CN116923660A

CN116923660A - Intelligent ship authority control method and control system

Info

Publication number: CN116923660A
Application number: CN202310839052.7A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Qingdao Wujiang Technology Co ltd
Current assignee: Qingdao Wujiang Technology Co ltd
Priority date: 2023-07-10
Filing date: 2023-07-10
Publication date: 2023-10-24

Abstract

The invention discloses an intelligent ship authority control method, which is used for applying for activation of control authorities to be activated; and identifying whether the intelligent ship is in a state required by control authority switching, and if the intelligent ship is not in the state, failing to apply for the control authority to be activated, wherein the intelligent ship is in the activated control authority. According to the invention, the control authority switching of the intelligent ship is required to be applied first, and the control authority switching condition is set, so that the application of the control authority can be successful only under the condition that the requirement is met, the random switching of each control authority of the intelligent ship can be avoided, and the driving safety of the intelligent ship is ensured.

Description

Intelligent ship authority control method and control system

Technical Field

The invention belongs to the technical field of intelligent ships, and particularly relates to an intelligent ship authority control method and system.

Background

The intelligent ship can have multiple functions as required, and is increasingly focused by users. At present, to intelligent ship, have a plurality of control ends in order to improve the operability of user to intelligent ship probably, wherein the driver's cabin is main control, and other are auxiliary control, because can control in a plurality of places, and then result in controlling more chaotic sometimes, has the potential safety hazard.

Disclosure of Invention

The technical problem to be solved by the invention is that potential safety hazards exist in the control process of the existing intelligent ship caused by multiple control ends.

In order to solve the technical problems, the embodiment of the invention provides an intelligent ship authority control method, which comprises the following steps:

the control authority to be activated applies for activation;

and identifying whether the intelligent ship is in a state required by control authority switching, and if the intelligent ship is not in the state, failing to apply for the control authority to be activated, wherein the intelligent ship is in the activated control authority.

Further, the control authority switching required states include:

the gear of the station corresponding to the control authority to be activated and the gear of the station corresponding to the activated control authority are in a neutral state;

or when the gear of the station corresponding to the control authority to be activated and the gear of the station corresponding to the activated control authority are not in a neutral state, continuously judging that the position error of the station handle corresponding to the control authority to be activated and the position error of the station handle corresponding to the activated control authority are within a threshold value.

Further, when the intelligent ship is identified to be in a state required by control authority switching, the control authority to be activated is applied successfully, the activated control authority is released first, and then the control authority applied successfully is activated.

Further, when the application of the control authority to be activated fails, the state required by the control authority switching is met within the preset time, and the application of the control authority to be activated is successful.

Further, the control authority comprises a master station authority, a secondary station authority and at least one machine side authority.

Further, the corresponding relation between the fault alarm information and the control authority is pre-stored, when the fault alarm information is generated, the control authority pre-stored by the fault alarm information is obtained, and when the intelligent ship is in a fault processing stage, the corresponding control authority state is locked.

Further, fault alarm information related to the engine is pre-stored, and the control authority corresponding to the fault alarm information is the side authority of the engine.

Further, after the fault processing is completed, the monitoring information is updated at the processor corresponding to the control authority, and when the monitoring information indexes are all normal, the locked control authority is released.

Further, processing advice of the fault alarm information is pre-stored, corresponding processing advice is obtained when the fault alarm information is consulted, and when the processing advice is judged to be executed, the intelligent ship is judged to be in a fault processing stage.

The embodiment of the invention also provides an intelligent ship authority control system, which comprises:

the permission application module is used for activating application of the control permission to be activated;

and the judging module is used for identifying whether the intelligent ship is in a state required by control authority switching, and if not, the application of the control authority to be activated fails.

The beneficial effects are that:

in the authority control method, when the control authority is switched, the control authority to be activated needs to be applied first, the control authority switching condition is set, the application of the control authority can be successful only under the condition that the requirement is met, and otherwise, the control authority can only be under the original control authority. By the mode, random switching of control authorities of the intelligent ship can be avoided, and driving safety of the intelligent ship is guaranteed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of an intelligent ship authority control method provided by an embodiment of the invention;

fig. 2 is a schematic flow chart of fault alarm processing of the intelligent ship authority control method according to the embodiment of the invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1, an embodiment of the present invention provides an intelligent ship authority control method, which is used for switching control of control authorities between multiple control ends of an intelligent ship.

Specifically, when control authority switching is required, the control authority to be activated needs to be applied for activation, and the application object can be a control center of the intelligent ship, such as a display control screen of a cab or a master station controller; at this time, whether the intelligent ship is in a state required for switching the control authority is required to be identified and judged, the intelligent ship can be judged at the display control screen, all monitoring signals of the intelligent ship are transmitted to the display control screen, the control authority switching conditions are preset, and when the display control screen judges that the switching conditions are not met, the application of the control authority to be activated fails, and at this time, the intelligent ship is still in the activated control authority. In the embodiment of the invention, the control authority is switched by adopting the application system, and the switching condition is additionally arranged, so that the authority among the control ends of the intelligent ship can be prevented from being randomly switched, and the driving safety of the intelligent ship is ensured. For control authority, including master station control authority, secondary station control authority and at least one machine side control authority, wherein master station authority and secondary station authority all are located the driver's cabin department of intelligent ship, for the main control end of intelligent ship, when intelligent ship normally works with master station authority as the main, especially when intelligent ship is on electricity, default control authority is master station authority, and secondary station authority is located the deck distal end, approximately understand as master station authority corresponds the front end of intelligent ship, secondary station authority corresponds the rear end of intelligent ship, it cooperates the master station authority, and machine side authority then is close to the engine of intelligent ship, be located the cabin of intelligent ship in general, specifically the engine cabin, when the engine is two sets of, then machine side authority also sets up two sets of.

The above embodiment is refined, and for the state required for controlling authority switching, the method includes:

In this embodiment, the switching conditions are defined, the priority is formed, whether the gear of the station corresponding to the two control authorities to be switched is a neutral gear is judged first, and when the gear is not a neutral gear, whether the position errors of the handles of the two stations are within a threshold value is judged, the threshold value range is +/-5%, and the preferred scheme is that the positions of the two stations are the same, so that the positions of the handles of the station corresponding to the two control authorities to be switched are corrected, and the two stations can be ensured to be synchronous. Only when the switching condition is satisfied, the application of the control right to be activated can be successful.

When the intelligent ship is identified to be in the state required by the control authority switching, the embodiment is optimized, the control authority to be activated is applied successfully, the activated control authority is released first, and then the control authority which is applied successfully is activated. In this embodiment, when switching, there is a precedence relationship between the two control authorities, and the intelligent ship is not controlled at the same time, so as to further ensure the uniqueness of the control authorities. In a preferred scheme, after the control authority is switched, if the station of the newly activated control authority has no operation handle or other operation in a specified time, the newly activated control authority returns to the non-activated state again, and the specified time can be set to be 10s.

There are two ways to switch control authority, one is manual and the other is automatic. For manual operation, the site key is clicked at the site corresponding to the control authority to be activated, the control authority to be activated applies for activation, and when the activation application is successful, the site key of the site corresponding to the control authority to be activated is clicked again, and the control authority of the site is activated. In general, when it is judged that the state required by the control authority switching is not satisfied, that is, the application fails, the site corresponding to the control authority to be activated displays the reason of the application failure, specifically, the gear state of the site corresponding to the control authority to be activated and the gear state of the site corresponding to the activated control authority, in addition, the throttle error percentages of the two sites are displayed, the positions of the handles of the two sites are represented by the throttle error percentages, and the positions of the two handles are regulated within a certain time to be within the threshold range, so that the application of the control authority to be activated can also be successful.

Referring to fig. 2, for automation, pre-storing the corresponding relation between fault alarm information and control authority; when the fault alarm information is generated, the control authority pre-stored by the fault alarm information can be directly obtained, and when the intelligent ship is in a fault processing stage aiming at the fault alarm information, the intelligent ship can be locked to be in a control authority state corresponding to the fault alarm information. For example, when the fault alarm information corresponds to the master station authority, the intelligent ship is in the master station authority state when the fault is processed, and the processor corresponding to the secondary station authority and the processor corresponding to the machine side authority lose control over the intelligent ship; similarly, when the fault alarm information corresponds to the machine side authority, the intelligent ship is in the machine side authority state when the fault is processed.

In the embodiment of the invention, the fault alarm is combined with the control authority of the intelligent ship, so that when the fault is processed, the control authority of the intelligent ship is locked according to actual needs, generally, only one control authority is corresponding to one type of fault alarm information, namely, the intelligent ship can be controlled by the control authority, and other control authorities are invalid. The corresponding relation between the pre-stored fault alarm information and the control authority adopts a nearby principle, namely that the nearby relation is between the part required to be processed by the fault alarm information and the processor of the control authority, so that the intelligent ship can be conveniently controlled during fault processing, the fault processing efficiency is improved, other personnel can be prevented from controlling the intelligent ship at other control authorities during fault processing, and the safety during fault processing is ensured.

The above embodiment is optimized, the corresponding relation between the fault alarm information and the control authority is set at the master station, and when the set corresponding relation is inconsistent with the pre-stored corresponding relation, the set corresponding relation is stored. In this embodiment, the correspondence between the fault alarm information and the control authority may be manually set, and if the set correspondence is inconsistent with the previously pre-stored correspondence, the set correspondence is saved, and if the fault alarm information is subsequently generated, the manually set control authority is preferentially locked. The time for manual setting can be divided into two, wherein one time is that a pre-stored corresponding relation is searched at a display control screen (or a processor corresponding to the authority of a main station), the corresponding relation is modified according to the requirement, and the pre-stored corresponding relation and the modified corresponding relation are stored at the moment; and the other time is that when the fault alarm information is generated, the corresponding control authority is displayed at the display control screen, and at the moment, the corresponding relation can be modified by the processor according to the requirement, and at the moment, the control authority corresponding to the fault alarm information is the modified control authority. Of course, the control authority can be released as required, and other control authorities have corresponding control functions at the moment.

In one embodiment, after the fault processing is completed, the monitoring information is updated at the processor corresponding to the control authority, and when the monitoring information indexes are all normal, the locked control authority is released. The processor of the main station (or the display control screen) analyzes the monitoring data according to the protocol, compares and judges the monitoring data with a preset threshold value, and generates and stores fault alarm information when the monitoring data exceeds the preset threshold value. After the fault processing is finished, the monitoring information index is normal, namely the monitoring data is in the threshold range after the fault processing is finished. The operation data of the bottom layer equipment is collected and packed by a machine side controller (a processor corresponding to the machine side authority), a data collector and other devices, and then is transmitted to a display control screen through a CAN/LAN/direct connection line, and threshold comparison is carried out at the display control screen.

Specifically, fault alarm information related to the engine is pre-stored, and the control authority corresponding to the fault alarm information is the side authority of the engine. In the invention, fault alarm information of the intelligent ship is divided, wherein faults related to an engine, such as alarm information directly forwarded by the engine/gearbox: overload warning, camshaft signal warning, water temperature warning, coolant warning, cylinder leakage warning, crankshaft signal warning, battery warning, electric control oil pump warning, engine overspeed, unknown reasons of the engine are synchronously lost, fuel leakage fault, fuel pressure warning, oil cylinder injector warning, oil metering unit fault, engine oil warning, air filtering pressure warning, air inlet pressure warning, PRV valve warning, active flushing warning, electric control oil pump warning, rail pressure warning, accelerator pedal warning, power supply module warning, sensor warning, starting relay warning, ignition key opening time is too long, low-pressure stage after-cooling warning, ECU temperature warning, post-vortex exhaust temperature warning, generator power generation voltage warning, storage battery voltage warning, environmental pressure sensor signal warning, electric control oil pump warning, accelerator pedal warning, post-lubrication fault, starting relay signal warning, post-processing heating total relay signal warning; and the machine side controller judges alarm information according to the monitoring value: sudden stop, override, speed signal anomaly, oil pressure sensor anomaly, oil pressure signal anomaly, water temperature signal anomaly, starting battery voltage anomaly, charger failure, intake pressure anomaly, intake/exhaust temperature anomaly, engine ECU communication anomaly, fuel leakage, gearbox lubrication oil signal anomaly.

Therefore, the control authority pre-stored by the fault alarm information is the machine side authority. In addition, aiming at the intelligent ship, the intelligent ship is provided with double engines, two groups of corresponding machine side authorities can be arranged, and a corresponding relation is formed between the two groups of the corresponding machine side authorities. And the control authority corresponding to other fault alarm information of the intelligent ship is mainly master station authority, such as communication abnormal faults, reverse image interface abnormal faults, positioning abnormal faults and the like. Since the intelligent ship is equipped with other functions such as fishing, detection or investigation, etc. as required, the equipment failure corresponding to the function can correspond to the secondary station authority.

And continuing to optimize the embodiment, dividing the fault alarm information into priority levels, particularly dividing the influence degree of the faults on the intelligent ship, wherein the priority levels are higher as the influence degree is higher, for example, the priority level of the fault alarm of the engine part influencing the running of the intelligent ship is obviously higher than that of the fault alarm of the engine part influencing the running of the intelligent ship. When a plurality of fault alarm information occur at the same time, fault processing is carried out according to the corresponding priority, and then the control authority preferentially locks the control authority corresponding to the fault alarm information with higher priority.

In a preferred embodiment, the processing advice of the fault alarm information is pre-stored, the corresponding processing advice may be obtained when the fault alarm information is consulted, and when it is determined that the processing advice is to be executed, it is determined that the smart boat is in the fault processing stage. In this embodiment, two modes are adopted in judging whether the intelligent ship is in the fault processing stage, one mode is manual setting, for example, a fault button can be set, and the other mode is automatic identification. For automatic recognition, it is necessary to acquire whether or not failure alarm information is generated, and then determine whether or not the processing advice starts to be executed. For example, when the fault alarm information is that the signal relationship of the two times of the accelerator pedal 1 and the accelerator pedal 2 is not reliable, the processing proposal is 1, checking whether the accelerator pedal is normal or not and replacing the accelerator pedal; 2. checking whether the related circuits and the plug connectors of the accelerator pedal have short circuit or disconnection; 3. checking whether the throttle circuit is interfered by other circuits, and judging that the throttle tower plate is detached or the related circuit is disconnected, the fault processing stage can be realized. Or if the fault alarm information is that the original value of the battery voltage exceeds the upper limit threshold, the processing proposal is 1, power is cut off, the battery voltage is checked, and if the battery voltage is 23-28V, the description is normal; 2. the power is off, the ECU whole vehicle connector and the storage battery power supply circuit are pulled out, the on-off of the circuit is checked, and if the resistance value is 0 omega, the test is normal; 3. the power-on checking ECU anode voltage to the ground, if the voltage is 24V, the description is normal; 4. t15 is powered on and starts the engine, wait 20s, T15 is powered off, wait 150s, and circulate three times; and then the T15 is powered on and starts the engine, whether the MIL lamp is turned off or not is checked, and the fault processing stage can be judged when the power-off or power-on check is judged.

The control system provided in this embodiment corresponds to the control method described above, and the control system may implement the control method described above. In this embodiment, the control authority is switched by applying for the system, and the switching condition is additionally provided, which can avoid the authority between the control ends of the intelligent ship from being switched at will, and ensure the driving safety of the intelligent ship. The processor of control authority is then distributed in intelligent ship everywhere, for example control authority includes main website authority, secondary station authority and machine side authority, then the processor that main website authority corresponds is the main website controller, it can integrate in showing accuse screen, also can set up alone, the processor that secondary station authority corresponds is the secondary station controller, when producing fault alarm information, can be based on the corresponding relation of prestored fault alarm information and control authority, and then can lock corresponding control authority when carrying out fault handling, from this can effectively avoid the fault handling in-process, other personnel carry out the maloperation through other controllers, especially for the engine trouble, because the processor is located the cabin generally, other personnel are very easy to carry out the maloperation in main website department, ensure the security of whole fault handling process. For the machine side authorities, the machine side controllers are in one-to-one correspondence with the engines, and the corresponding machine side controllers are used for monitoring the working states of the corresponding engines, for example, when the intelligent ship is provided with two engines, two groups of machine side controllers are arranged and correspond to the two machine side authorities, so that the engines are required to be distinguished from each other when the engine fails, and the machine side controllers are matched with the corresponding machine side authorities.

The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to execute the steps of the method embodiment.

Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. The processor and the storage medium may reside as discrete components in a user terminal.

Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and all such modifications and equivalents are intended to be encompassed in the scope of the claims of the present invention.

Claims

1. An intelligent ship authority control method is characterized in that,

the control authority to be activated applies for activation;

2. The intelligent ship right control method according to claim 1, wherein,

the control authority switching required states comprise:

3. The intelligent ship right control method according to claim 1, wherein,

when the intelligent ship is identified to be in a state required by control authority switching, the application of the control authority to be activated is successful, the activated control authority is released first, and then the control authority for which the application is successful is activated.

4. The intelligent ship authority control method according to claim 1, wherein when the application of the control authority to be activated fails, the state required for switching the control authority is satisfied within a preset time, and the application of the control authority to be activated is successful.

5. The intelligent ship right control method according to claim 1, wherein,

the control authority comprises a master station authority, a secondary station authority and at least one machine side authority.

6. The intelligent ship right control method according to claim 1, wherein,

pre-storing the corresponding relation between fault alarm information and control authority, when the fault alarm information is generated, acquiring the control authority pre-stored by the fault alarm information, and when the intelligent ship is in a fault processing stage, locking the corresponding control authority state.

7. The intelligent ship authority control method according to claim 6, wherein the fault alarm information related to the engine is pre-stored, and the control authority corresponding to the fault alarm information is a side authority.

8. The intelligent ship right control method according to claim 6, wherein after the fault processing is completed, the monitoring information is updated at the processor corresponding to the control right, and when the monitoring information indexes are all normal, the locked control right is released.

9. The intelligent ship authority control method according to claim 6, wherein the processing advice of the fault alarm information is pre-stored, the corresponding processing advice is obtained when the fault alarm information is referred to, and the intelligent ship is determined to be in the fault processing stage when the processing advice is determined to start to be executed.

10. An intelligent ship rights control system, comprising: