 and the third ethernet switch chip 350 are respectively built in the cloud control node 110, the shore control node 210 and the central gateway controller 310, so that the network communication rate and bandwidth of the cloud control platform 100, the shore control platform 200 and the ship control platform 300 can be improved, and the efficiency of upgrading and maintaining the remote control system of the inland vessel can be further improved.
It should be noted that: the cloud control node 110, the shore control node 210, and the central gateway controller 310 are all high-precision computers.
It should be understood that: the cloud control platform 100 implements global information interaction and system, global navigation task management and optimization, and global resource and calculation management through the cloud function module 120. The shore end control platform 200 is responsible for multi-ship interaction and system in a block, block task management and optimization, regional resource and calculation management, and meanwhile, the shore end control platform 200 can also serve as a local control center to remotely control ships.
Also to be described is: the central gateway controller 310 is a data switching center of the ship network. The main functions of the central gateway controller 310 include: converting data and control information between various network communication protocols to realize information communication between different domains; the system network is safely managed, and unauthorized data sources can be filtered through the firewall; the system can manage the network state and the state and configuration of a controller connected to the network, diagnose faults, and communicate with the shore control platform 200 and the cloud control platform 100 for remote data downloading; and time synchronization in the whole network can be completed so as to meet the requirements of an interactive system with low time delay and higher communication robustness.
In order to solve the technical problem that the existing cloud control node 110 only considers the current requirement and does not reserve ports for function modules that may be newly added in the future, which results in poor expandability of the electronic and electrical architecture topology 10 of the remote control system of the inland ship, in some embodiments of the present invention, as shown in fig. 1, the first ethernet switch chip 130 includes a plurality of cloud fixed ports 131 and a plurality of cloud configurable ports 132, and the plurality of cloud function modules 120 are communicatively connected with the cloud control node 110 through the plurality of cloud fixed ports 131.
According to the embodiment of the invention, the ports can be reserved for the newly added functional modules by arranging the multi-path cloud configurable ports 132, so that the expandability of the electronic and electric architecture topological structure 10 of the inland ship remote control system is improved.
In an embodiment of the present invention, the first ethernet switch chip 130 has 7 ports, which are a 4-way cloud fixed port 131 and a 3-way cloud configurable port 132. The bandwidth of the 4-way cloud fixed port 131 is 100 megabytes, and the 3-way cloud configurable port 132 may be a 100Base-T1, 100Base-Tx, or 1000Base-T1 ethernet port. Specifically, 1000Base-T1 ethernet is used for communication among the cloud control nodes 110.
In some embodiments of the present invention, as shown in fig. 1 and 2, the multiple cloud fixed ports 131 include a first cloud fixed port 1311, a second cloud fixed port 1312, and a third cloud fixed port 1313; the plurality of cloud control nodes 110 includes a first cloud control node 111, a second cloud control node 112, and a third cloud control node 113; the plurality of cloud function modules 120 include a map service module 121, a traffic monitoring module 122, a traffic statistics module 123, a cloud safety pre-warning module 124, an autonomous navigation module 125, a remote driving module 126, a cloud resource management module 127, a task planning module 128, and an optical fiber communication module 129;
the map service module 121, the traffic monitoring module 122 and the traffic statistics module 123 are in communication connection with the first cloud control node 111 through a first cloud fixed port 1311, the cloud safety pre-warning module 124, the autonomous navigation module 125 and the remote driving module 126 are in communication connection with the second cloud control node 112 through a second cloud fixed port 1312, and the cloud resource management module 127, the task planning module 128 and the optical fiber communication module 129 are in communication connection with the third cloud control node 113 through a third cloud fixed port 1313.
Specifically, the bandwidths of the first cloud fixed port 1311, the second cloud fixed port 1312, and the third cloud fixed port 1313 are all 100 mega.
To improve scalability of the deskside 200, in some embodiments of the present invention, as shown in fig. 3, the second ethernet switch chip 240 includes a plurality of deskside fixed ports 241 and a plurality of deskside configurable ports 242, and the plurality of deskside functional modules 230 are communicatively connected to the deskside control node 210 through the plurality of deskside fixed ports 241.
According to the embodiment of the invention, the ports can be reserved for the newly added functional modules by arranging the multi-path bank end configurable ports 242, so that the expandability of the electronic and electric architecture topological structure 10 of the inland ship remote control system is further improved.
In an embodiment of the present invention, the second ethernet switch chip 240 includes a 6-way land fixed port 241 and a 2-way land configurable port 242. The 6-way bank fixed port 241 is a 100Base-T1 ethernet port, and the 2-way bank configurable port 242 may be 100Base-T1, 100Base-Tx, and 1000Base-T1 ethernet ports.
In some embodiments of the present invention, the multi-way bank end fixing port 241 includes a first bank end fixing port 2411 and a second bank end fixing port 2412; the plurality of peer function domain controllers 220 includes a peer awareness domain controller 221 and a peer co-scheduling domain controller 222; the shore aware domain controller 221 is communicatively coupled to the shore control node 210 via a first shore fixed port 2411 and the shore co-dispatch domain controller 222 is communicatively coupled to the shore control node 210 via a second shore fixed port 2412.
In an embodiment of the present invention, as shown in fig. 3, the plurality of shore end function modules 230 include a shore end environment sensing sensor 231, a shore end safety precaution module 232, a traffic organization module 233, a shore end resource management module 234, and a dynamic networking module 235; the shore-side aware domain controller 221 is configured to control the shore-side environmental awareness sensor 231, and the shore-side cooperative dispatching domain controller 222 is configured to control the shore-side safety precaution module 232, the traffic organization module 233, the shore-side resource management module 234, and the dynamic networking module 235.
In particular, the shore-based environmental awareness sensors 231 include, but are not limited to, shore-based radars, cameras, weather meters, and flow velocity and direction meters, among others. The bank-end sensing domain controller 221 is internally provided with a data fusion unit and a target recognition unit, and realizes zone environment sensing and target recognition through the data sensed by the bank-end sensing sensor 231. The shore-side environmental sensor 231 is linked to the shore-side sensing domain controller 221 through the LIN bus, and the shore-side sensing domain controller 221 may also provide power distribution and protection for each of the shore-side environmental sensor 231.
The shore-side cooperative dispatching area controller 222 realizes multi-ship cooperation, task dispatching and resource management in the section according to the shore-side safety early warning module 232, the traffic organization module 233, the shore-side resource management module 234 and the dynamic networking module 235.
It should be noted that: the bank-side safety early warning module 232, the traffic organization module 233, the bank-side resource management module 234 and the dynamic networking module 235 are connected to the bank-side cooperative scheduling domain controller 222 through 100Base-T1, and the bank-side cooperative scheduling domain controller 222 provides power distribution and protection for the safety early warning module 232, the traffic organization module 233, the resource management module 234 and the dynamic networking module 235.
Further, the peer aware domain controller 221 and the peer co-scheduling domain controller 222 are each connected to the peer control node 210 through two 100Base-T1 ethernet lines.
In some embodiments of the present invention, as shown in fig. 3, the plurality of shore function modules 230 further includes a shore optical fiber communication module 236 and a shore wireless communication module 237, and the multi-way shore fixed port 241 further includes a third shore fixed port 2413 and a fourth shore fixed port 2414; the shore-side optical fiber communication module 236 is communicatively connected to the shore-side control node 210 through a third shore-side fixed port 2413, and is used for implementing communication between the shore-side control node 210 and the cloud control node 110, and the shore-side wireless communication module 237 is communicatively connected to the shore-side control node 210 through a fourth shore-side fixed port 2414, and is used for implementing communication between the shore-side control node 210 and the central gateway controller 310.
In some embodiments of the present invention, as shown in fig. 4, the ship-side domain controller 320 includes a ship-side motion domain controller 321 and a ship-side environmental domain controller 322, and the ship-side domain controller 330 includes a console domain controller 331, a deck domain controller 332, and a cabin domain controller 333.
According to the embodiment of the invention, the ship end is divided into 5 domains based on two aspects of functions and areas, namely a ship end motion domain, a ship end environment sensing domain, a driving console domain, a deck domain and a cabin domain. And each domain is built by taking the domain controller corresponding to the domain as the center, so that the wiring harness routing quantity of the ship end control platform 300 can be reduced, and the cost of the electronic and electric architecture topological structure 10 of the remote control system of the inland ship can be reduced.
Specifically: each domain in the ship-side control platform 300 is built by taking the ship-side functional domain controller 320 and/or the ship-side regional domain controller 330 as a center, the sensors and the executors in the domain are connected with the ship-side functional domain controller 320 and/or the ship-side regional domain controller 330 through standardized interfaces, the data of the sensors in the domain are collected and transmitted to the central gateway controller 310 through Ethernet messages, and the central gateway controller 310 processes the data and transmits the data to the shore-side control platform 200. Meanwhile, the central gateway controller 310 receives information sent by the shore end control platform 200, and then transmits the information to the ship end functional domain controller 320 and/or the ship end regional domain controller 330 through an ethernet message, and the ship end functional domain controller 320 and/or the ship end regional domain controller 330 drive the actuator to complete a control command.
Since the ship-side domain controller 320 and/or the ship-side domain controller 330 have a strong computational power, ultra-high real-time performance and rich communication interfaces, the data processing of all devices within the domain can be satisfied. The ship-side domain controller 320 and/or the ship-side domain controller 330 can support centralization of software in a functional domain, reduce system complexity caused by cross-domain function increase, and facilitate data circulation in and among domains.
It should be understood that: the bus in the ship side control platform 300 may select at least one of the CAN, LIN, LVDS buses according to the size of the data amount.
In some embodiments of the invention, the details and structure of the 5 domains at the ship end are as follows:
the ship end motion field is composed of ship-borne equipment such as a propeller, a steering engine, a car clock, a rudder and the like and a ship end motion field controller 321, and is mainly used for issuing control instructions to the car clock, the rudder and the like. The domain takes a ship end motion domain controller 321 as a core, and a motion decision unit and a rudder control unit are built in the domain, so that the course speed control of the ship is remotely controlled. The propeller, steering engine, car clock, rudder and other devices are connected to the ship end motion field controller 321 through two CAN buses.
The ship-to-environment sensing domain is mainly composed of environment sensing sensors such as cameras, navigation radars, lidars, millimeter wave radars and the like and a ship-to-environment sensing domain controller 322. The ship environment perception domain controller 322 with high calculation power is used as a core, and a machine vision algorithm library, a multi-source data fusion algorithm and an information processing module are embedded to realize remote control of ship environment perception and identification of specific targets in a ship. The cameras, navigation radar, millimeter wave radar, laser radar and other devices are connected to the ship-to-environment sensing domain controller 322 through two LVDS buses.
The driving console domain mainly comprises equipment such as an electronic channel map, a ship automatic identification system (Automatic Identification System, AIS), a marine high-frequency instrument (Very High Frequency, VHF), an electronic compass, a flow velocity and direction instrument, a signal lamp type controller, a driving mode switcher and the like which are equipped with a traditional ship bridge, and a driving console domain controller 331. The console domain controller 331 is responsible for intelligent management of the console device resources for assisting navigation. The VHF, AIS, electronic channel map, lamp-size controller, flow rate and direction meter, electronic compass, driving mode switcher, etc. are connected to the console domain controller 331 through two LIN buses.
The deck area has two functions of ship body monitoring and cargo monitoring, and mainly comprises equipment such as a depth finder, a loading detector, a cargo hold liquid level meter, a ballast tank liquid level meter, an electronic inclinometer and the like and a deck area controller 332. The deck domain controller 332 is internally provided with a ship body monitoring module and a cargo monitoring module, and is used for realizing remote control of ship body and cargo state monitoring and assisting intelligent ship remote control. The equipment such as the depth finder, the load detector, the cargo tank level gauge, the ballast tank level gauge, the electronic inclinometer and the like is connected to the deck area controller 332 through two CAN buses.
The cabin domain is mainly responsible for power management and cabin monitoring of the whole ship, takes the cabin domain controller 333 as a core, is internally provided with a cabin monitoring module and a power management module, and mainly realizes control of a generator, an energy storage battery, a cooling system, a fire protection system and the like for the oil power generation propulsion ship. Each device within this domain is connected to the nacelle domain controller 333 via two CAN buses.
To improve scalability of the ship-side control platform 300, in some embodiments of the present invention, as shown in fig. 1, the third ethernet switch chip 350 includes a 12-way ship-side fixed port 351 and a 3-way ship-side configurable port 352, where the ship-side fixed port 351 is a 100 mega ethernet port and the ship-side configurable port 352 may be a 100Base-T1, 100Base-Tx, or 1000Base-T1 ethernet port.
The plurality of ship-end domain controllers 320 and the plurality of ship-end domain controllers 330 are communicatively connected to the central gateway controller 310 through a ship-end fixed port 351.
In order to improve reliability of the ship end control platform 300, in some embodiments of the present invention, as shown in fig. 4, the ship end control platform 300 further includes a first power supply 360, a second power supply 370, and a power distribution management module 380, one end of the power distribution management module 380 is connected to the first power supply 360 and the second power supply 370, the other end of the power distribution management module 380 is connected to the central gateway controller 310, the plurality of ship end domain controllers 320, and the plurality of ship end domain controllers 330, and the power distribution management module 380 is used for controlling the first power supply 360 or the second power supply 370 to supply power to the central gateway controller 310, the plurality of ship end domain controllers 320, and the plurality of ship end domain controllers 330.
According to the embodiment of the invention, by arranging the double-circuit power supply, the safety and stability of the whole ship power supply can be ensured, so that the reliability of the ship end control platform 300 can be improved.
In a preferred embodiment, the first power supply 360 and the second power supply 370 are physically isolated to ensure independence of the two power supplies, further ensuring stability and safety of the power supplied by the vessel.
On the other hand, the embodiment of the invention also provides a remote control system for a inland ship, which comprises an electronic-electric architecture topological structure, wherein the electronic-electric architecture topological structure is the electronic-electric architecture topological structure 10 of the remote control system for the inland ship in any embodiment.
The electronic and electrical architecture topology and system of the inland vessel remote control system provided by the invention are described in detail, and specific examples are applied to illustrate the principles and embodiments of the invention, and the description of the above examples is only used for helping to understand the method and core ideas of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present invention, the present description should not be construed as limiting the present invention.
Claims (9)
1. An electronic-electrical architecture topology for a inland vessel remote control system, comprising: the system comprises a cloud control platform, a shore control platform and a ship control platform;
the cloud control platform comprises a plurality of cloud control nodes and a plurality of cloud function modules, wherein the cloud control nodes are used for controlling the cloud function modules, and a first Ethernet switch chip is arranged in each cloud control node and is used for realizing communication among the cloud control nodes and communication between the cloud control nodes and the cloud function modules;
the shore control platform comprises a shore control node, a plurality of shore function domain controllers and a plurality of shore function modules, wherein the shore control node is used for controlling the plurality of shore function domain controllers, the shore function domain controllers are used for controlling the plurality of shore function modules, and a second Ethernet switch chip is arranged in the shore control node and is used for realizing communication between the shore control node and the shore function domain controllers;
the ship end control platform comprises a central gateway controller, a plurality of ship end functional domain controllers, a plurality of ship end regional domain controllers and a plurality of ship-borne devices, wherein the ship end functional domain controllers and the ship end regional domain controllers are all used for controlling the plurality of ship-borne devices, the central gateway controller is used for controlling the ship end functional domain controllers and the ship end regional domain controllers, and a third Ethernet switch chip is arranged in the central gateway controller and used for realizing communication between the central gateway controller and the ship end functional domain controllers and between the ship end regional domain controllers.
2. The electronic-electrical architecture topology of claim 1, wherein the first ethernet switch chip comprises a plurality of cloud fixed ports and a plurality of cloud configurable ports, the plurality of cloud functional modules being communicatively connected to the cloud control node via the plurality of cloud fixed ports.
3. The electronic-electrical architecture topology of a inland vessel remote control system of claim 2, wherein the plurality of cloud fixed ports comprises a first cloud fixed port, a second cloud fixed port, and a third cloud fixed port; the plurality of cloud control nodes comprise a first cloud control node, a second cloud control node and a third cloud control node; the cloud function modules comprise a map service module, a traffic monitoring module, a cloud safety early warning module, a traffic statistics module, an autonomous navigation module, a remote driving module, a cloud resource management module, a task planning module and an optical fiber communication module;
the map service module, the traffic monitoring module and the traffic statistics module are in communication connection with the first cloud control node through the first cloud fixed port, the cloud safety early warning module, the autonomous navigation module and the remote driving module are in communication connection with the second cloud control node through the second cloud fixed port, and the cloud resource management module, the task planning module and the optical fiber communication module are in communication connection with the third cloud control node through the third cloud fixed port.
4. The electronic-electrical architecture topology of a inland vessel remote control system of claim 1, wherein said second ethernet switch chip comprises a plurality of bank-end fixed ports and a plurality of bank-end configurable ports, said plurality of bank-end functional modules communicatively coupled to said bank-end control node through said plurality of bank-end fixed ports.
5. The electronic-electrical architecture topology of a inland vessel remote control system of claim 4, wherein said multi-way bank-end fixed port comprises a first bank-end fixed port and a second bank-end fixed port; the plurality of shore-side function domain controllers comprise a shore-side perception domain controller and a shore-side cooperative scheduling domain controller; the shore-end sensing domain controller is in communication connection with the shore-end control node through the first shore-end fixed port, and the shore-end cooperative scheduling domain controller is in communication connection with the shore-end control node through the second shore-end fixed port.
6. The electronic-electrical architecture topology of a inland vessel remote control system of claim 5, wherein the plurality of shore-side functional modules comprises a shore-side environmental awareness sensor, a security early warning module, a traffic organization module, a resource management module, and a dynamic networking module; the bank end sensing domain controller is used for controlling the bank end environment sensing sensor, and the bank end cooperative scheduling domain controller is used for controlling the safety early warning module, the traffic organization module, the resource management module and the dynamic networking module.
7. The electronic-electrical architecture topology of a inland vessel remote control system of claim 6, wherein said plurality of shore-side functional modules further comprises a shore-side fiber optic communication module and a shore-side wireless communication module, said multi-way shore-side fixed port further comprising a third shore-side fixed port and a fourth shore-side fixed port; the shore-end optical fiber communication module is in communication connection with the shore-end control node through the third shore-end fixed port and is used for realizing communication between the shore-end control node and the cloud control node, and the shore-end wireless communication module is in communication connection with the shore-end control node through the fourth shore-end fixed port and is used for realizing communication between the shore-end control node and the central gateway controller.
8. The electronic-electrical architecture topology of a inland vessel remote control system of claim 1, wherein the vessel-side domain controller comprises a vessel-side motion domain controller and a vessel-side environmental awareness domain controller, the vessel-side domain controller comprising a console domain controller, a deck domain controller, and a cabin domain controller.
9. The electronic and electrical architecture topology of a inland vessel remote control system of claim 1, wherein the vessel-side control platform further comprises a first power source, a second power source, and a power distribution management module, wherein one end of the power distribution management module is connected to the first power source and the second power source, the other end of the power distribution management module is connected to the central gateway controller, the plurality of vessel-side domain controllers, and the power distribution management module is configured to control the first power source or the second power source to supply power to the central gateway controller, the plurality of vessel-side domain controllers, and the plurality of vessel-side domain controllers.
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