Switching method, system, device and medium for remote control mode of ship

Abstract

The present invention discloses a switching method, system, device and medium for a remote driving control mode of a ship, which can be applied to the field of ship technology. The method of the present invention comprises the following steps: obtaining the actual turning angle and target turning angle of the ship steering gear; calculating the absolute value of the difference between the actual turning angle and the target turning angle; determining the angular acceleration according to the actual turning angle and the target turning angle; controlling the switching process of the ship control mode according to the relationship between the absolute value and the turning angle threshold, or the relationship between the angular acceleration and the angular acceleration threshold, wherein the ship control mode includes a system driving mode and a manual driving mode, and the priority of the manual driving mode is higher than the priority of the system driving mode. The method of the present invention can reduce the workload during pure manual driving and improve the safety of the system driving process by automatically switching the system driving mode and the automatic driving mode according to the actual situation.

Description

Technical Field

[0001] The present invention relates to the field of ship technology, and in particular to a method, system, device and medium for switching a remote driving control mode of a ship. Background Art

[0002] At present, the navigation process of ships is mostly operated by humans, and sometimes automatic driving is enabled. However, the range of automatic driving is short, and most of the time it still requires human control. When the range is long, it takes more energy. When automatic driving is set for short-distance navigation, the shore-based personnel cannot grasp the specific situation of navigation in time, and thus cannot reduce the danger of the ship's navigation process. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a switching method, system, device and medium for remote driving control mode of a ship, which can effectively reduce the workload of the driver and improve the navigation safety of the ship.

[0004] On the one hand, an embodiment of the present invention provides a method for switching a remote driving control mode of a ship, comprising the following steps:

[0005] Obtain the actual turning angle and target turning angle of the ship's steering gear;

[0006] Calculating the absolute value of the difference between the actual rotation angle and the target rotation angle;

[0007] determining an angular acceleration according to the actual rotation angle and the target rotation angle;

[0008] The switching process of the ship control mode is controlled according to the relationship between the absolute value and the turning angle threshold, or the relationship between the angular acceleration and the angular acceleration threshold. The ship control mode includes a system driving mode and a manual driving mode, and the priority of the manual driving mode is higher than the priority of the system driving mode.

[0009] In some embodiments, the process of controlling the switching of the ship control mode according to the relationship between the absolute value and the turning angle threshold, or the relationship between the angular acceleration and the angular acceleration threshold, includes:

[0010] When the absolute value is less than a first threshold, determining that the ship executes a system driving mode;

[0011] When the absolute value is greater than or equal to a second threshold value and the absolute value has a decreasing trend, controlling the ship to close the system driving mode;

[0012] When the absolute value is greater than or equal to a second threshold and there is no change trend in the absolute value, it is determined that the angular acceleration is greater than the angular acceleration threshold, and the ship is controlled to close the system driving mode;

[0013] When the absolute value is greater than or equal to a second threshold and there is no change trend in the absolute value, determining that the angular acceleration is less than or equal to an angular acceleration threshold, and controlling the ship to maintain a system driving mode;

[0014] The turning angle threshold includes a first threshold and a second threshold.

[0015] In some embodiments, the process of controlling the switching of the ship control mode according to the relationship between the absolute value and the turning angle threshold, or the relationship between the angular acceleration and the angular acceleration threshold, further includes:

[0016] When the absolute value is greater than or equal to the first threshold, the ship is controlled to close the system driving mode.

[0017] In some embodiments, before controlling the vessel to turn off the system driving mode, the method further includes the following steps:

[0018] Generate sound and light alarm information, the sound and light alarm information is used to remind the ship-side driving personnel that the current ship man-machine opinions are different;

[0019] Obtain consent switching information, where the consent switching information is used to indicate that the ship-side driver agrees to shut down the system driving mode.

[0020] In some embodiments, the process of controlling the switching of the ship control mode according to the relationship between the absolute value and the turning angle threshold, or the relationship between the angular acceleration and the angular acceleration threshold, further includes:

[0021] When the absolute value is less than the second threshold value and the absolute value has a decreasing trend, the ship is controlled to maintain the system driving mode.

[0022] In some embodiments, the system driving mode includes a shore-based control mode, and the human driving mode includes a ship-side driving personnel operation mode.

[0023] In some embodiments, obtaining the actual turning angle of the ship steering gear includes:

[0024] Obtain the torque of the ship-side steering wheel controlled by the ship-side operator;

[0025] The actual rotation angle of the ship steering gear is determined according to the torque.

[0026] On the other hand, an embodiment of the present invention provides a system for switching a remote driving control mode of a ship, comprising:

[0027] An acquisition module is used to obtain the actual turning angle and target turning angle of the ship's steering gear;

[0028] A calculation module, used for calculating the absolute value of the difference between the actual turning angle and the target turning angle;

[0029] A determination module, configured to determine an angular acceleration according to the actual rotation angle and the target rotation angle;

[0030] A control module is used to control the switching process of the ship control mode according to the relationship between the absolute value and the turning angle threshold, or the relationship between the angular acceleration and the angular acceleration threshold, the ship control mode includes a system driving mode and a manual driving mode, and the priority of the manual driving mode is higher than the priority of the system driving mode.

[0031] On the other hand, an embodiment of the present invention provides a device for switching a remote driving control mode of a ship, comprising:

[0032] at least one memory for storing a program;

[0033] At least one processor is used to load the program to execute the method for switching the ship remote driving control mode.

[0034] On the other hand, an embodiment of the present invention provides a storage medium, in which a computer-executable program is stored. When the computer-executable program is executed by a processor, it is used to implement the method for switching the remote driving control mode of a ship.

[0035] A method for switching a remote-control mode of a ship provided by an embodiment of the present invention has the following beneficial effects:

[0036] This embodiment obtains the actual turning angle and target turning angle of the ship steering gear, calculates the absolute value of the difference between the actual turning angle and the target turning angle, and determines the angular acceleration according to the actual turning angle and the target turning angle, and then controls the switching process of the ship control mode according to the relationship between the absolute value and the turning angle threshold, or the relationship between the angular acceleration and the angular acceleration threshold. This embodiment automatically switches the system driving mode and the automatic driving mode according to the actual situation, thereby reducing the workload of pure manual driving and improving the safety of the system driving process.

[0037] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0039] Figure 1 This is a flow chart of a method for switching a remote-control mode of a ship according to an embodiment of the present invention;

[0040] Figure 2 The present invention is a flowchart of a method for switching a remote-control mode of a ship according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0042] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0043] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0044] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0045] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0046] Reference Figure 1 The embodiment of the present invention provides a method for switching a remote control mode of a ship, and the method of this embodiment can be applied to a ship controller. In the embodiment process, this embodiment includes but is not limited to the following steps:

[0047] Step 110, obtaining the actual turning angle and target turning angle of the ship steering gear;

[0048] Step 120, calculating the absolute value of the difference between the actual turning angle and the target turning angle;

[0049] Step 130: determining an angular acceleration according to the actual rotation angle and the target rotation angle;

[0050] Step 140, controlling the switching process of the ship control mode according to the relationship between the absolute value and the turning angle threshold, or the relationship between the angular acceleration and the angular acceleration threshold, the ship control mode including the system driving mode and the manual driving mode, the priority of the manual driving mode being higher than the priority of the system driving mode.

[0051] In an embodiment of the present application, the actual turning angle of the ship can be determined by the torque of the ship's steering wheel. Specifically, the torque of the ship's steering wheel controlled by the ship's operator is obtained, and then the actual turning angle of the ship's steering gear is determined according to the torque. Among them, when the ship's end driver operates the steering wheel, the ship controller can obtain the torque of the steering wheel; when the ship's end driver does not operate the steering wheel, the torque of the steering wheel obtained by the ship controller can be considered to be zero. It can be understood that this embodiment determines the torque of the steering wheel by considering the operation process of the steering wheel by the ship's end driver. Of course, the rotation process of the steering wheel can also be remotely controlled by shore-based personnel. When judging the ship's end manual driving mode and the system driving mode, this embodiment needs to exclude the steering wheel torque controlled by the shore-based remote end. That is, the actual turning angle of the ship's steering gear obtained in this embodiment is the turning angle generated by the ship's end driver operating the steering wheel.

[0052] In this embodiment, by setting the priority of the manual driving mode higher than the priority of the system driving mode, when there is a conflict between the two modes, the ship executes the control process of the manual driving mode, thereby improving the operation safety of the ship in abnormal conditions.

[0053] In the processing of this embodiment, the ship-side driver operation mode is used as the manual operation mode, and the remote shore-based control module is used as the system automatic driving mode.

[0054] Specifically, Figure 2 As shown in FIG. 1 , the switching process of the ship control mode includes:

[0055] The absolute value of the difference between the actual turning angle and the target turning angle and the first threshold value are determined. When the absolute value is greater than or equal to the first threshold value, it indicates that the ship-side driver is operating the ship steering wheel at this time. Therefore, if the ship is in the system driving mode at this time, it can be determined that the current ship's human-machine opinions are different, and the mode can be switched. Specifically, by generating sound and light alarm information and a mode switching request, the ship-side driver can be prompted through the sound and light alarm information that the current ship's human-machine opinions are different, and the control mode of the ship is switched from the system driving mode to the manual driving mode through the mode switching request, that is, the ship is controlled to turn off the system driving mode.

[0056] When the absolute value is less than the first threshold, it indicates that the ship is in the system automatic driving mode at this time. Therefore, it is necessary to continue to judge the relationship between the absolute value and the second threshold, as well as the changing trend of the absolute value. Specifically, when the absolute value is greater than or equal to the second threshold and the absolute value has a decreasing trend, it means that the ship-side driver is currently operating the ship-side steering wheel, so that the actual turning angle of the ship's steering gear is getting closer and closer to the target turning angle. Therefore, it can be determined that the human-machine opinions of the current ship are different, and the mode can be switched. Specifically, by generating sound and light alarm information and a mode switching request, the ship-side driver can be prompted through the sound and light alarm information that the human-machine opinions of the current ship are different. Through the mode switching request, the control mode of the ship is switched from the system driving mode to the manual driving mode, that is, the ship is controlled to turn off the system driving mode.

[0057] When the absolute value is less than the first threshold, it indicates that the ship is in the system automatic driving mode at this time. At this time, there is no change trend in the absolute value, indicating that the ship is in the system driving mode at the current moment, and the ship-side driver has not operated the ship-side steering wheel. At this time, in order to improve the safety of the automatic driving process, the magnitude relationship between the angular acceleration corresponding to the actual turning angle and the target turning angle and the angular acceleration threshold can be further judged. When the angular acceleration is greater than the angular acceleration threshold, it can be determined that the current system driving process cannot maintain the safe operation of the ship, so manual operation is required. Specifically, this embodiment generates prompt information to prompt the ship-side driver to perform manual operation, and generates a mode switching request to switch the control mode of the ship from the system driving mode to the manual driving mode, so that the ship can operate safely and stably. When the angular acceleration is less than or equal to the angular acceleration threshold, it means that the ship can maintain the safe and stable operation process of the ship through the system driving mode at this time, so that the ship-side operator does not need to perform manual operation, reducing the workload of the ship-side operator. Therefore, this embodiment only needs to control the ship to maintain the system driving mode, that is, to maintain the safe and stable operation process of the ship.

[0058] In this embodiment, the corner threshold includes a first threshold and a second threshold, and the first threshold is greater than the second threshold. Specifically, the first threshold, the second threshold, and the corner threshold can all be set according to the actual performance of the ship and the factors of the ship operation environment. It can be understood that before the ship performs the current operation, the staff can set the first threshold, the second threshold, and the corner threshold of the current ship through the man-machine interaction interface, so that the ship control process better conforms to the current operation situation.

[0059] It can be seen from this that the actual corner of this embodiment is set as α Real , and the target corner is set as α Targe . The first threshold is set as Limit1, and the second threshold is set as Limit2. In the application process, it includes the following steps:

[0060] When |α Target – α Real | ≥ Limit1, the system driving mode is closed;

[0061] When |α Target – α Real | < Limit1, it is determined that the ship is in the system driving state. When it is monitored that the absolute value is greater than the second preset threshold Limit2 and there is no tendency for the absolute value to decrease, it is determined that the current navigation process is mainly controlled by the driver, and the human-machine target is inconsistent, then the system driving mode is closed and switched to the shore-based driver driving mode, and the shore-based driver operates the ship to navigate; when the goals of the ship-end driver and the shore-end driver are inconsistent, the shore-based driver manual driving mode is closed and switched to the ship-end driver manual driving mode, and the ship-end driver starts to control the ship navigation.

[0062] When it is detected that the angular acceleration corresponding to the difference between the actual corner of the steering gear and the target corner is much greater than the third preset threshold Limit3, the system driving mode is closed;

[0063] When |α Target - α Real | ≥ Limit1, at this time, torque is output, and the direction of the torque is consistent with the positive and negative of α Target - α Real ; at this time, when it is detected that |α Target - α Real | > Limit2 and with the accumulation of a short period of time, it is detected that |α Target - α Real | has no tendency to continue to decrease, then it is considered that the driver intervenes at this time; when it is detected that d(d|α Target - α Real | / dt)dt >> Limit3 (the maximum angular acceleration generated by the applied torque), it is considered that the driver intervenes.

[0064] An embodiment of the present invention provides a system for switching a remote-control mode of a ship, comprising:

[0065] An acquisition module is used to obtain the actual turning angle and target turning angle of the ship's steering gear;

[0066] A calculation module, used for calculating the absolute value of the difference between the actual turning angle and the target turning angle;

[0067] A determination module, configured to determine an angular acceleration according to the actual rotation angle and the target rotation angle;

[0068] A control module is used to control the switching process of the ship control mode according to the relationship between the absolute value and the turning angle threshold, or the relationship between the angular acceleration and the angular acceleration threshold, the ship control mode includes a system driving mode and a manual driving mode, and the priority of the manual driving mode is higher than the priority of the system driving mode.

[0069] The contents of the method embodiments of the present invention are all applicable to the system embodiments. The functions specifically implemented by the system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method.

[0070] An embodiment of the present invention provides a device for switching a remote-control mode of a ship, comprising:

[0071] at least one memory for storing a program;

[0072] At least one processor for loading the program to execute Figure 1 The method for switching the ship remote driving control mode is shown.

[0073] The contents of the method embodiments of the present invention are all applicable to the device embodiments. The functions specifically implemented by the device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0074] An embodiment of the present invention provides a storage medium, wherein a computer executable program is stored, and when the computer executable program is executed by a processor, it is used to implement Figure 1 The method for switching the ship remote driving control mode is shown.

[0075] The embodiment of the present invention further provides a computer program product or a computer program, wherein the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes Figure 1 The method for switching the ship remote driving control mode is shown.

[0076] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A method for switching a remote-control mode of a ship, characterized in that: The following steps are involved: Obtain the actual turning angle and target turning angle of the ship's steering gear; Calculating the absolute value of the difference between the actual rotation angle and the target rotation angle; determining an angular acceleration according to the actual rotation angle and the target rotation angle; Controlling the switching process of the ship control mode according to the relationship between the absolute value and the turning angle threshold, or the relationship between the angular acceleration and the angular acceleration threshold, the ship control mode including a system driving mode and a manual driving mode, the manual driving mode having a higher priority than the system driving mode; The process of controlling the switching of the ship control mode according to the relationship between the absolute value and the turning angle threshold, or the relationship between the angular acceleration and the angular acceleration threshold, includes: When the absolute value is less than a first threshold, determining that the ship executes a system driving mode; When the absolute value is greater than or equal to a second threshold value and the absolute value has a decreasing trend, controlling the ship to close the system driving mode; When the absolute value is greater than or equal to a second threshold and there is no change trend in the absolute value, it is determined that the angular acceleration is greater than the angular acceleration threshold, and the ship is controlled to close the system driving mode; When the absolute value is greater than or equal to a second threshold and there is no change trend in the absolute value, determining that the angular acceleration is less than or equal to an angular acceleration threshold, and controlling the ship to maintain a system driving mode; The turning angle threshold includes a first threshold and a second threshold.

2. A method for switching a ship remote driving control mode according to claim 1, characterized in that: The process of controlling the switching of the ship control mode according to the relationship between the absolute value and the turning angle threshold, or the relationship between the angular acceleration and the angular acceleration threshold, further includes: When the absolute value is greater than or equal to the first threshold, the ship is controlled to close the system driving mode.

3. A method for switching a ship remote driving control mode according to claim 2, characterized in that: Before controlling the ship to close the system driving mode, the method further includes the following steps: Generate sound and light alarm information, the sound and light alarm information is used to remind the ship-side driving personnel that the current ship man-machine opinions are different; Obtain consent switching information, where the consent switching information is used to indicate that the ship-side driver agrees to shut down the system driving mode.

4. A method for switching a ship remote driving control mode according to claim 1, characterized in that: The process of controlling the switching of the ship control mode according to the relationship between the absolute value and the turning angle threshold, or the relationship between the angular acceleration and the angular acceleration threshold, further includes: When the absolute value is less than the second threshold value and the absolute value has a decreasing trend, the ship is controlled to maintain the system driving mode.

5. A method for switching a ship remote driving control mode according to claim 1, characterized in that: The system driving mode includes a shore-based control mode, and the human driving mode includes a ship-side driving personnel operation mode.

6. A method for switching a ship remote driving control mode according to claim 1, characterized in that: The obtaining of the actual turning angle of the ship steering gear comprises: Obtain the torque of the ship-side steering wheel controlled by the ship-side operator; The actual rotation angle of the ship steering gear is determined according to the torque.

7. A switching system for a remote-control mode of a ship, characterized in that: include: An acquisition module is used to obtain the actual turning angle and target turning angle of the ship's steering gear; A calculation module, used for calculating the absolute value of the difference between the actual turning angle and the target turning angle; A determination module, configured to determine an angular acceleration according to the actual rotation angle and the target rotation angle; a control module, configured to control a switching process of a ship control mode according to a relationship between the absolute value and the turning angle threshold, or a relationship between the angular acceleration and the angular acceleration threshold, wherein the ship control mode includes a system driving mode and a manual driving mode, and the priority of the manual driving mode is higher than that of the system driving mode; The process of controlling the switching of the ship control mode according to the relationship between the absolute value and the turning angle threshold, or the relationship between the angular acceleration and the angular acceleration threshold, includes: When the absolute value is less than a first threshold, determining that the ship executes a system driving mode; When the absolute value is greater than or equal to a second threshold value and the absolute value has a decreasing trend, controlling the ship to close the system driving mode; When the absolute value is greater than or equal to a second threshold and there is no change trend in the absolute value, it is determined that the angular acceleration is greater than the angular acceleration threshold, and the ship is controlled to close the system driving mode; When the absolute value is greater than or equal to a second threshold and there is no change trend in the absolute value, determining that the angular acceleration is less than or equal to an angular acceleration threshold, and controlling the ship to maintain a system driving mode; The turning angle threshold includes a first threshold and a second threshold.

8. A switching device for a remote-control mode of a ship, characterized in that: include: at least one memory for storing a program; At least one processor is used to load the program to execute the method for switching the remote driving control mode of a ship as described in any one of claims 1-6.

9. A storage medium, characterized in that: A computer executable program is stored therein, and when the computer executable program is executed by a processor, it is used to implement the method for switching the ship remote driving control mode as described in any one of claims 1-6.

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