CN114212215B - Novel ship steering control method and system - Google Patents
Novel ship steering control method and system Download PDFInfo
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- CN114212215B CN114212215B CN202111529320.2A CN202111529320A CN114212215B CN 114212215 B CN114212215 B CN 114212215B CN 202111529320 A CN202111529320 A CN 202111529320A CN 114212215 B CN114212215 B CN 114212215B
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- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
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Abstract
The embodiment of the application discloses a novel ship steering control method and a novel ship steering control system, which belong to the technical field of novel ships, wherein the novel ship steering control method comprises the steps of acquiring rotation information of a rudder of a ship; generating differential information based on the rotation information, the speed information before steering, the ship body information and the environment information; the power device for controlling the ship based on the differential information is used for steering the ship, and has the advantage of facilitating steering or turning around of the novel ship in the sailing process.
Description
Technical Field
The invention mainly relates to the technical field of novel ships, in particular to a novel ship steering control method and system.
Background
The conventional fuel oil ship is propelled by a double-propeller or multi-propeller engine, and generally needs to decelerate first, control the steering of a rudder by a left hand and control the accelerator push rod of the engine by a right hand to perform frequent combined operation when the ship needs to turn around or make a large turn, so that the large turn or the turn around of the ship can be realized, and the differential control cannot be automatically realized. The operation process is complex, the captain of the ship is required to be very skilled in the operation of the ship and the engine, deviation and slowness cannot exist in the operation process, and the requirement on the ship driving skill is high. If the ship is a three-paddle or four-paddle ship, a plurality of throttles are required to be operated manually, the requirement on driving skills is higher, and automatic differential control cannot be realized.
Therefore, it is necessary to provide a novel ship steering control method and system, which utilize the product characteristics of the novel ship electric propulsion device to develop an electronic differential function of the ship, which facilitates the steering or turning around of the novel ship during the navigation process.
Disclosure of Invention
One of embodiments of the present specification provides a novel ship steering control method, including: acquiring rotation information of a rudder of a ship; generating differential information based on the rotation information, the speed information before steering, the ship body information and the environment information; and controlling a power device of the ship to steer the ship based on the differential information.
In some embodiments, the rotation information includes a rotation angle and a rate of change of angular rotation.
In some embodiments, the hull information includes a length of the vessel and a width of the vessel.
In some embodiments, the environmental information includes obstacle information, water flow rate information, and wind speed information.
In some embodiments, the power plant of the vessel comprises a plurality of electrically propelled propellers; the differential information comprises the rotational speed of each of the electrically propelled bolt paddles at a plurality of turning time points.
In some embodiments, generating differential information based on the rotation information, the pre-steering speed information, the hull information, and the environment information comprises: determining a minimum steering radius based on the rotation information, the steered forward speed information, the hull information, and the environment information; determining the differential information based on the minimum steering radius.
In some embodiments, generating differential information based on the rotation information, the pre-steering speed information, the hull information, and the environment information comprises: judging whether the steering information is larger than a preset angle threshold value or not; and if the steering information is larger than the preset angle threshold value, generating differential information based on the rotation information, the steering forward speed information, the ship body information and the environment information.
In some embodiments, the method further comprises: acquiring the rotation angle and the steering navigational speed of the ship at least one steering time point; generating a steering prediction path based on the rotating speed of each electric propulsion propeller at a plurality of steering time points in a steering process, the rotating angle of the ship at least one steering time point and the steering navigational speed; and displaying the steering prediction path through a display device.
In some embodiments, the method further comprises: after the steering is finished, the rotating speed of each electric propulsion propeller is adjusted based on the information of the navigational speed before the steering.
One of the embodiments of this specification provides a novel ship steering control system, includes: the information acquisition module is used for acquiring the rotation information of the rudder of the ship; and the steering control module is used for generating differential information based on the rotation information, the navigation speed information before steering, the hull information and the environment information, and is also used for controlling a power device of the ship to steer the ship based on the differential information.
Drawings
The present application will be further explained by way of exemplary embodiments, which will be described in detail by way of the accompanying drawings. These embodiments are not intended to be limiting, and in these embodiments like numerals are used to indicate like structures, wherein:
FIG. 1 is a schematic diagram illustrating an application scenario of a novel vessel steering control system according to some embodiments of the present application;
FIG. 2 is an exemplary block diagram of a computing device shown in accordance with some embodiments of the present application;
FIG. 3 is an exemplary flow chart of a novel vessel steering control method according to some embodiments of the present application;
FIG. 4 is a schematic illustration of a target area of stay and a mooring area according to some embodiments of the present application;
fig. 5 is a schematic diagram of a turning around route of the novel ship according to some embodiments of the present application.
In the figure, 100, a novel ship steering control system; 110. a processing device; 120. a network; 130. a user terminal; 140. a storage device; 200. a computing device; 210. a processor; 220. a read-only memory; 230. a random access memory; 240. a communication port; 250. an input/output interface; 260. a hard disk; 410. a rudder; 420. a sensor.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only examples or embodiments of the application, and that for a person skilled in the art the application can also be applied to other similar contexts on the basis of these drawings without inventive effort. It is understood that these exemplary embodiments are given solely to enable those skilled in the relevant art to better understand and implement the present invention, and are not intended to limit the scope of the invention in any way. Unless otherwise apparent from the context, or stated otherwise, like reference numbers in the figures refer to the same structure or operation.
It should be understood that "system," "device," "unit," and/or "module" as used herein is a method for distinguishing between different components, elements, parts, portions, or assemblies of different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements. Although various references are made herein to certain modules or units in a system according to embodiments of the present application, any number of different modules or units may be used and run on a client and/or server. The modules are merely illustrative and different aspects of the systems and methods may use different modules.
Flow charts are used herein to illustrate operations performed by systems according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
Fig. 1 is a schematic diagram of an application scenario of a novel ship steering control system 100 according to some embodiments of the present application.
The existing traditional fuel oil ship is propelled by a double-propeller or multi-propeller engine, when turning around or large turning is needed, the ship generally needs to be decelerated firstly, a left hand controls a rudder to steer, and a right hand controls an accelerator push rod of the engine to be frequently combined and operated, so that the large turning or turning around of the ship is realized, and differential control cannot be automatically realized. The operation process is complex, the captain of the ship is required to be very skilled in the operation of the ship and the engine, deviation and slowness cannot exist in the operation process, and the requirement on the ship driving skill is high. If the ship is a three-paddle or four-paddle ship, a plurality of throttles are required to be operated manually, the requirement on driving skills is higher, and automatic differential control cannot be realized.
The novel marine steering control system 100 may be used for marine automatic steering. In some embodiments, the novel ship steering control system 100 may obtain rotation information of the rudder 410 of the ship and control the power plant of the ship to steer based on the rotation information, the speed information before steering, the hull information, and the environment information, so as to enable the novel ship to steer or turn around during the sailing process.
As shown in fig. 1, the novel marine steering control system 100 may include a processing device 110, a network 120, a user terminal 130, and a storage device 140.
The processing device 110 may be used to process information and/or data related to new vessel berths. For example, the processing device 110 may generate differential information based on the rotation information, the forward turning speed information, the hull information, and the environment information, and control the power plant of the vessel to steer the vessel based on the differential information. In some embodiments, the processing device 110 may be regional or remote. For example, processing device 110 may access information and/or material stored in user terminal 130 and storage device 140 via network 120. In some embodiments, processing device 110 may interface directly with user terminal 130 and storage device 140 to access information and/or material stored therein. In some embodiments, the processing device 110 may execute on a cloud platform. For example, the cloud platform may include one or any combination of a private cloud, a public cloud, a hybrid cloud, a community cloud, a decentralized cloud, an internal cloud, and the like. In some embodiments, the processing device 110 may comprise a processor, which may comprise one or more sub-processors (e.g., a single core processing device or a multi-core processing device). Merely by way of example, a processor may include a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), an Application Specific Instruction Processor (ASIP), a Graphics Processor (GPU), a Physical Processor (PPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a programmable logic circuit (PLD), a controller, a microcontroller unit, a Reduced Instruction Set Computer (RISC), a microprocessor, and the like or any combination thereof.
In some embodiments, the processing device 110 may include an information acquisition module and a steering control module.
In some embodiments, the command acquisition module may be used to acquire turning information of the rudder 410 of the ship. For more description of the rotation information, reference may be made to fig. 3 and its related description, which are not repeated herein.
In some embodiments, the steering control module may be configured to generate differential information based on the rotation information, the pre-steering speed information, the hull information, and the environmental information, and may be further configured to control a power plant of the marine vessel to steer the marine vessel based on the differential information. For more description of the ship steering based on the rotation information, the pre-steering speed information, the hull information, the environmental information, the differential information, and the power plant controlling the ship based on the differential information, reference may be made to fig. 3 and the related description thereof, which are not repeated herein.
The network 120 may facilitate the exchange of data and/or information in the novel vessel steering control system 100. In some embodiments, one or more components of the novel vessel steering control system 100 (e.g., the processing device 110, the user terminal 130, and the storage device 140) may send data and/or information to other components of the novel vessel steering control system 100 via the network 120. For example, user terminal 130 may send a parking instruction to processing device 110 via network 120. In some embodiments, the network 120 may be any type of wired or wireless network. For example, network 120 may include a cable network, a wired network, a fiber optic network, a telecommunications network, an intranet, the internet, a Local Area Network (LAN), a Wide Area Network (WAN), a Wireless Local Area Network (WLAN), a Metropolitan Area Network (MAN), a Public Switched Telephone Network (PSTN), a bluetooth network, a ZigBee network, a Near Field Communication (NFC) network, the like, or any combination thereof. In some embodiments, network 120 may include one or more network access points. For example, the network 120 may include wired or wireless network access points, such as base stations and/or internet switching points, through which one or more components of the novel vessel steering control system 100 may connect to the network 120 to exchange data and/or information.
The user terminal 130 may exchange information or data with one or more components (e.g., the processing device 110 and the storage device 140) in the novel vessel steering control system 100. In some embodiments, the user terminal 130 may include one or any combination of a mobile device, a tablet, a laptop, and the like. In some embodiments, the mobile device may include a wearable device, a smart mobile device, a virtual reality device, an augmented reality device, and the like, or any combination thereof. In some embodiments, the wearable device may include a smart bracelet, smart glasses, a smart helmet, a smart watch, a smart backpack, a smart handle, and the like, or any combination thereof. In some embodiments, the smart mobile device may include a smart phone, a Personal Digital Assistant (PDA), a gaming device, a navigation device, a POS device, and the like, or any combination thereof.
In some embodiments, the storage device 140 may be connected to the network 120 to enable communication with one or more components of the novel vessel steering control system 100 (e.g., the processing device 110, the user terminal 130, etc.). One or more components of the novel vessel steering control system 100 may access data or instructions stored in the storage device 140 via the network 120. In some embodiments, the storage device 140 may be directly connected to or in communication with one or more components (e.g., the processing device 110, the user terminal 130) in the novel vessel steering control system 100. In some embodiments, the storage device 140 may be part of the processing device 110.
It should be noted that the foregoing description is provided for illustrative purposes only, and is not intended to limit the scope of the present application. Many variations and modifications will occur to those skilled in the art in light of the teachings herein. The features, structures, methods, and other features of the exemplary embodiments described herein may be combined in various ways to obtain additional and/or alternative exemplary embodiments. For example, the storage device 140 may be a data storage device comprising a cloud computing platform, such as a public cloud, a private cloud, a community and hybrid cloud, and the like. However, such changes and modifications do not depart from the scope of the present application.
FIG. 2 is an exemplary block diagram of a computing device shown in accordance with some embodiments of the present application.
In some embodiments, processing device 110 and/or user terminal 130 may be implemented on computing device 200. For example, processing device 110 may implement and execute the get work tasks disclosed herein on computing device 200.
As shown in fig. 2, computing device 200 may include a processor 210, a read only memory 220, a random access memory 230, a communication port 240, an input/output interface 250, and a hard disk 260.
The processor 210 may execute the computational instructions (program code) and perform the functions of the novel vessel steering control system 100 described herein. The computing instructions may include programs, objects, components, data structures, procedures, modules, and functions (the functions refer to specific functions described herein). For example, processor 210 may process the retrieval of the preset movement speed from storage device 140 of new vessel steering control system 100. In some embodiments, processor 210 may include microcontrollers, microprocessors, reduced Instruction Set Computers (RISC), application Specific Integrated Circuits (ASIC), application specific instruction set processors (ASIP), central Processing Units (CPU), graphics Processing Units (GPU), physical Processing Units (PPU), microcontroller units, digital Signal Processors (DSP), field Programmable Gate Array (FPGA), advanced RISC Machines (ARM), programmable logic devices, any circuit or processor capable of executing one or more functions, and the like, or any combination thereof. For illustration only, the computing device 200 in fig. 2 depicts only one processor, but it should be noted that the computing device 200 in the present application may also include multiple processors.
The memory (e.g., read Only Memory (ROM) 220, random Access Memory (RAM) 230, hard disk 260, etc.) of computing device 200 may store data/information obtained from any other component of the new vessel steering control system 100. Such as berthing instructions, mooring target location, preset movement speed, etc. Exemplary ROMs may include Mask ROM (MROM), programmable ROM (PROM), erasable programmable ROM (PEROM), electrically Erasable Programmable ROM (EEPROM), compact disk ROM (CD-ROM), digital versatile disk ROM, and the like. Exemplary RAM may include Dynamic RAM (DRAM), double-data-rate synchronous dynamic RAM (DDR SDRAM), static RAM (SRAM), thyristor RAM (T-RAM), zero-capacitance (Z-RAM), and the like.
The input/output interface 250 may be used to input or output signals, data, or information. In some embodiments, the input/output interface 250 may enable a user to interface with the novel marine steering control system 100. For example, the employee sends the social security query instruction to the processing device 110 via the input/output interface 250. Also for example, the employee receives social security related data corresponding to the social security query instruction sent by the processing device 110 via the input/output interface 250. In some embodiments, the input/output interface 250 may include an input device and an output device. Exemplary input devices may include a keyboard, mouse, touch screen, microphone, and the like, or any combination thereof. Exemplary output devices may include a display device, speakers, printer, projector, etc., or any combination thereof. Exemplary display devices may include Liquid Crystal Displays (LCDs), light Emitting Diode (LED) based displays, flat panel displays, curved displays, television equipment, cathode Ray Tubes (CRTs), and the like, or any combination thereof. The communication port 240 may be connected to a network for data communication. The connection may be a wired connection, a wireless connection, or a combination of both. The wired connection may include an electrical cable, an optical cable, or a telephone line, among others, or any combination thereof. The wireless connection may include bluetooth, wi-Fi, wiMax, WLAN, zigBee, mobile networks (e.g., 3G, 4G, or 5G, etc.), and the like, or any combination thereof. In some embodiments, the communication port 240 may be a standardized port, such as RS232, RS485, and the like. In some embodiments, the communication port 240 may be a specially designed port.
FIG. 3 is an exemplary flow chart of a novel vessel steering control method according to some embodiments of the present application. As shown in fig. 3, the novel ship steering control method includes the following steps. In some embodiments, the novel vessel steering control method may be implemented on the novel vessel steering control system 100 or the computing device 200.
In step 310, the turning information of the rudder 410 of the ship is obtained. In some embodiments, step 310 may be performed by an information acquisition module.
When the new ship needs to turn or turn around, the operator may turn the rudder 410 to turn or turn around. In some embodiments, the information acquisition module may acquire the rotation information of the rudder 410 through a sensor 420 (e.g., a rudder angle sensor). In some embodiments, in conjunction with fig. 4, the sensor 420 may be on the rotational axis of the rudder 410 of the new vessel for obtaining the rotation information of the rudder 410.
In some embodiments, the rotation information may include the angle of rotation and the rate of change of angular rotation. In some embodiments, the turning angle is an angle at which an operator turns the rudder 410 when the novel ship needs to turn or turn around, wherein the turning angle of the rudder 410 is 0 ° when the novel ship does not need to turn or turn around. In some embodiments, after the operator turns the rudder 410, the information obtaining module may use the fixed angle of the rudder 410 as the turning angle, for example, after the operator turns the rudder 410 to 60 ° and stabilizes the rudder 410 (for example, the rudder 410 does not change the angle within 2 seconds), the information obtaining module uses 60 ° as the turning angle. Also for example, after the operator turns the rudder 410 to 60 ° and then turns the rudder 410 to 30 ° to stabilize the rudder 410, the information acquisition module takes 30 ° as the steering angle. In some embodiments, the rate of change of angular rotation may be used to characterize the speed at which the operator turns the rudder 410 to a turning angle. In some embodiments, the information acquisition module may calculate the rate of change of angular rotation based on the following formula:
where a is the rotation angle and t is the time for the rudder 410 to rotate to the rotation angle.
And step 320, generating differential information based on the rotation information, the speed information before steering, the hull information and the environment information, and controlling a power device of the ship to steer the ship based on the differential information. In some embodiments, step 320 may be performed by the steering control module.
In some embodiments, the power plant of the marine vessel comprises a plurality of electrically propelled propellers, which may be mounted at different locations of the novel marine vessel. In some embodiments, the electrically propelled propeller may include a motor and a propeller, and the motor may be used to drive the propeller to rotate. For example, two electric propulsion propellers are respectively installed on both sides of the new ship.
In some embodiments, the pre-steering cruise information may be the cruise of the new vessel before the operator turns the rudder 410. In some embodiments, the steering control module may obtain the forward-steering cruise information from an external data source, such as an Electronic Chart Display and Information System (ECDIS).
In some embodiments, the hull information may include a length of the vessel and a width of the vessel. In some embodiments, the steering control module may obtain the hull information from the user terminal 130, the storage device 140, or an external data source.
In some embodiments, the environmental information may include obstacle information, water flow rate information, and wind speed information for the water area where the new vessel is currently located. In some embodiments, the steering control module may obtain the environmental information from the user terminal 130, the storage device 140, or an external data source.
In some embodiments, the differential information may include a rotational speed of each electrically propelled bolt propeller at a plurality of turning time points. In some embodiments, the steering process may consist of multiple steering time points. In some embodiments, when the new ship needs to turn or turn around, the steering control module may determine the rotation speed of each electric propulsion propeller at a plurality of steering time points in the steering process based on the rotation information, the forward speed information, the hull information, and the environment information, and control the power device of the ship to turn based on the rotation speed of each electric propulsion propeller at the plurality of steering time points in the steering process. In some embodiments, at the turning time point, the rotating speed of each electric propulsion propeller is different, and the thrust generated by each electric propulsion propeller is different, so that the moving direction of the novel ship can be changed, and turning or turning around can be realized.
In some embodiments, the steering control module may determine a rotational speed of each of the electrically propelled propellers at a plurality of steering time points of the steering process based on the turning information, the pre-steering speed information, the hull information, and the environmental information by the first machine learning model. In some embodiments, the inputs to the first machine learning model are turning information, forward speed information, hull information and environmental information, and the output of the first machine learning model is the rotational speed of each electrically propelled propeller at a plurality of turning time points of the turning process. In some embodiments, the type of the first machine learning model includes, but is not limited to, a Neural Network (NN), a Convolutional Neural Network (CNN), a Deep Neural Network (DNN), a Neural Network (NN), a Convolutional Neural Network (CNN), a Recurrent Neural Network (RNN), and the like, or any combination thereof, for example, the first machine learning model may be a model formed by a combination of a convolutional neural network and a deep neural network.
In some embodiments, the steering control module may determine a minimum steering radius based on the rotation information, the forward turning speed information, the hull information, and the environment information, and then determine a rotation speed of each electric propulsion propeller at a plurality of turning time points in a turning process based on the minimum steering radius, where the minimum steering radius is a minimum value of radii corresponding to a plurality of paths through which the novel ship may travel in order to complete turning or turn around. For example, referring to fig. 5, when the new ship needs to turn around, the new ship can turn around through one of the routes L1, L2, and L3, where the turning radius corresponding to L1 is r1, the turning radius corresponding to L2 is r2, and the turning radius corresponding to L3 is r3, and it can be understood that the turning radius corresponding to L3 is the minimum turning radius. It should be understood that like the minimum turning radius of the vehicle, which is subject to wheelbase, the minimum turning radius of the new vessel is subject to turn information, pre-turn cruise information, hull information, and environmental information.
In some embodiments, the steering control module may determine the minimum steering radius based on the rotation information, the pre-steering speed information, the hull information, and the environment information via a second machine learning model, wherein inputs to the second machine learning model are the rotation information, the pre-steering speed information, the hull information, and the environment information, and an output of the second machine learning model is the minimum steering radius. In some embodiments, the type of the second machine learning model includes, but is not limited to, a Neural Network (NN), a Convolutional Neural Network (CNN), a Deep Neural Network (DNN), a Neural Network (NN), a Convolutional Neural Network (CNN), a Recurrent Neural Network (RNN), and the like, or any combination thereof, for example, the second machine learning model may be a model formed by a combination of a convolutional neural network and a deep neural network.
In some embodiments, the steering control module may determine the moving direction of the novel ship at each steering time point according to the route corresponding to the minimum steering radius, so as to determine the rotating speed of each electric propulsion propeller at the steering time point.
In some embodiments, in order to reduce the influence on the navigation of the new ship, the steering control module may first determine whether the steering information is greater than a preset angle threshold (e.g., 90 °) before controlling the power plant of the new ship to steer; if the steering information is smaller than the preset angle threshold value, the steering control module can directly control the power device of the novel ship to steer through manual control of an operator without controlling the power device of the novel ship to steer; if the steering information is larger than the preset angle threshold value, the steering control module can control a power device of the ship to complete steering based on the rotation information, the steering forward speed information, the ship body information and the environment information.
In some embodiments, in the process of controlling the power device of the novel ship to steer by the steering control module, an operator may need to adjust the steering angle, the operator may rotate the rudder 410 of the novel ship again, and the steering control module may control the power device of the ship to steer according to the rotation information of the rudder 410 of the novel ship after the rudder is rotated again.
In some embodiments, the steering control module may acquire a turning angle and a steering speed of the ship at least one steering time point; generating a steering prediction path based on the rotating speed of each electric propulsion propeller at a plurality of steering time points in the steering process, the rotating angle of the ship at least one steering time point and the steering navigational speed; and displaying the steering prediction path through a display device. In some embodiments, the display device may be an LCD display screen through which the operator may obtain the turn prediction path. In some embodiments, the steering control module may further display the turning angle and the steering speed of the ship at the at least one steering time point on the LCD display screen.
In some embodiments, after completion of the turning, the rotational speed of each electric propulsion propeller is adjusted based on the pre-turning cruise information. In some embodiments, when the rudder 410 angle of the new vessel returns (e.g., the rotation angle of the rudder 410 of the new vessel is 0 °), the steering control module may adjust the rotation speed of each electric propulsion propeller so that the running speed of the new vessel returns to the pre-steering speed. In some embodiments, after completing the turn, the turn control module may gradually adjust the rotational speed of each electrically propelled propeller such that the travel speed of the new vessel is restored to the pre-turn cruise speed, e.g., adjust the rotational speed of each electrically propelled propeller every 3 seconds such that the travel speed of the new vessel is restored to the pre-turn cruise speed.
In some embodiments, the novel ship steering control system 100 and the novel ship steering control method can control the power device of the ship to steer or turn according to the rotation information, the navigational speed information before steering, the hull information and the environmental information when the novel ship steers or turns.
In some embodiments, the novel ship steering control system 100 and the novel ship steering control method can reduce the driving complexity of the novel ship and improve the driving safety, so that the steering or turning process of the novel ship does not depend on the experience and habit of the captain.
In other embodiments of the present application, a novel vessel steering control apparatus is provided, comprising at least one processing device and at least one storage device; the at least one memory device is configured to store computer instructions, and the at least one processing device is configured to execute at least some of the computer instructions to implement a novel vessel steering control method as described above.
In still other embodiments of the present application, a computer-readable storage medium is provided that stores computer instructions that, when executed by a processing device, implement the novel vessel steering control method as described above.
Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing detailed disclosure is to be considered as illustrative only and not limiting of the application. Various modifications, improvements and adaptations to the present application may occur to those skilled in the art, although not explicitly described herein. Such alterations, modifications, and improvements are intended to be suggested herein and are intended to be within the spirit and scope of the exemplary embodiments of this application.
Also, the present application uses specific words to describe embodiments of the application. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means a feature, structure, or characteristic described in connection with at least one embodiment of the application. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the present application may be combined as appropriate.
Moreover, those skilled in the art will appreciate that aspects of the present application may be illustrated and described in terms of several patentable species or situations, including any new and useful combination of processes, machines, manufacture, or materials, or any new and useful improvement thereon. Accordingly, various aspects of the present application may be embodied entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.) or in a combination of hardware and software. The above hardware or software may be referred to as "data block," module, "" engine, "" unit, "" component, "or" system. Furthermore, aspects of the present application may be represented as a computer product, including computer readable program code, embodied in one or more computer readable media.
The computer storage medium may comprise a propagated data signal with the computer program code embodied therewith, for example, on a baseband or as part of a carrier wave. The propagated signal may take any of a variety of forms, including electromagnetic, optical, etc., or any suitable combination. A computer storage medium may be any computer-readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code on a computer storage medium may be propagated over any suitable medium, including radio, cable, fiber optic cable, RF, or the like, or any combination of the preceding.
Computer program code required for operation of various portions of the present application may be written in any one or more programming languages, including an object oriented programming language such as Java, scala, smalltalk, eiffel, JADE, emerald, C + +, C #, VB.NET, python, and the like, a conventional programming language such as C, visual Basic, fortran 2003, perl, COBOL 2002, PHP, ABAP, a dynamic programming language such as Python, ruby, and Groovy, or other programming languages, and the like. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any form of network, such as a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet), or in a cloud computing environment, or as a service using, for example, software as a service (SaaS).
Additionally, the order in which elements and sequences of the processes described herein are processed, the use of alphanumeric characters, or the use of other designations, is not intended to limit the order of the processes and methods described herein, unless explicitly claimed. While certain presently contemplated useful embodiments of the invention have been discussed in the foregoing disclosure by way of various examples, it is to be understood that such detail is solely for that purpose and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements that are within the spirit and scope of the embodiments of the disclosure. For example, although the system components described above may be implemented by hardware devices, they may also be implemented by software-only solutions, such as installing the described system on an existing server or mobile device.
Similarly, it should be noted that in the preceding description of embodiments of the application, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to require more features than are expressly recited in the claims. Indeed, the embodiments may be characterized as having less than all of the features of a single embodiment disclosed above.
Numerals describing the number of components, attributes, etc. are used in some embodiments, it being understood that such numerals used in the description of the embodiments are modified in some instances by the use of the modifier "about", "approximately" or "substantially". Unless otherwise indicated, "about", "approximately" or "substantially" indicates that the number allows a variation of ± 20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximations that may vary depending upon the desired properties of the individual embodiments. In some embodiments, the numerical parameter should take into account the specified significant digits and employ a general digit preserving approach. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the range are approximations, in the specific examples, such numerical values are set forth as precisely as possible within the scope of the application.
The entire contents of each patent, patent application publication, and other material cited in this application, such as articles, books, specifications, publications, documents, and the like, are hereby incorporated by reference into this application. Except where the application is filed in a manner inconsistent or contrary to the present disclosure, and except where the claim is filed in its broadest scope (whether present or later appended to the application) as well. It is to be understood that the descriptions, definitions and/or uses of terms in the attached materials of this application shall control if they are inconsistent or inconsistent with this application.
Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments of the present application. Other variations are also possible within the scope of the present application. Thus, by way of example, and not limitation, alternative configurations of the embodiments of the present application can be viewed as being consistent with the teachings of the present application. Accordingly, the embodiments of the present application are not limited to only those embodiments explicitly described and depicted herein.
Claims (6)
1. A novel ship steering control method is characterized by comprising the following steps:
acquiring rotation information of a rudder of a ship;
generating differential information based on the rotation information, the speed information before steering, the ship body information and the environment information;
controlling a power device of the ship to steer the ship based on the differential information;
the power plant of the vessel comprises a plurality of electrically propelled propellers;
the differential information includes a rotational speed of each of the electrically propelled bolt paddles at a plurality of turning time points;
acquiring a rotation angle and a steering navigational speed of the ship at least one steering time point;
generating a steering prediction path based on the rotating speed of each electric propulsion propeller at a plurality of steering time points in a steering process, the rotating angle of the ship at least one steering time point and the steering navigational speed;
displaying the steering predicted path through a display device;
the generating of differential information based on the rotation information, the pre-steering cruise information, the hull information, and the environmental information includes:
determining a minimum steering radius based on the rotation information, the steered forward speed information, the hull information, and the environment information;
determining the differential speed information based on the minimum steering radius;
or the like, or, alternatively,
judging whether the rotation information is larger than a preset angle threshold value or not;
and if the rotation information is larger than the preset angle threshold value, generating the differential information based on the rotation information, the forward steering speed information, the ship body information and the environment information.
2. The novel ship steering control method according to claim 1, wherein the rotation information includes a rotation angle and a rotation change rate of the angle.
3. The novel ship steering control method according to claim 2, wherein the hull information includes a length of the ship and a width of the ship.
4. The novel ship steering control method according to claim 3, wherein the environmental information includes obstacle information, water flow rate information, and wind speed information.
5. The novel ship steering control method according to claim 1, characterized by further comprising:
after the steering is finished, the rotating speed of each electric propulsion propeller is adjusted based on the information of the navigational speed before the steering.
6. A novel ship steering control system is characterized by comprising:
the information acquisition module is used for acquiring the rotation information of a rudder of a ship;
the steering control module is used for generating differential information based on the rotation information, the navigation speed information before steering, the hull information and the environment information and controlling a power device of the ship to steer the ship based on the differential information;
the power plant of the vessel comprises a plurality of electrically propelled propellers;
the differential information comprises the rotation speed of each electric propulsion bolt propeller at a plurality of turning time points;
the steering control module is further configured to:
acquiring a rotation angle and a steering navigational speed of the ship at least one steering time point;
generating a steering prediction path based on the rotating speed of each electric propulsion propeller at a plurality of steering time points in a steering process, the rotating angle of the ship at least one steering time point and the steering navigational speed;
displaying the steering predicted path through a display device;
the steering control module generates differential information based on the rotation information, the steering front speed information, the hull information and the environment information, and comprises:
determining a minimum steering radius based on the rotation information, the steered forward speed information, the hull information, and the environment information;
determining the differential information based on the minimum steering radius;
or the like, or a combination thereof,
judging whether the rotation information is larger than a preset angle threshold value or not;
and if the rotation information is larger than the preset angle threshold value, generating differential information based on the rotation information, the steering forward speed information, the ship body information and the environment information.
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