CN111045424B - Test system of intelligent ship decision instruction interpretation module - Google Patents
Test system of intelligent ship decision instruction interpretation module Download PDFInfo
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- CN111045424B CN111045424B CN201911195070.6A CN201911195070A CN111045424B CN 111045424 B CN111045424 B CN 111045424B CN 201911195070 A CN201911195070 A CN 201911195070A CN 111045424 B CN111045424 B CN 111045424B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention discloses a testing system of an intelligent ship decision instruction interpretation module, which comprises: a first computing device for executing an intelligent ship decision algorithm based on the input parameters; the first interface conversion equipment and the decision instruction interpretation module are used for interpreting the decision information converted by the first interface conversion equipment to obtain control instructions of all simulation execution mechanisms in the simulation test platform; the simulation test platform is constructed by SolidWorks and Simulink simulation software, and comprises: a simulation model controller and a detection module; the simulation model controller comprises a plurality of simulation executing mechanisms matched with the intelligent ship, and each simulation executing mechanism operates according to the received control instruction; the detection module is used for collecting and analyzing the working state and process parameter information of each simulation executing mechanism in the simulation model controller. The testing system saves the resource consumption of each executing mechanism in the control module when in actual operation, reduces the testing cost and is more convenient and flexible.
Description
Technical Field
The invention relates to the field of intelligent ship testing, in particular to a testing system of an intelligent ship decision instruction reading module.
Background
The intelligent ship autonomous navigation system is a system which is characterized in that a ship senses the surrounding environment by means of sensing equipment of a self-sensing module, receives navigation warning information, weather information and the like sent by a shore-based command center through communication equipment of a communication module, makes autonomous navigation decisions through a self-decision module according to the sensing information, the navigation warning information, the weather information and the like, transmits decision instructions to an execution mechanism of the intelligent ship, executes the decision instructions through the execution mechanism (comprising a host, side pushing, rudder equipment and anchor equipment) of a control module and finally realizes autonomous navigation.
The decision instruction given by the decision module of the intelligent ship only comprises two parts of the navigational speed and the heading, and can not be directly read and executed by the executing mechanism. Therefore, the decision instruction given by the decision module must be interpreted and converted into control instruction information which can be read and executed by the intelligent ship control module. Therefore, the interpretation of the decision instruction information is an important link for connecting the intelligent ship decision module and the control module.
How to realize the test of the intelligent ship decision instruction reading module becomes a current problem to be solved.
Disclosure of Invention
The invention aims to provide a test system of an intelligent ship decision instruction interpretation module, which realizes the test of the intelligent ship decision instruction interpretation module.
In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps:
in a first aspect, the present invention provides a test system for an intelligent ship decision instruction interpretation module, comprising:
a first computing device for executing an intelligent ship decision algorithm based on the input parameters;
the first interface conversion equipment is used for converting the decision instruction output by the first computing equipment into decision information which can be identified by the decision instruction reading module;
the decision instruction interpretation module is used for interpreting the decision information output by the first interface conversion equipment to obtain control instructions of all simulation execution mechanisms in the simulation test platform;
the simulation test platform is constructed by SolidWorks and Simulink simulation software, and comprises: the simulation system comprises a simulation model controller, a driving module and a detection module, wherein the simulation model controller controls each simulation executing mechanism, the driving module and the detection module; the simulation model controller enables the driving module to drive the simulation executing mechanism to operate according to each control instruction;
the detection module is used for collecting and analyzing the working state and process parameter information of each simulation executing mechanism.
Optionally, the test system further comprises:
the second interface conversion equipment is used for transmitting each control instruction output by the decision instruction reading module to the simulation model controller of the simulation test platform.
Optionally, the test system further comprises:
and the power supply component supplies power for the first computing device, the first interface conversion device and the simulation test platform.
Optionally, the first interface conversion device is: a TCP/IP converter;
and the interface of the decision instruction interpretation module connected with the first interface conversion equipment is an RS232 interface, an RS422 interface or an RS485 interface.
Optionally, the simulation executing mechanism included in the simulation model controller is a plurality of the following:
the system comprises a host system, a side pushing assembly, rudder equipment and anchor equipment;
the control instruction output by the decision instruction interpretation module comprises:
the host rotation speed transmitted to the host system and the pitch of a variable pitch propeller connected with a host in the host system;
a lateral pushing rotational speed transmitted to the lateral pushing assembly;
a rudder angle transmitted to the rudder device;
and anchoring and taking off instructions transmitted to the anchor equipment.
Optionally, the input parameters received by the first computing device include a plurality of:
weather information, speed, acceleration, obstacle distance, obstacle size, obstacle movement speed, and navigation warning information.
Optionally, the function of the decision instruction interpretation module is adjusted in the test system, so as to realize the test of a plurality of decision instruction interpretation modules.
In a second aspect, the present invention further provides a method for constructing a simulation test platform, where the simulation test platform is a simulation test platform in the test system described in the first aspect, and the method includes:
performing entity modeling on an executing mechanism to be simulated and controllers to which each executing mechanism belongs in SolidWorks simulation software, and assembling to generate a corresponding assembly file;
generating an executing mechanism and a SimMechanics model of a controller to which each executing mechanism belongs in Simulink simulation software based on an assembly file in the SolidWorks simulation software;
based on the SimMechanics model, configuring each driving component and detection module required by each executing mechanism and the logic relation between the executing mechanism and the affiliated controller in Simulink simulation software;
constructing a vector relation for the mechanical movement of the executing mechanism to be simulated according to the mechanical movement mode of the executing mechanism to be simulated in the intelligent ship;
according to parameters of an executing mechanism to be simulated in the intelligent ship and the vector relation, building a simulation test platform in Simulink simulation software, wherein the simulation test platform comprises: and each simulation executing mechanism, each driving module and each detection module for detecting the simulation executing mechanism are controlled by the simulation model controller.
Optionally, the simulation executing mechanism included in the simulation model controller is a plurality of the following:
the system comprises a host system, a side pushing assembly, rudder equipment and anchor equipment;
the detection module comprises: a speed detection module and an angle detection module.
The beneficial effects of the invention are as follows:
in the test system, except the tested decision instruction interpretation module, the operation decision algorithm, the simulation execution mechanism of the simulation test platform and the like are operated in the computer, so that the resource consumption of each execution mechanism in a real ship in actual operation is saved, the test cost is reduced, and the economy is better.
Furthermore, each executing mechanism built by adopting the simulation test platform can use a detection module of simulation software in the test process to detect the operation parameters of each executing mechanism in real time, and the test result is more accurate. The parameter reading is more convenient, and the test efficiency is higher.
In addition, for the same intelligent ship, when comparing the performance advantages and disadvantages of different decision instruction interpretation modules, only the decision instruction interpretation modules need to be replaced, so that the intelligent ship is more convenient and flexible.
Drawings
Fig. 1 is a schematic structural diagram of a test system of an intelligent ship decision instruction interpretation module according to an embodiment of the present invention;
FIG. 2 is a flow chart of a testing method of an intelligent ship decision instruction interpretation module according to an embodiment of the invention;
fig. 3 is a schematic diagram of a method for constructing a simulation test platform according to an embodiment of the present invention.
Detailed Description
The invention will be better explained for understanding by referring to the following detailed description of the embodiments in conjunction with the accompanying drawings.
The invention builds a test system for testing the information interpretation process of the intelligent ship decision instruction interpretation module, and further provides a test method for the intelligent ship decision instruction interpretation module, so that the intelligent ship decision instruction interpretation module is tested.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a test system of an intelligent ship decision instruction interpretation module according to an embodiment of the present invention, where the test system of the present embodiment may include:
the first computing device is used for executing an intelligent ship decision algorithm according to the input parameters and outputting a decision instruction; for example, the input parameters may include weather information, speed of voyage, acceleration, obstacle distance, obstacle size, obstacle movement speed, navigation warning information, and the like.
The first interface conversion equipment is used for converting the decision instruction output by the first computing equipment into decision information which can be identified by the decision instruction reading module;
the decision instruction interpretation module is used for interpreting the decision information output by the first interface conversion equipment to obtain control instructions of all simulation execution mechanisms in the simulation test platform;
the simulation test platform is constructed by SolidWorks and Simulink simulation software, and comprises: the simulation system comprises a simulation model controller, a driving module and a detection module, wherein the simulation model controller controls each simulation executing mechanism, the driving module and the detection module; the simulation model controller enables the driving module to drive the simulation executing mechanism to operate according to each control instruction;
the detection module is used for collecting and analyzing the working state and process parameter information of each simulation executing mechanism in the simulation model controller.
In addition, in practical application, the simulation test platform is operated in a computer, and therefore, the information output by the decision instruction interpretation module needs to be subjected to protocol conversion. To this end, the test system further comprises: the second interface conversion equipment is used for transmitting each control instruction output by the decision instruction reading module to the simulation test platform.
In this embodiment, the first interface conversion device is: a TCP/IP converter; and the interface of the decision instruction interpretation module connected with the first interface conversion equipment is an RS232 interface, an RS422 interface or an RS485 interface. The second interface conversion device may also be a TCP/IP converter, which performs the function that is the inverse of the function of the first interface conversion device.
Of course, in practical applications, the test system may include: and the power supply component supplies power for the first computing device, the first interface conversion device and the simulation test platform.
In this embodiment, the simulation executing mechanism includes the following: the system comprises a host system of a host, a side pushing component, rudder equipment and anchor equipment. The present embodiment is not limited to these four simulation actuators, and may be set according to the actual ship actuator.
Correspondingly, the control instruction output by the decision instruction interpretation module comprises:
the host rotation speed transmitted to the host system and the pitch of a variable pitch propeller connected with a host in the host system;
a lateral pushing rotational speed transmitted to the lateral pushing assembly;
a rudder angle transmitted to the rudder device;
and anchoring and taking off instructions transmitted to the anchor equipment.
It is understood that in this embodiment, the first computing device may be connected to the decision instruction interpretation module through a first interface conversion device of the ethernet bus. And transmitting the decision instruction output by the intelligent ship decision algorithm to a decision instruction reading module.
The decision instruction interpretation module transmits interpreted control instructions such as rotating speed, screw pitch, rudder angle, anchoring, anchor lifting and the like to a simulation test platform which is built by combining SolidWorks and Simulink simulation software by means of a second interface conversion device, and the interpreted control instructions are executed by each execution mechanism (host, side pushing, rudder equipment and anchor equipment) model in the simulation test platform.
It should be noted that, the decision instruction interpretation module usually uses RS232, RS422 or RS485 interfaces, and when it is connected to the ethernet bus output by the computer, a TCP/IP converter is required to convert the data interface.
In the test system, except the tested decision instruction reading module, the operation decision algorithm, the simulation executing mechanism of the simulation test platform and the like are operated in the computer, so that the resource consumption of each executing mechanism in a real ship in actual operation is saved, the test cost is reduced, and the economy is better.
Furthermore, each executing mechanism built by adopting the simulation test platform can use a detection module of simulation software in the test process to detect the operation parameters of each executing mechanism in real time, and the test result is more accurate. The parameter reading is more convenient, and the test efficiency is higher.
In addition, for the same intelligent ship, when comparing the performance advantages and disadvantages of different decision instruction interpretation modules, only the decision instruction interpretation modules need to be replaced, so that the intelligent ship is more convenient and flexible.
As shown in fig. 2, fig. 2 is a flow chart illustrating a testing method of an intelligent ship decision instruction interpretation module according to an embodiment of the present invention, and as shown in fig. 2, the method of the present embodiment may include the following steps:
201. the method comprises the steps that a decision algorithm used by an intelligent ship decision module is carried by first computing equipment (such as a computer configured by a WIN10 system and i 7), and the decision module makes an autonomous navigation decision instruction by inputting information such as weather, navigational speed, acceleration, obstacle distance, obstacle size, obstacle moving speed, navigation warning and the like required by decision; or directly controls the decision module to output various information such as decision instructions which can appear in the normal sailing process of the intelligent ship.
It should be noted that if the information such as weather, speed, acceleration, obstacle distance, obstacle size, obstacle moving speed, navigation warning, etc. required for the decision is used to obtain the decision instruction information, all conditions that the intelligent ship may encounter during normal navigation should be included when the information such as weather, speed, acceleration, obstacle distance, obstacle size, obstacle moving speed, navigation warning, etc. required for the decision is input, so as to ensure the systematicness and integrity of the test; if the direct control decision module is used for outputting decision instruction information, the output decision instruction information should cover all decision instruction information possibly occurring in the normal navigation process of the intelligent ship so as to ensure the systematicness and the integrity of the test.
202. The first interface conversion device is used to connect the first computing device with the hardware of the decision instruction interpretation module used by the intelligent ship and the computer in step 201, so as to realize the transmission of the decision instruction from the decision module in the computer to the decision instruction interpretation module.
It should be noted that, in the laboratory, necessary working conditions (power connection, data connection, etc.) can be provided for the hardware to which the decision instruction interpretation module used by the intelligent ship belongs, the decision instruction from the decision module in the computer is received, and the navigation speed and heading given in the decision instruction are interpreted and converted into the host rotation speed transmitted to the host system of the intelligent ship and the pitch of the pitch-variable propeller connected with the host; side pushing rotating speed for side pushing transmission to the intelligent ship; rudder angle transmitted to intelligent ship rudder equipment; and control instructions such as anchoring and lifting instructions transmitted to the intelligent ship anchor equipment.
203. And transmitting the read control instruction to a simulation test platform which is built by combining SolidWorks and Simulink simulation software through second interface conversion equipment, so that the simulation model controller controls the driving module to drive each simulation executing mechanism such as a host, side pushing equipment, rudder equipment and anchor equipment to simulate model operation according to the control instruction.
204. And collecting the working states and process parameter information of a host, side pushing equipment, rudder equipment and anchor equipment controlled by a simulation model controller of a simulation test platform through a detection module in the Simulink simulation test software.
In this embodiment, the host, the side pushing device, the rudder device, and the anchor device are taken as examples of the simulation executing mechanism, and the simulation executing mechanism is not limited to the four, and is set according to the executing mechanism of the actual ship.
205. And according to the acquired data information, judging whether the control instruction read by the decision instruction reading module is accurate and effective through calculation and analysis.
Therefore, the test system built by the method can realize the test of the decision instruction, reduce the cost of the real ship test, and is convenient and practical.
In practical application, before the test system is built, a simulation test platform needs to be built, and then the built simulation test platform is applied to the test system so as to realize the use of the test system.
For better understanding of the process of building the simulation test platform, the description is given with reference to fig. 3, and fig. 3 shows a method for building the simulation test platform, which includes the following steps:
301. corresponding entity modeling is carried out on each executing mechanism (a host machine/host machine system, side pushing, rudder equipment and anchor equipment) and a controller to which each executing mechanism belongs in the simulation model controller in SolidWorks simulation software, and assembly is carried out, so that a corresponding assembly file is generated.
Specifically, the executing mechanism needs to be controlled by a corresponding controller, the information output after the decision instruction reading module reads the information is a control instruction, the executing mechanism cannot be directly identified and executed, and the executing mechanism needs to be controlled by the controller to execute the corresponding control instruction. The modeling of the controller is the same as the modeling of the executing mechanism, an appearance model is built in SolidWorks, and a logic model is built in Simulink simulation software.
The controller is not the subject of the test, but is merely an intermediary device for the actuator.
302. The Simulink and SolidWorks simulation software are connected with each other, and a SimMechanics model comprising a controller and each executing mechanism (such as a host, a side push, rudder equipment and anchor equipment) is generated in the Simulink software.
For better understanding, a simmechanical model is described, where simmechanical is a module in a Simulink simulation software, and has a series of module libraries, and the simlink simulation software is a module for modeling mechanical equipment, and the model is built according to the mechanical motion characteristics of the modeled equipment.
Particularly, the Simulink simulation software realizes modeling of a mechanical model movement mode and a mechanical model movement process, namely a modeling process for enabling the mechanical model to move according to actual conditions.
303. In Simulink software, parameter setting is carried out on the SimMechanics model, and a driving module and a detection module are configured according to the types of control instructions of all execution mechanisms (a host, side pushing, rudder equipment and anchor equipment), and the logic relation between all the execution mechanisms and the affiliated controller is configured.
The detection module of the present embodiment may include: a rotation speed detection module, an angle detection module and the like.
304. And constructing a vector relation for the mechanical movement of the simulation executing mechanism according to the mechanical movement mode of the executing mechanism required to be simulated in the intelligent ship.
Specifically, the appearance model of each built executing mechanism (such as a host machine, a side pushing machine and the like) is completed by SolidWorks software, and the vector relation of mechanical motion is completed in Simulink simulation software.
305. According to parameters of an executing mechanism to be simulated in the intelligent ship and the vector relation, building a simulation test platform in Simulink simulation software, wherein the simulation test platform comprises: and each simulation executing mechanism, each driving module and each detection module for detecting the simulation executing mechanism are controlled by the simulation model controller.
It can be understood that the corresponding option is selected from the Simulink simulation software to enter the model building interface, so that the building of the simulation test platform is completed.
In the test system of the embodiment, except for the decision instruction reading module to be tested, the decision module and the simulation test platform can be operated in a computer, so that the resource consumption of each executing mechanism in actual operation is saved, the test cost is reduced, and the economy is better.
In addition, a detection module of simulation software can be used in the test process, the operation parameters of each execution mechanism are detected in real time, and the test result is more accurate. The parameter reading is more convenient, and the test efficiency is higher. For the same intelligent ship, when comparing the performance advantages and disadvantages of different decision instruction interpretation modules, only the decision instruction interpretation modules need to be replaced, so that the intelligent ship is more convenient and flexible.
The above description of the specific embodiments of the present invention is merely for illustrating the technical route and features of the present invention, and is intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, but the present invention is not limited to the above-described specific embodiments. All changes or modifications that come within the scope of the appended claims are intended to be embraced therein.
Claims (6)
1. The utility model provides a test system of intelligent boats and ships decision instruction interpretation module which characterized in that includes:
a first computing device for executing an intelligent ship decision algorithm based on the input parameters;
the first interface conversion equipment is used for converting the decision instruction output by the first computing equipment into decision information which can be identified by the decision instruction reading module;
the decision instruction interpretation module is used for interpreting the decision information output by the first interface conversion equipment to obtain control instructions of all simulation execution mechanisms in the simulation test platform;
the simulation test platform is constructed by SolidWorks and Simulink simulation software, and comprises: the simulation system comprises a simulation model controller, a driving module and a detection module, wherein the simulation model controller controls each simulation executing mechanism, the driving module and the detection module; the simulation model controller enables the driving module to drive the simulation executing mechanism to operate according to each control instruction;
the detection module is used for collecting and analyzing the working state and process parameter information of each simulation executing mechanism;
the input parameters received by the first computing device include a plurality of:
weather information, speed, acceleration, obstacle distance, obstacle size, obstacle movement speed, and navigation warning information;
the test system further comprises:
the second interface conversion equipment is used for transmitting each control instruction output by the decision instruction interpretation module to the simulation model controller of the simulation test platform;
and adjusting the functions of the decision instruction interpretation modules in the test system to realize the test of a plurality of decision instruction interpretation modules.
2. The test system of claim 1, wherein the test system further comprises:
and the power supply component supplies power for the first computing device, the first interface conversion device and the simulation test platform.
3. The test system of claim 1, wherein the first interface conversion device is: a TCP/IP converter;
and the interface of the decision instruction interpretation module connected with the first interface conversion equipment is an RS232 interface, an RS422 interface or an RS485 interface.
4. The test system of claim 1, wherein the simulation model controller includes simulation actuators for a plurality of the following:
the system comprises a host system, a side pushing assembly, rudder equipment and anchor equipment;
the control instruction output by the decision instruction interpretation module comprises:
the host rotation speed transmitted to the host system and the pitch of a variable pitch propeller connected with a host in the host system;
a lateral pushing rotational speed transmitted to the lateral pushing assembly;
a rudder angle transmitted to the rudder device;
and anchoring and taking off instructions transmitted to the anchor equipment.
5. A method for constructing a simulation test platform, wherein the simulation test platform is a simulation test platform in the test system according to any one of claims 1 to 4, the method comprising:
performing entity modeling on an executing mechanism to be simulated and controllers to which each executing mechanism belongs in SolidWorks simulation software, and assembling to generate a corresponding assembly file;
generating an executing mechanism and a SimMechanics model of a controller to which each executing mechanism belongs in Simulink simulation software based on an assembly file in the SolidWorks simulation software;
based on the SimMechanics model, configuring each driving component and detection module required by each executing mechanism and the logic relation between the executing mechanism and the affiliated controller in Simulink simulation software;
constructing a vector relation for the mechanical movement of the simulation executing mechanism according to the mechanical movement mode of the executing mechanism to be simulated in the intelligent ship;
according to parameters of an executing mechanism to be simulated in the intelligent ship and the vector relation, building a simulation test platform in Simulink simulation software, wherein the simulation test platform comprises: the simulation system comprises a simulation model controller, a driving module, a detection module and a control module, wherein the simulation model controller controls each simulation executing mechanism, the driving module and the detection module is used for detecting the simulation executing mechanism;
the input parameters received by the first computing device include a plurality of:
weather information, speed, acceleration, obstacle distance, obstacle size, obstacle movement speed, and navigation warning information.
6. The method of claim 5, wherein the simulation model controller includes simulation actuators that are a plurality of:
the system comprises a host system, a side pushing assembly, rudder equipment and anchor equipment;
the detection module comprises: a speed detection module and an angle detection module.
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