CN114328506A - Intelligent ship automatic control system - Google Patents
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Abstract
The invention discloses an automatic control system of an intelligent ship, and relates to the technical field of intelligent ships. The control system comprises a data acquisition and classification gathering module, a grouping interaction discrete data module and an intelligent controller; the data acquisition and classification gathering module acquires navigation power data of the ship and compatibly acquires auxiliary power demand data and other data of the ship; the data collected by the data acquisition and classification gathering module is subjected to data construction through the grouping interactive discrete data module to form an interactive database paradigm convenient for the intelligent controller to call and process, and the intelligent controller performs automatic intelligent control on ship navigation based on data processing of the interactive database group and serves as a data information source applied at the ship control rear end. The system provided by the invention constructs a brand-new valuable information processing method facing the ship control function requirement from the bottom layer, and can be used as a bottom layer technology to provide technical information for a plurality of ship control function modules.
Description
Technical Field
The invention relates to the technical field of ship navigation control, in particular to an intelligent ship automatic control system based on data information extraction.
Background
Automatic control of the navigation of ships has been extensively and fully studied, involving various aspects of technical elements and modes of application. At present, in the field of hardware technology, extensive development is not needed or necessary. In the control method, the prior art more and more applies relatively universal and mature automatic control ideas and technology transfer to ship control. While this does fall within the realm of intelligent, automated ship control technology, it is believed that this class of technology remains thin and extensive from the essence of technological advancement. It is not difficult to realize that innovative research is carried out on ship navigation bottom layer data, and identification, extraction and arrangement processing of development value data based on the functional requirements of ship control are not only necessary for developing and improving the existing ship automatic control technology, but also fundamental.
In fact, based on our research and practice, the ship navigation data processing paradigm for specific functional requirements often has universality in a great scope through proper expansion, thereby providing a direct data basis for other further ship control functional requirements.
Disclosure of Invention
The invention aims to provide an intelligent automatic ship control system.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
An automatic control system of an intelligent ship comprises a data acquisition and classification gathering module, a grouping interaction discrete data module and an intelligent controller; the data acquisition and classification gathering module acquires navigation power data of the ship on one hand and acquires auxiliary power demand data and other data of the ship from a cloud database or an external database or a man-machine interface through a data port on the other hand; data collected by the data acquisition and classification gathering module are subjected to data construction through the grouping interactive discrete data module to form an interactive database paradigm convenient for the intelligent controller to call and process, and the intelligent controller performs automatic intelligent control of ship navigation based on data processing of the interactive database group and serves as a data information source applied at a ship control rear end.
As a preferred technical scheme of the invention, the automatic control system is also compatibly provided with a human-computer interaction module and/or an information early warning module; the intelligent controller is provided with an expandable data interface which is used for being connected with the rear-end application module and providing valuable data related to ship navigation for the rear-end application module.
As a preferred technical solution of the present invention, the automatic intelligent control of ship navigation specifically includes: power intelligent control of the navigation power system; matching control of a main power system and an auxiliary power system of the ship; man-machine display, recording and early warning of navigation data; other expansion of flight requirements; the data information source used as the ship control back-end application specifically comprises: the intelligent controller is provided with an expandable data interface which is used for being connected with the back-end application module and providing valuable data related to ship navigation power for the back-end application module, and data basis is provided for the back-end application module related to wide ship navigation.
As a preferred technical scheme of the invention, the data acquisition and classification gathering module acquires equivalent constant-speed power data of ship navigation and acquires auxiliary power demand data of the ship navigation in a cloud data calling or manual input mode; the equivalent constant-speed power data is power data required by the ship to maintain horizontal constant-speed navigation;
as a preferred technical solution of the present invention, the packet interaction discrete data module is internally compatible with and constructed with the following mutual interaction database paradigm: A. the data set normal form is used for sleeving ship main power data with a set length from the data acquisition and classification summarizing module to form a ship main power discrete data set, specifically, firstly, span main attributes representing interval spans are set for the data set normal form, then the span main attributes of the data set normal form after a unit is appointed are embodied as single-value data, and when the data set normal form sleeves the ship main power data set from the data acquisition and classification summarizing module, the capacity of the discrete data set is only determined by the span main attributes of the data set normal form; B. the data integration normal form is used for integrating the data of each discrete data group which is extracted by the data set normal form and interacting with the data set normal form; the main attribute of the data integral paradigm is set to be ^ integral, and the data integral paradigm is specifically used for obtaining the sum of the main power data of the ship in the sleeve; the auxiliary attribute of the data integral paradigm is set to be/, and is used for realizing the interaction of the data integral paradigm and the data set paradigm, specifically, direct data interaction is carried out based on the single valued spam main attribute and the single valued ^ main attribute, and the homogenized ship main power data with mean value significance is obtained; C. the data sorting and marking normal form is used for data sorting and marking, and the homogenized data obtained by interaction of the data set normal form and the data integral normal form are sorted and marked based on the sequence of the ship main power data nested by the data set normal form to form an ordered ship main power related discrete data group;
as a preferred technical solution of the present invention, the intelligent controller calls the interactive database processed by the group interactive discrete data module, and performs intelligent power control and other intelligent ship control of the ship navigation main power system based on data processing of the interactive database group;
A. cutting data;
a-1, data base cutting process: forming an ordered discrete data group by the main power homogenized data of the ship, and performing data cutting on the homogenized data according to the sorting marks; the first criterion of basic data cutting is set as difference cutting of adjacent sorting data, so that a sub-data set with the data volume of x-1 is obtained after the homogenized data set with the total sorting number of x is globally and sequentially cut, and the obtained sub-data set is naturally constructed into a sub-set of ordered discrete data corresponding to the original discrete data set based on the sorting mark of the original discrete data set;
a-2, data evolution and cutting process: the basic cutting of the data only constructs the incidence relation of adjacent homogenized power data, while the intelligent control of the ship needs to carry out balanced correlation on the global data, and also needs the data process corresponding to the global data correlation to meet the requirements of a data calculation paradigm and controllable data calculation total amount, for this reason, a data evolution cutting process is set as iteration carried out by the data basic cutting, namely, the basic cutting process of the data is applied to the ordered discrete data 'subgroup' obtained by the first basic cutting, the obtained data group is naturally constructed into the ordered discrete data 'subgroup' corresponding to the cut discrete data group, for the purpose of distinguishing, the obtained ordered discrete data group is named as the ordered discrete data 'grandchild group', and the ordered data capacity of the obtained data 'grandchild group' is (x-1) -1 x-2; the data evolution process meets the basic requirements of data global association, meanwhile, the data capacity is small, particularly, the data structure is simple, the total data calculation amount of the ship intelligent control system is reduced, and meanwhile, the stability of a data processing result is effectively improved;
a-3, data evolution end-point process: according to the data evolution process set in the previous step, a single data set with the data capacity of 2-1 is finally obtained, the single data substantially realizes the content association of head and tail data in a first ordered discrete data set of the ship main power homogenized data based on the data evolution process, and the first ordered discrete data set is also called an ordered data set and serves as the end point of data evolution; all the ordered arrays form an ordered data set family/ordered data set evolutionary tree;
B. carrying out valued processing on the ordered array evolutionary tree;
b-1, data valuable information distribution: the data structure constructed by data cutting realizes the global association of the ship main power data, and for the intelligent control of the ship, the valuable information of the data structure is on one hand in the obtained series ordered data group family/ordered data group evolutionary tree, and on the other hand, the more extensive and important information is stored in the evolutionary process relation/evolutionary tree branch structure of the series ordered data group family/ordered data group evolutionary tree;
b-2: valuable information processing based on the Yanghe triangle:
b-2-1: the data structure of the ordered data group family/ordered data group evolutionary tree has complete compatibility with the Yanglie triangle, on one hand, the configuration of the ordered data group family/ordered data group evolutionary tree is directly associated with the Yanglie triangle, and on the more important aspect, after the same items in all the ordered data are combined, the coefficient of the data is equal to the combination number determined by the Yanglie triangle, which means that the data structure and the evolutionary process relation of the data are consistent on the branch structure of the evolutionary process relation/evolutionary tree; due to the deterministic fit of the Yanglie triangle and the constructed ordered data group family/ordered data group evolutionary tree, the valuable information of the two aspects in the whole data architecture is correctly and fully extracted, and a data information basis of the intelligent ship control system is formed;
b-2-2, when carrying out data processing on the ordered data group family/ordered data group evolutionary tree based on the Yangmai triangle, the selectable data guidance is not unique, and two data guidance are set for the purpose, wherein one is the normalized data guidance, namely the combination of the same-type data in the previous step; the other is functional data guidance, and the data guidance set for the intelligent controller is the power control of the ship, so the arrangement and presentation directions of the terminal data are set to be guided by ship power parameters; the two sets of data guides are compatible with each other.
As a preferred technical scheme of the invention, the equivalent uniform speed power data is obtained by fitting based on the differential of the horizontal navigational speed of the ship and a time unit and the main thrust output of a power system; or fitting through other data processes to obtain substitute data having a linear relation with the equivalent constant-speed power data; the specific selection of data is adjusted based on the hardware sensing system of the subject vessel body.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in: the invention belongs to the development innovation in the technical field of intelligent control of ships. Compared with the intelligent ship control idea and method in the prior art, the intelligent ship control idea and method are fundamentally different, the main body of the intelligent ship control idea and method is still to transfer and apply relatively universal and mature automatic control idea and technology to ship control, and the method constructed by the invention constructs a brand-new valuable information processing method facing the ship control function requirement from the bottom layer; meanwhile, the data method provided by the invention is developed according to the specific navigation function requirement, but has wide applicability, namely, the data method can be used as a bottom layer technology to provide valuable data information for a plurality of ship control function modules, so that the data method is not only innovative (belongs to the scope of the pioneering invention), but also has the characteristics of a technology bottom layer platform, and the technical progress is very obvious. The beneficial effects of the technical scheme of the invention are specifically described as follows.
The data acquisition and classification gathering module is used for acquiring original sensing data of a ship main body, and has the innovation points that: firstly, the method is not simple for acquiring and storing data, can also carry out preliminary data processing, obtains equivalent fitting data through simple operation based on different sensing data, and provides convenience conditions for subsequent data processing, for example, for equivalent uniform-speed power data, fitting can be carried out based on the differential of a ship horizontal navigational speed and a time unit and the main thrust output of a power system to obtain the equivalent uniform-speed power data, and substitute data having a linear relation with the equivalent uniform-speed power data can also be obtained through fitting of other data processes (specific adjustment is carried out based on a ship sensing system); secondly, in order to adapt to the application of the invention as a bottom-layer technology platform to provide basic data for other functional application modules, compatible functional characteristics are set for the data acquisition and classification and summarization module, namely auxiliary power demand data and other data of ships are obtained from a cloud database or an external database or a human-computer interface through a data port in a compatible manner, and the requirements of the invention as a technology platform for development are well adapted.
The grouping interaction discrete data module is a central node of data processing, is closely associated with a data acquisition and classification summarizing module and an intelligent controller, and particularly belongs to a secret inseparable cooperative relationship with the intelligent controller.
Actually, the packet interactive discrete data function module is an important component of the core innovation of the invention, and three data processing paradigms with interactive relation, namely a data set paradigms, a data integration paradigms and a data sequencing and marking paradigms, are innovatively developed. The data set paradigm is used for sleeving ship main power data with a set length from the data acquisition and classification summarizing module to form a ship main power discrete data set; the data integration normal form is used for integrating data of each discrete data group collected by the data set normal form and interacting with the data set normal form; and the data sorting and marking paradigm is used for data sorting and marking to form an ordered ship main power related discrete data set. The important innovation lies in that: operable data normalization processing is carried out on the three normal forms through a brand new data mode set by the attributes, so that the data process and the obtained data result have equivalent single-value data characteristics, the data result is simplified, and particularly the selectable mode of subsequent data is greatly improved.
The intelligent controller of the invention is based on the data processing of the interactive database group, on one hand, the automatic intelligent control of the ship navigation is carried out, such as the power intelligent control of a navigation power system; matching control of a main power system and an auxiliary power system of the ship; man-machine display, recording and early warning of navigation data; other expansion of flight requirements and the like; on the other hand, based on the characteristics of the underlying technology platform, the invention can also be used as a data information source for controlling the back-end application of the ship, generally speaking, an expandable data interface can be directly arranged on the intelligent controller for being connected with the back-end application module and providing valuable data related to ship navigation power for the back-end application module, and a data basis is provided for the back-end application module related to extensive ship navigation.
The invention is based on the ordered array constructed by the data cutting process which is progressive in sequence and the ordered array evolutionary tree structure carrying the global data information of the ship, and is another technical research and development core of the invention; further, based on the analysis of the obtained ordered array and the ordered array evolutionary tree (the former is data classification merging analysis, and the latter is tree structure characteristic analysis), the ordered array evolutionary tree is found to be exactly matched with the Yangpe whether in data form or data connotation, so that the data processing of the cut data family can be directly carried out by the Yangpe! And beyond our expectation, the valuable data obtained by applying the Yang Hui delta seems to have wider applicability, which is the fundamental point of the development of the platform technology of the invention.
Referring to the following embodiments, in a specific application direction, the intelligent control system has good applicability and expansibility for intelligent control of a ship power system; the module has good compatibility with other functional requirements.
In addition, the software and hardware setting of the invention is compatible with the artificial intelligence-based control method for optimizing evolution, which is also an important subsequent research and development direction.
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FIG. 1 is a functional block diagram of a system according to an embodiment of the present invention.
Detailed Description
The following examples illustrate the invention in detail. In the following description of embodiments, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
As shown in fig. 1, an embodiment of the invention discloses an intelligent automatic ship control system, which comprises a data acquisition and classification gathering module, a grouping interaction discrete data module, an intelligent controller, a man-machine interaction module, an information early warning module and an expandable data interface. The system provided by the invention constructs a brand-new valuable information processing method facing the ship control function requirement from the bottom layer, and can be used as a bottom layer technology to provide technical information for a plurality of ship control function modules.
Data acquisition and categorised the module that gathers:
the data acquisition and classification gathering module can directly acquire navigation power data of the ship and can acquire auxiliary power demand data and other data of the ship from a cloud database or an external database or a human-computer interface through a data port; the data acquisition and classification gathering module acquires equivalent constant-speed power data of ship navigation and acquires auxiliary power demand data of the ship navigation in a cloud data calling or manual input mode; the equivalent uniform speed power data is power data required by the ship to maintain horizontal uniform speed navigation, and can be obtained by fitting based on the differential of the horizontal navigation speed of the ship and a time unit and the main thrust output of a power system, or substitute data (specifically adjusted based on a ship sensing system) having a linear relation with the equivalent uniform speed power data is obtained by fitting through other data processes.
The data acquisition and classification of this embodiment summarize the module, and its innovation point lies in: firstly, the method is not simple for acquiring and storing data, can also carry out preliminary data processing, obtains equivalent fitting data through simple operation based on different sensing data, and provides convenience conditions for subsequent data processing, for example, for equivalent uniform-speed power data, fitting can be carried out based on the differential of a ship horizontal navigational speed and a time unit and the main thrust output of a power system to obtain the equivalent uniform-speed power data, and substitute data having a linear relation with the equivalent uniform-speed power data can also be obtained through fitting of other data processes (specific adjustment is carried out based on a ship sensing system); secondly, in order to adapt to the application of the invention as a bottom-layer technology platform to provide basic data for other functional application modules, compatible functional characteristics are set for the data acquisition and classification and summarization module, namely auxiliary power demand data and other data of ships are obtained from a cloud database or an external database or a human-computer interface through a data port in a compatible manner, and the requirements of the invention as a technology platform for development are well adapted.
A grouping interaction discrete data module:
the data collected by the data acquisition and classification gathering module are subjected to data construction through the grouping interaction discrete data module to form an interaction database normal form which is convenient for the intelligent controller to call and process, and the data acquisition and classification gathering module comprises three normal forms: A. the data set normal form is used for sleeving ship main power data with a set length from the data acquisition and classification summarizing module to form a ship main power discrete data set, specifically, firstly, span main attributes representing interval spans are set for the data set normal form, then the span main attributes of the data set normal form after a unit is appointed are embodied as single-value data, and when the data set normal form sleeves the ship main power data set from the data acquisition and classification summarizing module, the capacity of the discrete data set is only determined by the span main attributes of the data set normal form; B. the data integration normal form is used for integrating the data of each discrete data group which is extracted by the data set normal form and interacting with the data set normal form; the main attribute of the data integral paradigm is set to be ^ integral, and the data integral paradigm is specifically used for obtaining the sum of the main power data of the ship in the sleeve; the auxiliary attribute of the data integral paradigm is set to be/, and is used for realizing the interaction of the data integral paradigm and the data set paradigm, specifically, direct data interaction is carried out based on the single valued spam main attribute and the single valued ^ main attribute, and the homogenized ship main power data with mean value significance is obtained; C. and the data sorting and marking normal form is used for data sorting and marking, and the homogenized data obtained by interaction of the data set normal form and the data integral normal form is sorted and marked based on the sequence of the ship main power data nested by the data set normal form to form an ordered ship main power related discrete data group.
The group interaction discrete data module of the embodiment is a central node of data processing, and is closely associated with both the data acquisition and classification gathering module and the intelligent controller, and particularly belongs to a secret inseparable cooperative relationship with the intelligent controller. The invention discloses a method for processing a data by a packet interactive discrete data function module, which is an important component of core innovation of the invention. The data set paradigm is used for sleeving ship main power data with a set length from the data acquisition and classification summarizing module to form a ship main power discrete data set; the data integration normal form is used for integrating data of each discrete data group collected by the data set normal form and interacting with the data set normal form; and the data sorting and marking paradigm is used for data sorting and marking to form an ordered ship main power related discrete data set. The important innovation lies in that: operable data normalization processing is carried out on the three normal forms through a brand new data mode set by the attributes, so that the data process and the obtained data result have equivalent single-value data characteristics, the data result is simplified, and particularly the selectable mode of subsequent data is greatly improved.
The intelligent controller:
the intelligent controller performs automatic intelligent control of ship navigation, such as intelligent power control of a navigation power system, on the one hand based on data processing of the interactive database group; matching control of a main power system and an auxiliary power system of the ship; man-machine display, recording and early warning of navigation data; other expansion of flight requirements and the like; the main power system is used for maintaining the integral navigation speed of the ship, and the auxiliary power system is used for supplying energy except for the navigation function of the ship, including the energy for electric control of the ship, the energy for the life of passengers and the energy for communication of the ship. On the other hand, based on the characteristics of the underlying technical platform, the intelligent controller can also be used as a data information source for ship control rear-end application, and the intelligent controller is provided with an expandable data interface for being connected with the rear-end application module and providing valuable data related to ship navigation power for the rear-end application module, so that a data basis is provided for the wide ship navigation related rear-end application module. The connotative control process of the intelligent controller comprises the following steps:
A. cutting data; a-1, data base cutting process: forming an ordered discrete data group by the main power homogenized data of the ship, and performing data cutting on the homogenized data according to the sorting marks; the first criterion of basic data cutting is set as difference cutting of adjacent sorting data, so that a sub-data set with the data volume of x-1 is obtained after the homogenized data set with the total sorting number of x is globally and sequentially cut, and the obtained sub-data set is naturally constructed into a sub-set of ordered discrete data corresponding to the original discrete data set based on the sorting mark of the original discrete data set; a-2, data evolution and cutting process: the basic cutting of the data only constructs the incidence relation of adjacent homogenized power data, while the intelligent control of the ship needs to carry out balanced correlation on the global data, and also needs the data process corresponding to the global data correlation to meet the requirements of a data calculation paradigm and controllable data calculation total amount, for this reason, a data evolution cutting process is set as iteration carried out by the data basic cutting, namely, the basic cutting process of the data is applied to the ordered discrete data 'subgroup' obtained by the first basic cutting, the obtained data group is naturally constructed into the ordered discrete data 'subgroup' corresponding to the cut discrete data group, for the purpose of distinguishing, the obtained ordered discrete data group is named as the ordered discrete data 'grandchild group', and the ordered data capacity of the obtained data 'grandchild group' is (x-1) -1 x-2; the data evolution process meets the basic requirements of data global association, meanwhile, the data capacity is small, particularly, the data structure is simple, the total data calculation amount of the ship intelligent control system is reduced, and meanwhile, the stability of a data processing result is effectively improved; a-3, data evolution end-point process: according to the data evolution process set in the previous step, a single data set with the data capacity of 2-1 is finally obtained, the single data substantially realizes the content association of head and tail data in a first ordered discrete data set of the ship main power homogenized data based on the data evolution process, and the first ordered discrete data set is also called an ordered data set and serves as the end point of data evolution; all the ordered arrays form an ordered data set family/ordered data set evolutionary tree;
B. carrying out valued processing on the ordered array evolutionary tree; b-1, data valuable information distribution: the data structure constructed by data cutting realizes the global association of the ship main power data, and for the intelligent control of the ship, the valuable information of the data structure is on one hand in the obtained series ordered data group family/ordered data group evolutionary tree, and on the other hand, the more extensive and important information is stored in the evolutionary process relation/evolutionary tree branch structure of the series ordered data group family/ordered data group evolutionary tree; b-2: valuable information processing based on the Yanghe triangle: b-2-1: the data structure of the ordered data group family/ordered data group evolutionary tree has complete compatibility with the Yanglie triangle, on one hand, the configuration of the ordered data group family/ordered data group evolutionary tree is directly associated with the Yanglie triangle, and on the more important aspect, after the same items in all the ordered data are combined, the coefficient of the data is equal to the combination number determined by the Yanglie triangle, which means that the data structure and the evolutionary process relation of the data are consistent on the branch structure of the evolutionary process relation/evolutionary tree; due to the deterministic fit of the Yanglie triangle and the constructed ordered data group family/ordered data group evolutionary tree, the valuable information of the two aspects in the whole data architecture is correctly and fully extracted, and a data information basis of the intelligent ship control system is formed; b-2-2, when carrying out data processing on the ordered data group family/ordered data group evolutionary tree based on the Yangmai triangle, the selectable data guide is not unique, and two data guides are set for the purpose, wherein one is a normalized data guide, namely the combination of the same-type data in the previous step; the other is functional data guidance, and the data guidance set for the intelligent controller is the power control of the ship, so the arrangement and presentation directions of the terminal data are set to be guided by ship power parameters; the two sets of data guides are compatible with each other.
The invention is based on the ordered array constructed by the data cutting process which is progressive in sequence and the ordered array evolutionary tree structure carrying the global data information of the ship, and is another technical research and development core of the invention; further, based on the analysis of the obtained ordered array and the ordered array evolutionary tree (the former is data classification merging analysis, and the latter is tree structure characteristic analysis), the ordered array evolutionary tree is found to be exactly matched with the Yangpe whether in data form or data connotation, so that the data processing of the cut data family can be directly carried out by the Yangpe! And beyond our expectation, the valuable data obtained by applying the Yang Hui delta seems to have wider applicability, which is the fundamental point of the development of the platform technology of the invention.
Generally speaking, an expandable data interface can be directly arranged on the intelligent controller for being connected with the back-end application module and providing valuable data related to ship navigation power for the back-end application module, and providing a data basis for the back-end application module related to wide ship navigation, which is one of specific optional modes of platform technology development and possibly one of the most convenient modes. Correspondingly, the invention has good applicability and expansibility for intelligent control of the ship power system in a specific application direction, see the following embodiments; the module has good compatibility with other functional requirements.
The intelligent ship automatic control system is also compatibly provided with a human-computer interaction module and/or an information early warning module; the intelligent controller is provided with an expandable data interface which is used for being connected with the rear-end application module and providing valuable data related to ship navigation for the rear-end application module.
Regarding the power intelligent control of the navigation power system, the ordered array evolutionary tree is subjected to valuable processing by the intelligent processor, and because the two data guidance set in the step B-2-2 are respectively: firstly, normalized data guiding, namely merging of the same-type data in the step B-2-1, secondly, functional data guiding, namely arranging and presenting directions of end data are set to be guided by ship power parameters; therefore, three groups of data normal forms, namely a data set normal form, a data integral normal form, a data sorting and marking normal form, in the grouped interactive discrete data module are sequentially processed to obtain a ship main power related ordered discrete data group, the ship main power related ordered discrete data group is converted into a data function which directly maps the ship navigation main power demand, the function is a functional function with a linear structure, and the coefficient of the function is determined by Yanghe triangle.
And secondly, the intelligent controller can obtain fitted navigation power demand data only by expanding the original data set capacity in the data set normal form, and the expansion scale of the intelligent controller to the original data set capacity corresponds to the time boundary of the navigation power demand.
In practical application, the required time boundary can be determined according to the object parameters of the ship, so that the expansion scale of the intelligent controller for the capacity of the original data set is determined in a reverse-deduction mode.
Therefore, the intelligent control of the ship navigation power system can be realized only by comparing the current real-time navigation power with the fitting ship navigation power at the selected time boundary and providing corresponding energy reserves for the ship power system in advance according to the power demand data (power data interpolation can be directly adopted, and positive and negative respectively represent increase and decrease) at different time boundaries.
The method relates to matching control of a main power system and an auxiliary power system of a ship. Based on the intelligent power control of the navigation power system in the embodiment 6, if the difference between the fitted power data on the selected time boundary (especially the near-end time boundary) and the current ship navigation power data is large, the power supply of ship auxiliary power systems (such as an air conditioning system, a lighting system, a passenger entertainment system and the like) is considered to be reduced proportionally, and the energy is given to the main power system for ship navigation.
And (4) early warning information about ship navigation. The power requirements of the vessel auxiliary power system are well-defined and usually come from manually entered data, and therefore have good predictability. If the following situations occur, the intelligent controller carries out information early warning and hands the information early warning to manual intervention treatment: if the fitted power data on the selected time boundary (especially the far-end time boundary) has a large difference with the current ship navigation power data, and the auxiliary power system of the selected time boundary node is in a peak energy utilization state, or although the auxiliary power system of the selected time boundary node is not in a high energy utilization state, the auxiliary power system has an irreducible rigid energy utilization requirement, and the lowest rigid energy utilization requirement conflicts with the energy utilization increment requirement of the main power requirement.
The expandable data interface is arranged on the intelligent controller and used for being connected with the rear-end application module and providing valuable data related to ship navigation power for the rear-end application module, and data basis is provided for the rear-end application module related to wide ship navigation. For example, recording, backing up and displaying navigation data; the data packet application module provides specific guidance for scientific researches of ship subjects, fluid mechanics subjects and oceanology subjects; a data packet application module for ship fault guidance; a ship body control system fault guiding data packet application module; and the like, and the like.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
In various embodiments, the hardware implementation of the technology may directly employ existing intelligent devices, including but not limited to industrial personal computers, PCs, smart phones, handheld stand-alone machines, floor stand-alone machines, and the like. The input device preferably adopts a screen keyboard, the data storage and calculation module adopts the existing memory, calculator and controller, the internal communication module adopts the existing communication port and protocol, and the remote communication adopts the existing gprs network, the web and the like.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Each functional unit in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method according to the embodiments of the present invention may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the embodiments of the method. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (5)
1. The utility model provides an intelligent boats and ships automatic control system which characterized in that: the automatic control system comprises a data acquisition and classification gathering module, a grouping interaction discrete data module and an intelligent controller; the data acquisition and classification gathering module acquires navigation power data of the ship on one hand and acquires auxiliary power demand data and other data of the ship from a cloud database or an external database or a man-machine interface through a data port on the other hand; data collected by the data acquisition and classification gathering module are subjected to data construction through the grouping interactive discrete data module to form an interactive database paradigm convenient for the intelligent controller to call and process, and the intelligent controller performs automatic intelligent control of ship navigation based on data processing of the interactive database group and serves as a data information source applied at a ship control rear end.
2. The intelligent ship automatic control system according to claim 1, characterized in that: the automatic control system is also compatibly provided with a human-computer interaction module and/or an information early warning module; the intelligent controller is provided with an expandable data interface which is used for being connected with the rear-end application module and providing valuable data related to ship navigation for the rear-end application module.
3. The intelligent ship automatic control system according to claim 1, characterized in that: the automatic intelligent control of boats and ships navigation specifically includes: power intelligent control of the navigation power system; matching control of a main power system and an auxiliary power system of the ship; man-machine display, recording and early warning of navigation data; other expansion of flight requirements; the data information source used as the ship control back-end application specifically comprises: the intelligent controller is provided with an expandable data interface which is used for being connected with the back-end application module and providing valuable data related to ship navigation power for the back-end application module, and data basis is provided for the back-end application module related to wide ship navigation.
4. The intelligent ship automatic control system according to claim 1, characterized in that:
4-1, acquiring equivalent constant-speed power data of ship navigation by the data acquisition and classification and summary module, and acquiring auxiliary power demand data of the ship navigation in a cloud data calling or manual input mode; the equivalent constant-speed power data is power data required by the ship to maintain horizontal constant-speed navigation;
4-2, the internal compatibility of the group interaction discrete data module is constructed with the following mutual interaction database normal form:
A. the data set normal form is used for sleeving ship main power data with a set length from the data acquisition and classification summarizing module to form a ship main power discrete data set, specifically, firstly, span main attributes representing interval spans are set for the data set normal form, then the span main attributes of the data set normal form after a unit is appointed are embodied as single-value data, and when the data set normal form sleeves the ship main power data set from the data acquisition and classification summarizing module, the capacity of the discrete data set is only determined by the span main attributes of the data set normal form;
B. the data integration normal form is used for integrating the data of each discrete data group which is extracted by the data set normal form and interacting with the data set normal form; the main attribute of the data integral paradigm is set to be ^ integral, and the data integral paradigm is specifically used for obtaining the sum of the main power data of the ship in the sleeve; the auxiliary attribute of the data integral paradigm is set to be/, and is used for realizing the interaction of the data integral paradigm and the data set paradigm, specifically, direct data interaction is carried out based on the single valued spam main attribute and the single valued ^ main attribute, and the homogenized ship main power data with mean value significance is obtained;
C. the data sorting and marking normal form is used for data sorting and marking, and the homogenized data obtained by interaction of the data set normal form and the data integral normal form are sorted and marked based on the sequence of the ship main power data nested by the data set normal form to form an ordered ship main power related discrete data group;
4-3, the intelligent controller calls the interactive database processed by the grouping interactive discrete data module, and based on the data processing of the interactive database group, the intelligent power control of the ship navigation main power system and the intelligent control of other ships are carried out;
A. cutting data;
a-1, data base cutting process: forming an ordered discrete data group by the main power homogenized data of the ship, and performing data cutting on the homogenized data according to the sorting marks; the first criterion of basic data cutting is set as difference cutting of adjacent sorting data, so that a sub-data set with the data volume of x-1 is obtained after the homogenized data set with the total sorting number of x is globally and sequentially cut, and the obtained sub-data set is naturally constructed into a sub-set of ordered discrete data corresponding to the original discrete data set based on the sorting mark of the original discrete data set;
a-2, data evolution and cutting process: the basic cutting of the data only constructs the incidence relation of adjacent homogenized power data, while the intelligent control of the ship needs to carry out balanced correlation on the global data, and also needs the data process corresponding to the global data correlation to meet the requirements of a data calculation paradigm and controllable data calculation total amount, for this reason, a data evolution cutting process is set as iteration carried out by the data basic cutting, namely, the basic cutting process of the data is applied to the ordered discrete data 'subgroup' obtained by the first basic cutting, the obtained data group is naturally constructed into the ordered discrete data 'subgroup' corresponding to the cut discrete data group, for the purpose of distinguishing, the obtained ordered discrete data group is named as the ordered discrete data 'grandchild group', and the ordered data capacity of the obtained data 'grandchild group' is (x-1) -1 x-2; the data evolution process meets the basic requirements of data global association, meanwhile, the data capacity is small, particularly, the data structure is simple, the total data calculation amount of the ship intelligent control system is reduced, and meanwhile, the stability of a data processing result is effectively improved;
a-3, data evolution end-point process: according to the data evolution process set in the previous step, a single data set with the data capacity of 2-1 is finally obtained, the single data substantially realizes the content association of head and tail data in a first ordered discrete data set of the ship main power homogenized data based on the data evolution process, and the first ordered discrete data set is also called an ordered data set and serves as the end point of data evolution; all the ordered arrays form an ordered data set family/ordered data set evolutionary tree;
B. carrying out valued processing on the ordered array evolutionary tree;
b-1, data valuable information distribution: the data structure constructed by data cutting realizes the global association of the ship main power data, and for the intelligent control of the ship, the valuable information of the data structure is on one hand in the obtained series ordered data group family/ordered data group evolutionary tree, and on the other hand, the more extensive and important information is stored in the evolutionary process relation/evolutionary tree branch structure of the series ordered data group family/ordered data group evolutionary tree;
b-2: valuable information processing based on the Yanghe triangle:
b-2-1: the data structure of the ordered data group family/ordered data group evolutionary tree has complete compatibility with the Yanglie triangle, on one hand, the configuration of the ordered data group family/ordered data group evolutionary tree is directly associated with the Yanglie triangle, and on the more important aspect, after the same items in all the ordered data are combined, the coefficient of the data is equal to the combination number determined by the Yanglie triangle, which means that the data structure and the evolutionary process relation of the data are consistent on the branch structure of the evolutionary process relation/evolutionary tree; due to the deterministic fit of the Yanglie triangle and the constructed ordered data group family/ordered data group evolutionary tree, the valuable information of the two aspects in the whole data architecture is correctly and fully extracted, and a data information basis of the intelligent ship control system is formed;
b-2-2, when carrying out data processing on the ordered data group family/ordered data group evolutionary tree based on the Yangmai triangle, the selectable data guidance is not unique, and two data guidance are set for the purpose, wherein one is the normalized data guidance, namely the combination of the same-type data in the previous step; the other is functional data guidance, and the data guidance set for the intelligent controller is the power control of the ship, so the arrangement and presentation directions of the terminal data are set to be guided by ship power parameters; the two sets of data guides are compatible with each other.
5. The intelligent ship automatic control system according to claim 4, wherein: fitting based on the differential of the horizontal navigational speed of the ship and a time unit and the main thrust output of a power system to obtain the equivalent uniform-speed power data; or fitting through other data processes to obtain substitute data having a linear relation with the equivalent constant-speed power data; the specific selection of data is adjusted based on the hardware sensing system of the subject vessel body.
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| CN116894064B (en) * | 2023-07-18 | 2024-04-09 | 国网信息通信产业集团有限公司北京分公司 | Intelligent integrated power-transformation auxiliary control data system and method |
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