CN117215194A

CN117215194A - Rim controller data processing method and system based on propeller cooperation

Info

Publication number: CN117215194A
Application number: CN202311271839.4A
Authority: CN
Inventors: 赵正伟; 许媛媛; 安连彤; 贾宝柱
Original assignee: Guangdong Ocean University
Current assignee: Guangdong Ocean University
Priority date: 2023-09-28
Filing date: 2023-09-28
Publication date: 2023-12-12
Anticipated expiration: 2043-09-28
Also published as: CN117215194B

Abstract

The invention discloses a method and a system for processing rim controller data based on propeller cooperation, wherein the method comprises the following steps: the method comprises the steps of acquiring water pressure information data and height information data corresponding to each rim propeller through a pressure sensor and a height sensor which are arranged on a propeller; according to the three-dimensional model data and the real-time sensing data of the target ship body, carrying out collaborative verification on all the water pressure information data and the height information data, and eliminating false error data which cannot pass verification; generating initial motor control instruction combinations corresponding to a plurality of rim thrusters according to the movement control instructions; and correcting the initial motor control instruction combination according to the real-time sensing data and the verified water pressure information data and the verified height information data. Therefore, the intelligent degree and the accurate degree of rim propulsion control can be effectively improved, and the safety and the robustness of ship running are improved.

Description

Rim controller data processing method and system based on propeller cooperation

Technical Field

The invention relates to the technical field of ship control data processing, in particular to a method and a system for processing rim controller data based on propeller cooperation.

Background

With the application of rim thrusters to ship control, more and more ships can start to realize intelligent control and refined control, and the effects of the rim thrusters can achieve more flexible ship movement effects. The control of rim thrusters in the prior art is still generally limited to be carried out on command of the operator, without taking into account the optimisation of the adjustment control on the basis of the synergy of the propellers and of some real-time sensing information. It can be seen that the prior art has defects and needs to be solved.

Disclosure of Invention

The invention aims to solve the technical problem of providing a data processing method and a data processing system for a rim controller based on propeller cooperation, which can effectively improve the intelligent degree and the accurate degree of rim propulsion control and improve the safety and the robustness of ship operation.

In order to solve the technical problem, the first aspect of the invention discloses a data processing method of a rim controller based on propeller cooperation, which comprises the following steps:

acquiring water pressure information data and height information data corresponding to each rim propeller through pressure sensors and height sensors arranged on propellers of the plurality of rim propellers;

According to the three-dimensional model data and the real-time sensing data of the target ship body, carrying out collaborative verification on all the water pressure information data and the height information data, and eliminating false error data which cannot pass verification;

acquiring a movement control instruction aiming at the target ship body, which is sent by a user, and generating initial motor control instruction combinations corresponding to the plurality of rim thrusters according to the movement control instruction;

and correcting the initial motor control command combination according to the real-time sensing data and the verified water pressure information data and the verified height information data so as to determine motor control command combinations corresponding to the plurality of rim thrusters.

As an optional implementation manner, in the first aspect of the present invention, the collaborative verification of all the water pressure information data and the height information data according to the three-dimensional model data and the real-time sensing data of the target hull includes:

determining three-dimensional attitude data of a target ship body based on real-time sensing data of the target ship body;

determining a model member position relationship and a model member water pressure simulation relationship corresponding to each rim propeller in the three-dimensional model data according to the three-dimensional posture data and the three-dimensional model data;

Verifying whether each water pressure information data accords with the position relation of the model component;

and verifying whether each height information data accords with the model member water pressure simulation relation.

As an optional implementation manner, in the first aspect of the present invention, the number of the real-time sensing data is a plurality; the real-time sensing data comprise at least one of image sensing data, temperature sensing data, humidity sensing data and infrared obstacle detection data of the ship body in different directions; the three-dimensional gesture data comprises a gesture offset direction and a gesture offset degree;

and determining three-dimensional attitude data of the target hull based on the real-time sensing data of the target hull, comprising:

calculating a data difference between each real-time sensing data and a standard posture data reference value of a corresponding data type;

determining preliminary three-dimensional attitude data corresponding to each piece of real-time sensing data according to the size and the direction of the data difference;

based on the Laida criterion, screening out and eliminating real-time sensing data corresponding to the preliminary three-dimensional posture data belonging to abnormal values according to standard deviation information corresponding to all the preliminary three-dimensional posture data;

Inputting all the remained real-time sensing data after the elimination into a trained gesture prediction neural network model to obtain output three-dimensional gesture data of the target ship body; the gesture prediction neural network model is obtained through training of a training data set comprising a plurality of training sensing data sets and corresponding three-dimensional gesture data labels.

In a first aspect of the present invention, determining, according to the three-dimensional pose data and the three-dimensional model data, a model member position relationship and a model member water pressure simulation relationship corresponding to each rim propeller in the three-dimensional model data includes:

determining an initial position mathematical relationship between the model component corresponding to each rim propeller and a datum reference point based on a mathematical relationship simulation algorithm according to the position of the model component corresponding to each rim propeller in the three-dimensional model data; the datum reference point is a three-dimensional geometric center point of the target ship body;

according to the posture difference relation between the three-dimensional posture data and the standard posture, the initial position mathematical relation is adjusted to obtain the position mathematical relation between each rim propeller and the corresponding datum reference point;

Calculating the position mathematical relationship between each rim propeller and at least one other rim propeller according to the position mathematical relationship to obtain the position relationship of the model component corresponding to each rim propeller;

determining a water pressure prediction model corresponding to the region where the target ship body is located according to the position information of the target ship body;

according to the height information data corresponding to each rim propeller, determining predicted water pressure information data corresponding to the height information data corresponding to each rim propeller based on the water pressure prediction model;

and determining the water pressure mathematical relationship between each rim propeller and at least one other rim propeller according to the predicted water pressure information data corresponding to the height information data corresponding to each rim propeller based on a mathematical relationship simulation algorithm, so as to obtain the water pressure simulation relationship of the model component corresponding to each rim propeller.

As an optional implementation manner, in the first aspect of the present invention, the hydraulic prediction model includes an overall hydraulic prediction model and a positional hydraulic prediction model; the integral water pressure prediction model is obtained through training of training ship center height information data and integral water pressure marked training data sets which comprise a plurality of corresponding areas; the position water pressure prediction model is obtained through training a data set comprising height position relations of a plurality of corresponding areas and corresponding water pressure relation labels;

And determining predicted water pressure information data corresponding to the height information data corresponding to each rim propeller based on the water pressure prediction model according to the height information data corresponding to each rim propeller, wherein the predicted water pressure information data comprises:

according to the height information data corresponding to each rim propeller and the position mathematical relationship, calculating to obtain a plurality of candidate height information data of the datum reference point;

carrying out weighted summation and average on the plurality of candidate height information data to obtain the height information data of the base reference point;

inputting the height information data of the datum reference point into the integral water pressure prediction model to obtain datum water pressure information data of the datum reference point;

inputting the position mathematical relationship between the datum reference point and any rim propeller into the position water pressure prediction model to obtain the water pressure relationship between the datum reference point and the rim propeller;

and calculating to obtain predicted water pressure information data corresponding to the rim propeller according to the water pressure relation between the datum reference point and the rim propeller and the datum water pressure information data of the datum reference point.

In an optional implementation manner, in a first aspect of the present invention, the correcting the initial motor control command combination according to the real-time sensing data and the verified water pressure information data and height information data to determine motor control command combinations corresponding to the plurality of rim thrusters includes:

generating an ideal control effect model corresponding to the target ship body according to the movement control instruction and the real-time sensing data; the ideal control effect model comprises ideal control effects corresponding to each rim propeller;

the initial motor control instruction of any rim propeller in the initial motor control instruction combination and the water pressure information data and the height information data which are corresponding to the rim propeller and pass verification are input into a trained propeller control prediction model so as to obtain a prediction control effect corresponding to the rim propeller;

and generating a correction parameter of the initial motor control instruction of the rim controller according to the deviation between the predicted control effect and the ideal control effect, and correcting the initial motor control instruction according to the correction parameter to obtain the motor control instruction corresponding to the rim controller.

In a first aspect of the present invention, the generating, according to the movement control instruction and the real-time sensing data, an ideal control effect model corresponding to the target hull includes:

generating a real-time environment three-dimensional model corresponding to the target ship body according to the real-time sensing data and the three-dimensional model corresponding to the target ship body; the real-time environment three-dimensional model is provided with real-time environment parameters; the real-time environmental parameters comprise a ship area water flow rate, a ship speed, a ship area wind speed and a ship area temperature;

inputting the real-time sensing data into a trained risk prediction model to obtain a risk type and risk probability which are correspondingly output; the risk prediction model is obtained through training a training data set comprising a plurality of training sensing data and corresponding risk labels;

judging whether the risk probability is larger than a preset probability threshold value or not to obtain a first judgment result;

if the first judgment result is negative, generating an ideal control effect model corresponding to the target ship body based on a dynamic programming algorithm according to the mobile control instruction and the real-time environment three-dimensional model

If the first judgment result is yes, outputting that the risk type is a predicted risk;

judging whether the movement control instruction meets an avoidance instruction rule corresponding to the prediction risk or not, and obtaining a second judgment result;

if the second judgment result is yes, the movement control instruction is enhanced, and an ideal control effect model corresponding to the target ship body is generated based on a dynamic programming algorithm according to the enhanced movement control instruction and the real-time environment three-dimensional model;

and if the second judgment result is negative, generating a new movement control instruction according to the evasion instruction rule, and generating an ideal control effect model corresponding to the target ship body based on a dynamic programming algorithm according to the new movement control instruction and the real-time environment three-dimensional model.

In a first aspect of the present invention, the propeller control prediction model is obtained by training a training data set including a plurality of training motor control instructions corresponding to the type of the rim propeller, control-time water pressure information data, control-time height information data, and corresponding control effect labels; the control effect comprises a speed change effect, a propulsion change effect and a power consumption change effect;

And generating a correction parameter for the initial motor control command of the rim controller according to the deviation between the predicted control effect and the ideal control effect, wherein the correction parameter comprises the following components:

calculating a vector distance between the predicted control effect and the ideal control effect;

judging whether the vector distance is larger than a preset distance threshold value, if not, generating a correction parameter which is not the correction value; if yes, generating a correction parameter of the initial motor control instruction of the rim controller according to the vector distance and a preset distance-parameter corresponding relation.

The second aspect of the invention discloses a rim controller data processing system based on propeller cooperation, the system comprises:

the acquisition module is used for acquiring the water pressure information data and the height information data corresponding to each rim propeller through the pressure sensor and the height sensor arranged on the propellers on the plurality of rim propellers;

the verification module is used for carrying out collaborative verification on all the water pressure information data and the height information data according to the three-dimensional model data and the real-time sensing data of the target ship body, and eliminating false error data which cannot be verified;

The generation module is used for acquiring a movement control instruction aiming at the target ship body sent by a user and generating initial motor control instruction combinations corresponding to the plurality of rim thrusters according to the movement control instruction;

and the correction module is used for correcting the initial motor control instruction combination according to the real-time sensing data, the verified water pressure information data and the verified height information data so as to determine the motor control instruction combination corresponding to the plurality of rim thrusters.

In a second aspect of the present invention, the verification module performs collaborative verification on all the hydraulic information data and the altitude information data according to three-dimensional model data and real-time sensing data of a target hull, including:

As an optional implementation manner, in the second aspect of the present invention, the number of the real-time sensing data is a plurality; the real-time sensing data comprise at least one of image sensing data, temperature sensing data, humidity sensing data and infrared obstacle detection data of the ship body in different directions; the three-dimensional gesture data comprises a gesture offset direction and a gesture offset degree;

and the verification module determines a specific mode of three-dimensional attitude data of the target ship body based on real-time sensing data of the target ship body, and the verification module comprises the following steps:

In a second aspect of the present invention, the verification module determines, according to the three-dimensional pose data and the three-dimensional model data, a specific manner of a model member position relationship and a model member water pressure simulation relationship corresponding to each rim propeller in the three-dimensional model data, where the specific manner includes:

As an alternative embodiment, in the second aspect of the present invention, the hydraulic prediction model includes an overall hydraulic prediction model and a positional hydraulic prediction model; the integral water pressure prediction model is obtained through training of training ship center height information data and integral water pressure marked training data sets which comprise a plurality of corresponding areas; the position water pressure prediction model is obtained through training a data set comprising height position relations of a plurality of corresponding areas and corresponding water pressure relation labels;

And the verification module determines a specific mode of predicted water pressure information data corresponding to the height information data corresponding to each rim propeller based on the water pressure prediction model according to the height information data corresponding to each rim propeller, and the specific mode comprises the following steps:

In a second aspect of the present invention, the correction module corrects the initial motor control command combination according to the real-time sensing data and the verified water pressure information data and height information data to determine a specific mode of motor control command combinations corresponding to the plurality of rim thrusters, including:

In a second aspect of the present invention, the specific manner of generating the ideal control effect model corresponding to the target hull according to the movement control instruction and the real-time sensing data by the correction module includes:

In a second aspect of the present invention, the propeller control prediction model is obtained by training a training data set including a plurality of training motor control instructions corresponding to the type of the rim propeller, control-time water pressure information data, control-time height information data, and corresponding control effect labels; the control effect comprises a speed change effect, a propulsion change effect and a power consumption change effect;

And the correction module generates a specific mode of correcting parameters of the initial motor control instruction of the rim controller according to the deviation between the predicted control effect and the ideal control effect, and the specific mode comprises the following steps:

In a third aspect, the invention discloses another data processing system of a rim controller based on propeller cooperation, the system comprises:

a memory storing executable program code;

a processor coupled to the memory;

the processor invokes the executable program code stored in the memory to perform some or all of the steps in the data processing method for the rim controller based on propeller cooperation disclosed in the first aspect of the present invention.

Compared with the prior art, the invention has the following beneficial effects:

the invention can more accurately acquire the conditions of the rim thrusters based on the cooperation of the screw propellers with water pressure identification and height identification, and correct the instructions of users according to the cooperation of the real-time sensing data and the plurality of rim thrusters, thereby effectively improving the intelligent degree and the accurate degree of rim propulsion control and improving the safety and the robustness of the running of the ship body.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent 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 a method for processing data of a rim controller based on propeller cooperation according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a data processing system of a rim controller based on propeller cooperation according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of another data processing system for a rim controller based on propeller cooperation according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, 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.

The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

The invention discloses a method and a system for processing rim controller data based on screw propeller cooperation, which can more accurately acquire the condition of rim propellers based on the screw propeller cooperation with water pressure identification and height identification, and correct a user instruction according to real-time sensing data and the cooperation of a plurality of rim propellers, thereby effectively improving the intelligent degree and the accurate degree of rim propulsion control and the safety and the robustness of ship operation. The following will describe in detail.

Example 1

Referring to fig. 1, fig. 1 is a flow chart of a method for processing data of a rim controller based on propeller cooperation according to an embodiment of the present invention. The method described in fig. 1 may be applied to a corresponding ship control data processing device, a ship control data processing terminal, and a ship control data processing server, where the server may be a local server or a cloud server, and the embodiment of the present invention is not limited to the method shown in fig. 1, and the method for processing data of a rim controller based on propeller cooperation may include the following operations:

101. and acquiring the water pressure information data and the height information data corresponding to each rim propeller through a pressure sensor and a height sensor which are arranged on the propellers on the plurality of rim propellers.

Alternatively, the rim propeller may be a conventional shaft-rim propeller or a novel shaftless rim propeller. Alternatively, the positions where the pressure sensor and the height sensor are provided may be set by the operator according to the actual situation and the circuit connection situation.

102. And carrying out collaborative verification on all the hydraulic information data and the height information data according to the three-dimensional model data and the real-time sensing data of the target ship body, and eliminating false error data which cannot pass verification.

103. And acquiring a movement control instruction aiming at the target ship body and sent by a user, and generating initial motor control instruction combinations corresponding to the plurality of rim thrusters according to the movement control instruction.

Alternatively, the initial motor control command combination may be generated by an original controller or processor of the target hull, which sets up codes of data processing specifications or rules that may generate motor control commands from movement control commands, and in some embodiments, aspects of the present invention may be implemented on the basis of the original control system of the target hull to generate the initial motor control command combination using the original control system.

104. And correcting the initial motor control command combination according to the real-time sensing data, the verified water pressure information data and the verified height information data so as to determine motor control command combinations corresponding to the plurality of rim thrusters.

Optionally, the plurality of rim thrusters may be further controlled according to a motor control command combination to achieve controlled movement of the target hull.

Therefore, the method described by the embodiment of the invention can be used for more accurately knowing the condition of the rim thrusters based on the cooperation of the propellers with water pressure identification and height identification, and correcting the instructions of the users according to the cooperation of the real-time sensing data and the plurality of rim thrusters, so that the intelligent degree and the accurate degree of rim propulsion control can be effectively improved, and the safety and the robustness of the running of the ship body are improved.

As an optional embodiment, in the step, collaborative verification is performed on all the hydraulic pressure information data and the height information data according to the three-dimensional model data and the real-time sensing data of the target hull, including:

determining three-dimensional attitude data of the target ship body based on the real-time sensing data of the target ship body;

verifying whether each piece of water pressure information data accords with the position relation of the model component;

Specifically, the position relationship of the model member and the water pressure simulation relationship of the model member may be defined as the position relationship or the water pressure relationship between any two rim thrusters, so that during re-verification, a pair of water pressure information data or height information data is generally required to be input for verification, at this time, the passing rate or the passing times of each water pressure information data or height information data in multiple verification can be calculated to perform screening verification, and the water pressure information data or the height information data with the passing rate or the passing times higher than a preset threshold value is reserved and considered as the verified data.

Through the embodiment, the verification relation rule corresponding to the water pressure information data and the height information data can be determined according to the three-dimensional model and the three-dimensional posture data, so that more accurate data verification and data screening are realized.

As an alternative embodiment, the number of real-time sensing data is a plurality; the real-time sensing data comprise at least one of image sensing data, temperature sensing data, humidity sensing data and infrared obstacle detection data of the ship body in different directions; the three-dimensional pose data includes a pose offset direction and a pose offset degree.

As an alternative embodiment, in the step, determining three-dimensional attitude data of the target hull based on the real-time sensing data of the target hull includes:

calculating the data difference between each real-time sensing data and the standard attitude data reference value of the corresponding data type;

determining preliminary three-dimensional attitude data corresponding to each real-time sensing data according to the size and the direction of the data difference;

Inputting all the remained real-time sensing data after the elimination into a trained gesture prediction neural network model to obtain the output three-dimensional gesture data of the target ship body; the gesture prediction neural network model is obtained through training of a training data set comprising a plurality of training sensing data sets and corresponding three-dimensional gesture data labels.

Specifically, the neural network model or the prediction model of the present invention may be a model of a CNN structure, an RNN structure or an LTSM structure, and an operator may select a corresponding algorithm model according to specific characteristics or a prediction scene of data.

Through the embodiment, the initial gesture can be determined according to the reference value, gestures which obviously belong to abnormal values in all the initial three-dimensional gesture data are screened out, namely, further screening of the sensing data is realized through screening of the corresponding gestures, some sensing data which obviously cannot objectively represent the gestures are removed, and the gesture is finally predicted by utilizing a neural network, so that the prediction accuracy is improved.

As an optional embodiment, in the step, determining, according to the three-dimensional posture data and the three-dimensional model data, a model member position relationship and a model member water pressure simulation relationship corresponding to each rim propeller in the three-dimensional model data includes:

according to the posture difference relation between the three-dimensional posture data and the standard posture, the initial position mathematical relation is adjusted, and the position mathematical relation between each rim propeller and the corresponding datum reference point is obtained;

determining a water pressure prediction model corresponding to the region where the target ship body is positioned according to the position information of the target ship body;

according to the height information data corresponding to each rim propeller, based on a water pressure prediction model, determining predicted water pressure information data corresponding to the height information data corresponding to each rim propeller;

and determining the water pressure mathematical relationship between each rim propeller and at least one other rim propeller based on a mathematical relationship simulation algorithm according to the predicted water pressure information data corresponding to the height information data corresponding to each rim propeller, and obtaining the model component water pressure simulation relationship corresponding to each rim propeller.

Through the embodiment, the details of calculating the position relation of the model component corresponding to each rim propeller and the water pressure simulation relation of the model component are disclosed, and more accurate data verification and data screening can be realized later.

As an alternative embodiment, the hydraulic pressure prediction model includes an overall hydraulic pressure prediction model and a positional hydraulic pressure prediction model; the integral water pressure prediction model is obtained through training a training data set comprising training ship body center height information data of a plurality of corresponding areas and integral water pressure marking; the position water pressure prediction model is obtained through training a data set comprising height position relations of a plurality of corresponding areas and corresponding water pressure relation labels.

As an alternative embodiment, in the step, according to the height information data corresponding to each rim propeller, the determining, based on the hydraulic pressure prediction model, predicted hydraulic pressure information data corresponding to the height information data corresponding to each rim propeller includes:

carrying out weighted summation and average on the plurality of candidate height information data to obtain height information data of the base reference point;

Inputting the height information data of the reference point into the integral water pressure prediction model to obtain the reference water pressure information data of the reference point;

inputting the position mathematical relationship between the datum reference point and any rim propeller into a position water pressure prediction model to obtain the water pressure relationship between the datum reference point and the rim propeller;

and calculating to obtain predicted water pressure information data corresponding to the rim propeller according to the water pressure relation between the reference point and the rim propeller and the reference water pressure information data of the reference point.

By the embodiment, the predicted water pressure information data of the rim propeller can be predicted more accurately, so that more accurate data verification and data screening can be realized later.

As an alternative embodiment, in the step, the correcting the initial motor control command combination according to the real-time sensing data and the verified water pressure information data and the verified height information data to determine the motor control command combination corresponding to the plurality of rim thrusters includes:

according to the mobile control instruction and the real-time sensing data, generating an ideal control effect model corresponding to the target ship body; the ideal control effect model comprises ideal control effects corresponding to each rim propeller;

The method comprises the steps of inputting an initial motor control instruction aiming at any rim propeller in an initial motor control instruction combination, and water pressure information data and height information data which are corresponding to the rim propeller and pass verification, into a trained propeller control prediction model so as to obtain a prediction control effect corresponding to the rim propeller;

and generating a correction parameter of an initial motor control instruction of the rim controller according to the deviation between the predicted control effect and the ideal control effect, and correcting the initial motor control instruction according to the correction parameter to obtain the motor control instruction corresponding to the rim controller.

Through the embodiment, the initial motor control instruction combination can be corrected according to the real-time sensing data and the verified water pressure information data and the verified height information data, so that the motor control instruction combination corresponding to a plurality of rim thrusters is determined, and a more accurate control effect is achieved.

As an optional embodiment, in the step, generating the ideal control effect model corresponding to the target hull according to the movement control instruction and the real-time sensing data includes:

generating a real-time environment three-dimensional model corresponding to the target ship body according to the real-time sensing data and the three-dimensional model corresponding to the target ship body; real-time environment parameters are contained in the real-time environment three-dimensional model; the real-time environmental parameters comprise a ship area water flow rate, a ship speed, a ship area wind speed and a ship area temperature;

If the first judgment result is yes, outputting a risk type as a predicted risk;

if the second judgment result is yes, enhancing the movement control instruction, and generating an ideal control effect model corresponding to the target ship body based on a dynamic programming algorithm according to the enhanced movement control instruction and the real-time environment three-dimensional model;

if the second judgment result is negative, generating a new movement control instruction according to the evasion instruction rule, and generating an ideal control effect model corresponding to the target ship body based on a dynamic programming algorithm according to the new movement control instruction and the real-time environment three-dimensional model.

As an alternative embodiment, the propeller control prediction model is obtained by training a training data set comprising a plurality of training motor control instructions corresponding to the type of the rim propeller, control time water pressure information data, control time height information data and corresponding control effect labels; the control effects include a speed change effect, a propulsive force change effect, and a power consumption change effect.

As an alternative embodiment, in the step, generating the correction parameter for the initial motor control command of the rim controller according to the deviation between the predicted control effect and the ideal control effect includes:

judging whether the vector distance is larger than a preset distance threshold value, if not, generating a correction parameter which is not the correction value; if yes, generating a correction parameter of an initial motor control instruction of the rim controller according to the vector distance and a preset distance-parameter corresponding relation.

Alternatively, the preset distance-parameter correspondence may be determined by an operator according to a predetermined experiment, or a neural network prediction model may be trained by multiple training data sets to generate the correction parameters.

Example two

Referring to fig. 2, fig. 2 is a schematic structural diagram of a rim controller data processing system based on propeller cooperation according to an embodiment of the present invention. The system described in fig. 2 may be applied to a corresponding ship control data processing device, a ship control data processing terminal, and a ship control data processing server, where the server may be a local server or a cloud server, and the embodiment of the present invention is not limited. As shown in fig. 2, the system may include:

an acquisition module 201, configured to acquire water pressure information data and height information data corresponding to each rim propeller through pressure sensors and height sensors arranged on propellers of the plurality of rim propellers;

the verification module 202 is configured to perform collaborative verification on all the hydraulic information data and the height information data according to the three-dimensional model data and the real-time sensing data of the target hull, and reject false error data that cannot be verified;

the generating module 203 is configured to obtain a movement control instruction for a target hull sent by a user, and generate an initial motor control instruction combination corresponding to a plurality of rim thrusters according to the movement control instruction;

And the correction module 204 is used for correcting the initial motor control command combination according to the real-time sensing data and the verified water pressure information data and the verified height information data so as to determine motor control command combinations corresponding to the plurality of rim thrusters.

As an alternative embodiment, the verification module 202 performs collaborative verification on all the hydraulic pressure information data and the altitude information data according to the three-dimensional model data and the real-time sensing data of the target hull, including:

As an alternative embodiment, the number of real-time sensing data is a plurality; the real-time sensing data comprise at least one of image sensing data, temperature sensing data, humidity sensing data and infrared obstacle detection data of the ship body in different directions; the three-dimensional gesture data comprises a gesture offset direction and a gesture offset degree;

And, the verification module 202 determines a specific mode of three-dimensional attitude data of the target hull based on the real-time sensing data of the target hull, including:

As an alternative embodiment, the verification module 202 determines, according to the three-dimensional pose data and the three-dimensional model data, a specific manner of a model member position relationship and a model member water pressure simulation relationship corresponding to each rim propeller in the three-dimensional model data, including:

As an alternative embodiment, the hydraulic pressure prediction model includes an overall hydraulic pressure prediction model and a positional hydraulic pressure prediction model; the integral water pressure prediction model is obtained through training a training data set comprising training ship body center height information data of a plurality of corresponding areas and integral water pressure marking; the position water pressure prediction model is obtained through training a data set comprising height position relations of a plurality of corresponding areas and corresponding water pressure relation labels;

and, the verification module 202 determines, based on the hydraulic pressure prediction model, a specific mode of predicting hydraulic pressure information data corresponding to the height information data corresponding to each rim propeller according to the height information data corresponding to each rim propeller, including:

As an alternative embodiment, the correction module 204 corrects the initial motor control command combination according to the real-time sensing data and the verified water pressure information data and the verified height information data to determine a specific mode of the motor control command combination corresponding to the plurality of rim thrusters, and the method includes:

As an alternative embodiment, the specific manner of generating the ideal control effect model corresponding to the target hull by the correction module 204 according to the movement control command and the real-time sensing data includes:

As an alternative embodiment, the propeller control prediction model is obtained by training a training data set comprising a plurality of training motor control instructions corresponding to the type of the rim propeller, control time water pressure information data, control time height information data and corresponding control effect labels; the control effect comprises a speed change effect, a propulsion change effect and a power consumption change effect;

and, the correction module 204 generates a correction parameter for the initial motor control command of the rim controller according to the deviation between the predicted control effect and the ideal control effect, including:

Specifically, the technical effects of each module and scheme in the second embodiment may refer to the description in the first embodiment, and will not be described herein.

Example III

Referring to fig. 3, fig. 3 is a schematic structural diagram of another data processing system of a rim controller based on propeller cooperation according to an embodiment of the present invention. As shown in fig. 3, the system may include:

a memory 301 storing executable program code;

a processor 302 coupled with the memory 301;

the processor 302 invokes executable program code stored in the memory 301 to perform some or all of the steps in the data processing method of the rim controller based on propeller cooperation according to the embodiment of the present invention.

Example IV

The embodiment of the invention discloses a computer storage medium which stores computer instructions for executing part or all of the steps in the data processing method of the rim controller based on propeller cooperation disclosed in the embodiment of the invention when the computer instructions are called.

The system embodiments described above are merely illustrative, in which the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.

Finally, it should be noted that: the embodiment of the invention discloses a method and a system for processing data of a rim controller based on propeller cooperation, which are disclosed as preferred embodiments of the invention, and are only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. A method for processing rim controller data based on propeller cooperation, the method comprising:

2. The method for processing data of rim controller based on propeller cooperation according to claim 1, wherein the collaborative verification of all the water pressure information data and the height information data according to the three-dimensional model data and the real-time sensing data of the target hull comprises:

3. The method for processing rim controller data based on propeller cooperation according to claim 2, wherein the number of the real-time sensing data is a plurality of; the real-time sensing data comprise at least one of image sensing data, temperature sensing data, humidity sensing data and infrared obstacle detection data of the ship body in different directions; the three-dimensional gesture data comprises a gesture offset direction and a gesture offset degree;

4. The method for processing rim controller data based on propeller cooperation according to claim 2, wherein determining a model member position relationship and a model member water pressure simulation relationship corresponding to each rim propeller in the three-dimensional model data according to the three-dimensional posture data and the three-dimensional model data comprises:

5. The method for processing rim controller data based on propeller cooperation according to claim 4, wherein the hydraulic pressure prediction model includes an overall hydraulic pressure prediction model and a positional hydraulic pressure prediction model; the integral water pressure prediction model is obtained through training of training ship center height information data and integral water pressure marked training data sets which comprise a plurality of corresponding areas; the position water pressure prediction model is obtained through training a data set comprising height position relations of a plurality of corresponding areas and corresponding water pressure relation labels;

6. The method for processing rim controller data based on propeller cooperation according to claim 1, wherein said correcting the initial motor control command combination according to the real-time sensing data and the verified water pressure information data and height information data to determine the motor control command combination corresponding to the plurality of rim thrusters comprises:

7. The method for processing rim controller data based on propeller cooperation according to claim 6, wherein the generating the ideal control effect model corresponding to the target hull according to the movement control command and the real-time sensing data comprises:

8. The method for processing the data of the rim controller based on the propeller cooperation according to claim 6, wherein the propeller control prediction model is obtained by training a training data set comprising a plurality of training motor control instructions corresponding to the type of the rim propeller, control-time water pressure information data, control-time height information data and corresponding control effect labels; the control effect comprises a speed change effect, a propulsion change effect and a power consumption change effect;

9. A propeller cooperation-based rim controller data processing system, the system comprising:

10. A propeller cooperation-based rim controller data processing system, the system comprising:

a memory storing executable program code;

a processor coupled to the memory;

the processor invokes the executable program code stored in the memory to perform the propeller synergy based rim controller data processing method of any one of claims 1-8.