CN115766900A - Cooperative control device suitable for intelligent ship - Google Patents
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Abstract
The invention discloses a cooperative control device suitable for an intelligent ship, which relates to the field of intelligent ship control and comprises an application communication interface, a control communication interface, an instruction analysis module, a cooperative task scheduling module, a cooperative task execution module, a protocol conversion module, a data module, a cooperative configuration module and a configuration management module; the application communication interface is used for communicating with an upper system centralized control console so as to transmit control instructions and cooperative operation result data; the control communication interface is used for communicating with a zone controller of the cabin section so as to transmit the control instruction to the zone controller and transmit the operation data of the zone controller to the data module; the instruction analysis module is used for transmitting the cooperative instruction in the control instruction to the cooperative task scheduling module, and the non-cooperative instruction is decomposed into a specific regional control instruction and is transmitted to the protocol conversion module. The invention can effectively lower the construction difficulty of the intelligent ship control system and reduce the operation and maintenance cost.
Description
Technical Field
The invention relates to the field of intelligent ship control, in particular to a cooperative control device suitable for an intelligent ship.
Background
A traditional ship automation system adopts a subsystem field layer independent networking mode, each subsystem is independently provided with an acquisition control device, sensors and actuators dispersed in different cabin sections are intensively connected into the acquisition control devices, and integration is carried out through a field network. The multi-system cooperative function is mainly completed by software, and the multi-system cooperative control is realized by analyzing and recombining and integrating the operation flows of all subsystems.
Therefore, all the functional processes of the access subsystems need to be considered for the cooperative control of the current ship automation system, the number and the complexity of the access subsystems are continuously improved along with the improvement of the automation degree of the ship, and the integrated control cooperative difficulty is increased in a geometric progression manner. Meanwhile, with the development of ship intellectualization, the existing ships and newly built ships in recent years may have the requirement of automatic modification and upgrading of subsystems, and the modification of any subsystem affects the overall cooperative control, so that the modification and upgrading implementation difficulty is high, the period is long, and the cost is high.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the cooperative control device suitable for the intelligent ship, which can effectively lower the construction difficulty of an intelligent ship control system and reduce the operation and maintenance cost.
In order to achieve the above object, the cooperative control device for an intelligent ship provided by the present invention comprises an application communication interface, a control communication interface, an instruction parsing module, a cooperative task scheduling module, a cooperative task execution module, a protocol conversion module, a data module, a cooperative configuration module, and a configuration management module;
the application communication interface is used for communicating with an upper system centralized control console so as to transmit an operation instruction and cooperative operation result data;
the control communication interface is used for communicating with a zone controller of the cabin section so as to transmit the control instruction to the zone controller and transmit the operation data of the zone controller to the data module;
the instruction analysis module is used for transmitting the cooperative instruction in the control instruction to the cooperative task scheduling module, and the non-cooperative instruction is decomposed into a specific regional control instruction and is transmitted to the protocol conversion module;
the cooperative task scheduling module is used for initializing a cooperative task scheduling strategy according to the cooperative configuration module, receiving a cooperative instruction transmitted by the instruction analysis module, and decomposing the cooperative instruction according to the cooperative task scheduling strategy to obtain a cooperative task;
the cooperative task execution module is used for executing the cooperative task;
the protocol conversion module is used for converting the area control instruction into a protocol corresponding to the cabin section area controller and transmitting the protocol to the cabin section area controller;
the data module is used for storing the cooperative data uploaded by the zone controller and storing the cooperative control algorithm;
the cooperative configuration module is used for selecting a cooperative control algorithm and cooperative data;
the configuration management module is used for carrying out initialization setting on the cooperative task scheduling strategy and configuring the operation service.
On the basis of the technical scheme, the application communication interface is specifically used for transmitting the control instruction of the upper-layer system centralized control console according to the ship service system to the instruction analysis module, and transmitting the cooperative task result data executed by the cooperative task execution module to the upper-layer system centralized control console for displaying.
On the basis of the technical proposal, the device comprises a shell,
the instruction analysis module comprises an upper layer instruction analysis module and a lower layer instruction analysis module;
the upper layer instruction analysis module is used for carrying out cabin-section-based regional analysis on the control instruction transmitted by the application communication interface, decomposing the control instruction carried out according to the ship service system into a cooperative instruction and a non-cooperative instruction carried out according to a cabin section, transmitting the cooperative instruction to the cooperative task scheduling module, and transmitting the non-cooperative instruction to the lower layer instruction analysis module.
On the basis of the technical proposal, the utility model has the advantages that,
the lower layer instruction analysis module is used for decomposing the non-cooperative instruction transmitted by the upper layer instruction analysis module into a specific regional control instruction and transmitting the specific regional control instruction to the protocol conversion module.
On the basis of the technical proposal, the device comprises a shell,
the cooperative task scheduling module is also used for decomposing the trans-regional cooperative tasks of the same ship service system according to a logic time sequence and transmitting the trans-regional cooperative tasks to a lower layer instruction analysis submodule in the instruction analysis module;
and the cooperative task scheduling module is also used for transmitting the cooperative tasks of different ship service systems to the cooperative task execution module according to a preset scheduling strategy.
On the basis of the technical scheme, the cooperative configuration module comprises an algorithm selection module and a data selection module, wherein the algorithm selection module is used for selecting a cooperative control algorithm, and the data selection module is used for selecting cooperative data.
On the basis of the technical proposal, the device comprises a shell,
the cooperative task execution module comprises a plurality of cooperative task execution containers, and each cooperative task execution container runs one cooperative task;
the cooperative task is used for acquiring a cooperative control algorithm from an algorithm selection module of the cooperative configuration module, acquiring cooperative data from a data selection module of the cooperative configuration module in real time and executing the cooperative control algorithm.
On the basis of the technical proposal, the utility model has the advantages that,
the data module comprises a real-time database, a collaborative algorithm library and a collaborative task library;
the real-time database is used for receiving and storing real-time operation data of the zone controller transmitted by the control communication interface;
the cooperative algorithm library is used for storing a cooperative control algorithm of the ship service system;
and the cooperative task library is used for storing the cooperative tasks of the ship business system.
On the basis of the technical scheme, the ship cooperative control system further comprises an updating communication interface, and the updating communication interface is used for writing a new cooperative control algorithm and a cooperative task into the data module when the ship service system changes.
On the basis of the technical proposal, the utility model has the advantages that,
the cooperative control device is only responsible for cooperative control of the ship cross cabin section, and the plurality of cooperative control devices can realize cooperative redundant control;
the cooperative control device is also used for realizing integral ship area integrated control by combining the control devices of all cabin sections of the lower layer.
Compared with the prior art, the invention has the advantages that: the conversion of the operation instruction from a system dimension to an area dimension is realized by specially setting an instruction analysis module and an instruction analysis protocol, the operation mode of the traditional centralized control console is kept, the operation habit of centralized control personnel is not changed, and the lower-layer area control device executes the operation instruction according to the area, so that the ship sectional construction mode is adapted; meanwhile, by adopting configuration management and pre-installing a cooperative task scheduling strategy, the cooperative efficiency and the overall reliability between ship cabin sections are improved and the intelligent degree of the ship is improved through global planning. The regional access and control of the ship service system subdivision section can be realized by matching with the section local controller, the construction difficulty of the intelligent ship control system is effectively lowered, the operation and maintenance cost is reduced, and the intelligent building, reconstruction and upgrading efficiency of the ship is improved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a cooperative control apparatus suitable for a smart ship according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.
Referring to fig. 1, a cooperative control apparatus suitable for an intelligent ship according to an embodiment of the present invention includes an application communication interface, a control communication interface, an instruction parsing module, a cooperative task scheduling module, a cooperative task execution module, a protocol conversion module, an update communication interface, a data module, a cooperative configuration module, and a configuration management module.
In the invention, the application communication interface is used for communicating with the upper system centralized control console so as to transmit the control instruction and the cooperative operation result data. Specifically, the application communication interface is specifically configured to transmit an operation instruction performed by the upper-layer system centralized control console according to the ship service system to the instruction analysis module, and transmit cooperative task result data executed by the cooperative task execution module to the upper-layer system centralized control console for display.
In the invention, the control communication interface is used for communicating with the zone controller of the cabin section so as to transmit the control instruction of the zone to the zone controller and transmit the operation data of the zone controller to the data module. It should be noted that the area controller includes a plurality of area controllers, and each area controller corresponds to a cabin section area of the ship.
In the invention, the instruction analysis module is used for transmitting the cooperative instruction in the control instruction to the cooperative task scheduling module, and the non-cooperative instruction is decomposed into a specific regional control instruction and is transmitted to the protocol conversion module. Specifically, the instruction analysis module comprises an upper layer instruction analysis module and a lower layer instruction analysis module; the upper-layer instruction analysis module is used for carrying out cabin-section-based regional analysis on the control instruction transmitted by the application communication interface, decomposing the control instruction carried out according to the ship service system into a cooperative instruction and a non-cooperative instruction carried out according to a cabin section, transmitting the cooperative instruction to the cooperative task scheduling module, and transmitting the non-cooperative instruction to the lower-layer instruction analysis module; the lower layer instruction analysis module is used for decomposing the non-cooperative instruction transmitted by the upper layer instruction analysis module into a specific regional control instruction and transmitting the specific regional control instruction to the protocol conversion module.
The cooperative instruction comprises a sub-module of [ "cabin section a-system x ]," cabin section b-system y ]; the sub-module of the cabin section a-system x is the sub-module of the cabin section b-system x; \8230 \ 8230; ] cooperative identification used for cooperative task scheduling identification scheduling; the uncoordinated instruction has a [ "cabin section a-system x" submodule; a "cabin b-system x" submodule; \8230; \ 8230; ] identification used for the lower layer instruction analysis module to be suitable for analysis; the regional control command has [ "cabin section a-system x" submodule ] identification and is used for identification and conversion of the protocol conversion module.
In the invention, the cooperative task scheduling module is used for initializing the cooperative task scheduling strategy according to the cooperative configuration module, receiving the cooperative instruction transmitted by the instruction analysis module, and decomposing the cooperative instruction according to the cooperative task scheduling strategy to obtain the cooperative task. Further, the cross-region cooperative tasks of the same ship service system are decomposed according to a logic time sequence and then transmitted to a lower-layer instruction analysis submodule in the instruction analysis module, and the cooperative tasks of different ship service systems are transmitted to the cooperative task execution module according to a preset scheduling strategy.
In the invention, the cooperative task execution module is used for executing the cooperative task. Specifically, the cooperative task execution module includes a plurality of cooperative task execution containers, and each cooperative task execution container runs one cooperative task; the cooperative task is used for acquiring a cooperative control algorithm from an algorithm selection module of the cooperative configuration module, acquiring cooperative data from a data selection module of the cooperative configuration module in real time and executing the cooperative control algorithm. And the cooperative control process information is fed back to the cooperative task scheduling module to participate in the next cooperative task, and the cooperative control result information is transmitted to the upper system centralized control console through the application communication interface to be displayed.
The cooperative configuration module comprises an algorithm selection module and a data selection module, wherein the algorithm selection module is used for selecting a cooperative control algorithm, and the data selection module is used for selecting cooperative data.
In the invention, the protocol conversion module is used for converting the zone control instruction into a protocol corresponding to the cabin zone controller and transmitting the protocol to the zone controller of the cabin zone.
In the invention, the data module is used for storing the uploading cooperative data of the zone controller and storing the cooperative control algorithm. Specifically, the data module comprises a real-time database, a collaborative algorithm library and a collaborative task library; the real-time database is used for receiving and storing real-time operation data of the zone controller transmitted by the control communication interface; the cooperative algorithm library is used for storing a cooperative control algorithm of the ship service system; and the cooperative task library is used for storing the cooperative tasks of the ship business system. The operation data has [ "cabin section a-system x" submodule ] identification; the cooperative control algorithm has a sub-module of 'cabin section a-system x' and a sub-module of 'cabin section b-system y'.
In the invention, the configuration management module is used for carrying out initialization setting of a cooperative task scheduling strategy and configuration of operation service. And the updating communication interface is used for writing a new cooperative control algorithm and a cooperative task into the data module when the ship service system changes.
In the invention, the cooperative control device is only responsible for cooperative control of the ship cross-cabin section, and a plurality of cooperative control devices can realize cooperative redundant control; the cooperative control device is also used for realizing integral ship area integrated control by combining the control devices of all cabin sections of the lower layer.
The initialization procedure of the cooperative control device according to the present invention at the time of application will be described below.
(1) According to the two-dimensional characteristic of a region-system, carrying out the decomposition of the ship service system submodules, extracting the cooperative relationship and control logic among the submodules of different cabin sections, and constructing a cooperative control algorithm library;
(2) According to the same-region single system control, cross-region single system cooperation, same-region multi-system control and cross-region multi-system cooperation, intelligent control task planning of a ship service system is carried out, and a cooperative task library and a cooperative task scheduling strategy are constructed;
(3) Pre-installing a data module, and filling a collaborative algorithm library and a collaborative task library;
(4) Initializing a cooperative task scheduling module, and loading a cooperative task scheduling strategy;
(5) Initializing a configuration management module;
(6) Based on the cooperative task scheduling strategy, the cooperative task execution module generates a permanent execution container of important tasks, performs pre-installation of task scheduling based on a cooperative task library, performs pre-installation of a cooperative control program based on a cooperative algorithm library, and performs pre-installation of cooperative data based on a real-time database.
The operation flow of the cooperative control apparatus of the present invention will be described below.
(1) Judging whether the command is an upper-layer control command, if not, continuing to judge, and if so, analyzing the control command by a command analysis module;
(2) Based on the analytical results:
if the command is a non-cooperative command, the command is transmitted to a lower layer command analysis module, the command is decomposed to each regional controller, the command is converted into a regional control command protocol, and the command is sent to the regional controller to be executed;
if the command is a cross-region cooperative command, the command is transmitted to a cooperative task scheduling module, a cooperative task is scheduled according to a preset strategy, then a cooperative task execution module is started, a cooperative task execution container is used or generated, a cooperative control algorithm is loaded in the execution container through a cooperative algorithm library, cooperative data are associated through a real-time database, then the cooperative task is executed, the real-time database is updated, cooperative task result data are output to an upper-layer system centralized control console, and finally the cooperative task execution container is released or destroyed.
The following describes an update flow of the cooperative control device according to the present invention.
(1) According to the deletion, addition, optimization and the like of the cooperative control of the ship service system, the sub-module division of the cabin section area is adjusted, the cooperative relation and the control logic between related sub-modules are extracted, and the cooperative algorithm is updated
(2) Carrying out intelligent control task planning on a ship service system, and updating a cooperative task library and a cooperative task scheduling strategy;
(2) Updating the data module, and updating the collaborative algorithm library and the collaborative task library;
(3) Configuring a management module to execute;
(4) Updating the cooperative task scheduling module and updating the cooperative task scheduling strategy
(5) And performing task scheduling loading updating based on the collaborative task library, and performing collaborative control program loading based on the collaborative algorithm library.
For the cooperative control device suitable for the intelligent ship, the invention is specially provided with an instruction conversion protocol, provides 'area-system' two-dimensional angle conversion, the upper layer application operation instruction is carried out according to the system function, the traditional centralized control console operation mode is kept, the operation habit of centralized control personnel is not changed, the lower layer area control device executes the operation instruction according to the area, the ship segmentation requirement is met, and the construction, operation and maintenance and transformation upgrading capabilities of the intelligent ship are improved; the special instruction analysis module is used for realizing the conversion of the operation instruction from the system dimension to the area dimension, providing a cross-area cooperative instruction according to the area analysis instruction and adapting to a ship modularization segmentation building mode; by adopting configuration management and pre-installing a cooperative task scheduling strategy, the reliability and safety of the whole cooperation are improved through global optimization, and the cooperative concurrency of tasks is improved from a system and a regional two-dimensional decoupling service system, so that the cooperative efficiency is improved; the containerized cooperative task execution module synchronously operates multiple containers to realize concurrent operation of multiple cooperative tasks, the important cooperative task execution container is persistent, the non-important cooperative task dynamically creates the execution container, and the hardware resource utilization rate is improved while high real-time control is realized.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience of describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly and encompass, for example, both fixed and removable coupling as well as integral coupling; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.
It is noted that, in this application, relational terms such as "first" and "second," and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The previous description is only an example of the present application, and is provided to enable any person skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A cooperative control device suitable for an intelligent ship is characterized by comprising an application communication interface, a control communication interface, an instruction analysis module, a cooperative task scheduling module, a cooperative task execution module, a protocol conversion module, a data module, a cooperative configuration module and a configuration management module;
the application communication interface is used for communicating with an upper system centralized control console so as to transmit an operation instruction and cooperative operation result data;
the control communication interface is used for communicating with a zone controller of the cabin section so as to transmit the control instruction to the zone controller and transmit the operation data of the zone controller to the data module;
the instruction analysis module is used for transmitting the cooperative instruction in the control instruction to the cooperative task scheduling module, and the non-cooperative instruction is decomposed into a specific regional control instruction and is transmitted to the protocol conversion module;
the cooperative task scheduling module is used for initializing a cooperative task scheduling strategy according to the cooperative configuration module, receiving a cooperative instruction transmitted by the instruction analysis module, and decomposing the cooperative instruction according to the cooperative task scheduling strategy to obtain a cooperative task;
the cooperative task execution module is used for executing the cooperative task;
the protocol conversion module is used for converting the area control instruction into a protocol corresponding to the cabin section area controller and transmitting the protocol to the cabin section area controller;
the data module is used for storing the uploading cooperative data of the regional controller and storing the cooperative control algorithm;
the cooperative configuration module is used for selecting a cooperative control algorithm and cooperative data;
the configuration management module is used for carrying out initialization setting on the cooperative task scheduling strategy and configuring the operation service.
2. The cooperative control apparatus for a smart ship as recited in claim 1, wherein: the application communication interface is specifically used for transmitting an operation instruction of the upper-layer system centralized control console according to the ship service system to the instruction analysis module, and transmitting cooperative task result data executed by the cooperative task execution module to the upper-layer system centralized control console for displaying.
3. The cooperative control apparatus for a smart ship as recited in claim 1, wherein:
the instruction analysis module comprises an upper layer instruction analysis module and a lower layer instruction analysis module;
the upper layer instruction analysis module is used for carrying out cabin-section-based regional analysis on the control instruction transmitted by the application communication interface, decomposing the control instruction carried out according to the ship service system into a cooperative instruction and a non-cooperative instruction carried out according to a cabin section, transmitting the cooperative instruction to the cooperative task scheduling module, and transmitting the non-cooperative instruction to the lower layer instruction analysis module.
4. A cooperative control apparatus for a smart ship as recited in claim 3, wherein:
the lower layer instruction analysis module is used for decomposing the non-cooperative instruction transmitted by the upper layer instruction analysis module into a specific area control instruction and transmitting the specific area control instruction to the protocol conversion module.
5. The cooperative control apparatus for a smart ship according to claim 4, wherein:
the cooperative task scheduling module is also used for decomposing the cross-region cooperative tasks of the same ship service system according to a logic time sequence and transmitting the cross-region cooperative tasks to a lower-layer instruction analysis submodule in the instruction analysis module;
and the cooperative task scheduling module is also used for transmitting the cooperative tasks of different ship service systems to the cooperative task execution module according to a preset scheduling strategy.
6. The cooperative control apparatus for a smart ship as recited in claim 1, wherein: the cooperative configuration module comprises an algorithm selection module and a data selection module, the algorithm selection module is used for selecting a cooperative control algorithm, and the data selection module is used for selecting cooperative data.
7. The cooperative control apparatus for a smart ship according to claim 6, wherein:
the cooperative task execution module comprises a plurality of cooperative task execution containers, and each cooperative task execution container runs one cooperative task;
the cooperative task is used for acquiring a cooperative control algorithm from an algorithm selection module of the cooperative configuration module, acquiring cooperative data from a data selection module of the cooperative configuration module in real time and executing the cooperative control algorithm.
8. The cooperative control apparatus for a smart ship as recited in claim 1, wherein:
the data module comprises a real-time database, a collaborative algorithm library and a collaborative task library;
the real-time database is used for receiving and storing real-time operation data of the zone controller transmitted by the control communication interface;
the cooperative algorithm library is used for storing a cooperative control algorithm of the ship service system;
and the cooperative task library is used for storing the cooperative tasks of the ship business system.
9. The cooperative control apparatus for a smart ship according to claim 8, wherein: the system further comprises an updating communication interface, wherein the updating communication interface is used for writing a new cooperative control algorithm and a new cooperative task into the data module when the ship service system changes.
10. The cooperative control apparatus for a smart ship as recited in claim 1, wherein:
the cooperative control device is only responsible for cooperative control of the ship cross-cabin section, and the plurality of cooperative control devices can realize cooperative redundant control;
the cooperative control device is also used for realizing integral ship area integrated control by combining the control devices of all cabin sections of the lower layer.
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