A stern machine control method, a stern machine control device, an electronic device, and a storage medium

Abstract

This application discloses a stern engine control method, a stern engine control device, an electronic device, and a computer-readable storage medium. The method includes: determining the current operational purpose of a vessel, wherein the vessel is equipped with a stern engine; detecting whether the position of the stern engine is within a target position range, wherein the target position range is determined based on the current operational purpose; and if the position of the stern engine is not within the target position range, sending a stern engine position adjustment instruction to the stern engine, wherein the stern engine position adjustment instruction is used to instruct the stern engine to adjust the position of the stern engine to within the target position range. This solution enables intelligent adjustment of the stern engine position, reducing the risks associated with manual manipulation of the stern engine position.

Description

Technical Field

[0001] The present application belongs to the technical field of Internet of Things, and in particular relates to a stern engine control method, a stern engine control device, an electronic device, and a computer-readable storage medium. Background Art

[0002] A common propulsion system on small boats is the stern engine, typically mounted at the stern of the boat to provide propulsion. When the stern engine is in use, the engine needs to be lowered into the water; when not in use, it needs to be raised out of the water. Currently, small boats require manual control of the stern engine, and the corresponding control buttons are usually located on the stern engine itself, making manual operation inconvenient and risky. Summary of the Invention

[0003] The present application provides a stern engine control method, a stern engine control device, an electronic device, and a computer-readable storage medium, which can realize intelligent adjustment of the stern engine position and reduce the risks brought about by manual manipulation of the stern engine position.

[0004] In a first aspect, the present application provides a stern engine control method, comprising:

[0005] Determine the current purpose of the vessel, where the vessel is equipped with a hanger engine;

[0006] Check whether the position of the stern engine is within the target position range, which is determined by the current action purpose;

[0007] If the position of the stern engine is not within the target position range, a stern engine position adjustment instruction is sent to the on-hook engine, and the stern engine position adjustment instruction is used to instruct the on-hook engine to adjust the position of the stern engine to within the target position range.

[0008] In a second aspect, the present application provides a stern engine control device, comprising:

[0009] A determination module, for determining the current action purpose of the ship, wherein the ship is equipped with a hang-up engine;

[0010] A detection module is used to detect whether the position of the stern engine is within the target position range, and the target position range is determined according to the current action purpose;

[0011] The adjustment module is used to send a stern engine position adjustment instruction to the onboard engine if the position of the stern engine is not within the target position range. The stern engine position adjustment instruction is used to instruct the onboard engine to adjust the position of the stern engine to within the target position range.

[0012] In a third aspect, the present application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method according to the first aspect are implemented.

[0013] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method of the first aspect are implemented.

[0014] In a fifth aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by one or more processors, it implements the steps of the method of the first aspect.

[0015] Compared with the prior art, the present application has the following beneficial effects: after a ship equipped with a stern engine is started, the current action purpose of the ship can be determined. Since the position of the stern engine expected to be on the stern engine is different under different action purposes, the target position range of the stern engine can be determined according to the current action purpose, and whether the stern engine is within the target position range can be detected. If the stern engine is not within the target position range, it is considered that there is currently a need to adjust the position of the stern engine, and a stern engine position adjustment instruction can be sent to the stern engine to instruct the stern engine to adjust the position of the stern engine to the target position range. In the above process, the intelligent adjustment of the stern engine position is achieved through the current action purpose of the ship, and the crew no longer needs to manually control the stern engine position, which can reduce risks. It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 This is a schematic diagram of the implementation flow of the stern engine control method provided in an embodiment of the present application;

[0018] Figure 2 This is a schematic diagram of a specific implementation flow of step 101 in the stern engine control method provided in an embodiment of the present application;

[0019] Figure 3 This is a schematic diagram of a specific implementation flow of step 103 in the stern engine control method provided in an embodiment of the present application;

[0020] Figure 4 This is a structural block diagram of a stern engine control device provided in an embodiment of the present application;

[0021] Figure 5 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0023] The stern engine control method proposed in the embodiment of the present application can be applied to ships with onboard engines. As an example only, the execution subject of the stern engine control method can be an electronic device equipped with a control system on the ship; or it can also be an electronic device in the cloud that has established a communication connection with the ship. The execution subject of the stern engine control method is not limited here. The following describes the stern engine control method using an electronic device equipped with a control system on the ship as the execution subject. Figure 1 The implementation process of the stern engine control method is described in detail as follows:

[0024] Step 101: Determine the current action purpose of the ship.

[0025] In addition to electronic equipment, a vessel also carries an onboard engine; that is, the vessel's propulsion system is an onboard engine. Specifically, the electronic equipment can be activated when the vessel is started. While the electronic equipment is operating, the vessel's current operational purpose can be determined. Optionally, the electronic equipment can perform intelligent analysis of the vessel's behavior and determine the vessel's current operational purpose based on the results of the intelligent analysis. Alternatively, if there are crew members on board, the electronic equipment can receive operational instructions input by the crew and determine the vessel's current operational purpose based on these instructions. The method for determining the current operational purpose is not limited herein.

[0026] Step 102: Detect whether the position of the on-hook stern engine is within the target position range.

[0027] When the vessel is operating, the stern engine should be positioned close to the bottom of the ship so that it can propel the vessel underwater through the current. When the vessel is not operating, i.e., when the vessel is docked, the stern engine should be positioned away from the bottom of the ship to keep it away from the water surface and avoid corrosion. Based on this, the desired position ranges for the stern engine corresponding to different operational objectives can be pre-set. After the vessel's current operational objective is determined in step 101, the desired position range for the stern engine corresponding to that current operational objective can be determined as the target position range.

[0028] In some embodiments, a position sensor may be pre-installed in the stern engine of the vessel so as to know the position of the stern engine and thereby detect whether the position of the stern engine is within a predetermined target position range.

[0029] In other embodiments, since the position of the sterndrive is generally adjusted by a corresponding motor, rotation data of the motor can be obtained, including the direction and number of rotations relative to a default position. Using this rotation data, the electronic device can estimate the position of the sterndrive and thereby detect whether the position of the sterndrive is within a predetermined target position range.

[0030] Step 103: If the position of the stern engine is not within the target position range, a stern engine position adjustment instruction is sent to the onboard engine. The stern engine position adjustment instruction is used to instruct the onboard engine to adjust the position of the stern engine to within the target position range.

[0031] The electronic device establishes a communication connection with the on-hook unit, enabling data exchange. If the electronic device detects, in step 102, that the stern engine's position is not within the target position range, it may determine that there is a need to adjust the stern engine's position. The electronic device may generate a stern engine position adjustment instruction based on the target position range and the stern engine's position, and transmit the stern engine position adjustment instruction to the on-hook unit. It will be understood that the stern engine position adjustment instruction is used to instruct the on-hook unit to adjust the stern engine's position to within the target position range.

[0032] In some embodiments, the electronic device can determine the direction (e.g., upward or downward) and distance to adjust the stern engine position based on the target position range and the position of the stern engine, and based on this, generate a position adjustment instruction containing the adjustment direction and distance. In this way, after receiving the position adjustment instruction, the subsequent onboard device will know in which direction and how far to control the stern engine to move.

[0033] In other embodiments, the electronic device may determine the direction of stern engine position adjustment based on the target position range and the position of the stern engine, and based on this, generate a position adjustment instruction containing the adjustment direction. In this way, upon receiving the position adjustment instruction, the on-hook device will know in which direction to control the stern engine movement. While the on-hook device is controlling the stern engine movement, the electronic device may continuously monitor the position of the stern engine. Once it detects that the stern engine is within the target position range, it may generate a stop adjustment instruction and send it to the on-hook device, instructing the on-hook device to stop adjusting the stern engine position.

[0034] In some embodiments, when the electronic device determines the current action purpose of the ship by intelligently analyzing the behavior of the ship, refer to Figure 2 , step 101 may include:

[0035] Step 1011: Acquire the ship status and navigation data within a preset time period.

[0036] The duration of the preset time period is the first preset duration, and the end time of the preset time period is the current time. For example, if the current time is 15:30 on July 2, 2022, and the first preset duration is 1 minute, then the preset time period is: 15:29 on July 2, 2022 to 15:30 on July 2, 2022.

[0037] Among them, the ship status defined in the embodiment of the present application includes: operating status and non-operating status. It can be understood that the operating status refers to the state in which the ship has started to run, and the non-operating status refers to the state in which the ship has not started to run; and there is a difference between the operating status and the navigation status of the ship: even if the ship has started to run, it may not be sailing (that is, the ship's position remains stationary). In the case where the device status of the electronic device is synchronized with the ship's ship status (that is, the electronic device is started following the start of the ship), the device status can also be equated with the ship status; that is, the electronic device can obtain its own device status within a preset time period and use the device status as the ship status.

[0038] Navigation data includes, but is not limited to, the following types of data: vessel position and speed. It is understood that to improve the accuracy of intelligent analysis performed by electronic devices, the types of data included in navigation data may be adjusted accordingly, such as by adding vessel heading, etc., without limitation here.

[0039] Step 1012: Determine the current action purpose of the ship based on the ship status and navigation data.

[0040] The electronic device can determine the current purpose of the ship's operation by analyzing the acquired ship status and navigation data within a preset time period. As an example, if the electronic device is mainly concerned with operations and docking, the following conditions can be used to determine the current purpose of the ship's operation:

[0041] Within the preset time period, if the ship state changes from the non-operating state to the operating state, and the navigation data remains within the preset first navigation data range, the current action purpose of the ship is determined to be: operation.

[0042] Imagine the following scenario: a ship is docked at a berth. When a need arises for outbound operations, the ship's crew or other personnel can trigger a start, changing the ship's status from inoperative to operational. Meanwhile, since the ship's onboard engines have not yet been activated, the ship remains stationary. Obviously, when a ship is stationary, its navigation data typically remains stable within a certain range. For example, the ship's speed remains stable near zero, and the ship's position remains stable near the berth. Therefore, if the ship's status changes from inoperative to operational within a preset time period, and the navigation data remains within a preset first navigation data range for the preset time period, it is considered that the ship's current activity is likely to be operational.

[0043] Within the preset time period, if the ship status remains in the running state and the navigation data changes from being within the preset second navigation data range to being within the first navigation data range, the current action purpose of the ship is determined to be: docking.

[0044] Imagine the following scenario: After completing an outbound operation, the ship returns home and approaches the dock or mother ship. During this process, the ship remains in operation. Furthermore, upon reaching the dock or near the mother ship, the ship needs to gradually slow down and eventually dock at the dock berth or next to the mother ship. Obviously, during this process, its navigation data will change significantly. Specifically, the ship's position on the water gradually changes from a position far from the dock / mother ship to a position near the dock / mother ship, and the ship's speed gradually decreases from a higher speed to 0 or close to 0. Therefore, if the ship's status remains in operation within a preset time period, and the navigation data changes from within the second navigation data range to within the first navigation data range within the preset time period, it is considered that the ship's current action purpose is likely to be docking.

[0045] In some embodiments, when the current action objective is operation, the target position range determined is: a first preset position range. That is, the expected position range of the stern engine corresponding to the operation action objective is the first preset position range. It is understood that since the stern engine is required to provide thrust underwater when the vessel is operating, when the vessel is in the water, the stern engine should be underwater when the position is within the first preset position range. When the current action objective is docking, the target position range determined is: a second preset position range. That is, the expected position range of the stern engine corresponding to the docking action objective is the second preset position range. It is understood that since the stern engine is not required to provide thrust underwater when the vessel is docked, it only needs to be raised away from the water surface to avoid corrosion. Therefore, when the vessel is in the water, the stern engine should be above water when the position is within the second preset position range.

[0046] In some embodiments, to ensure the safety of personnel near the stern engine during the adjustment of the stern engine position, please refer to Figure 3 , step 103 may include:

[0047] Step 1031: If the position of the stern engine is not within the target position range, the working state of the on-hook engine is detected.

[0048] After powering on, if the stern engine is in the ignition-operated state, it is very likely to start unexpectedly due to misoperation or other reasons. If the propeller begins to rotate during stern engine position adjustment, it could potentially scratch anyone near the engine and damage the engine. Therefore, if the stern engine is detected to be out of the target position and before adjusting the stern engine, the electronic equipment can first check the engine's operating status to determine whether it can safely perform the stern engine position adjustment operation.

[0049] Step 1032: When the on-hook machine is in the ignition running state, a flameout instruction is sent to the on-hook machine.

[0050] As previously described, when the engine is in the ignition state, it cannot provide a safe execution environment for the stern engine position adjustment operation. Based on this, the electronic device can send a flameout command to the engine when it detects that the engine is in the ignition state. This flameout command is used to control the engine to shut down.

[0051] It can be understood that, taking into account the possible situation of data transmission obstruction, the electronic device can return to execute step 1031 after a second preset time interval after sending a shutdown command to the hang-up machine, that is, detect the working status of the hang-up machine again to determine that the hang-up machine is indeed shut down after receiving the shutdown command.

[0052] Step 1033: When the onboard engine is in the flameout state, a stern engine position adjustment instruction is sent to the onboard engine.

[0053] Only when the hook is in the flameout state, it is considered that the hook can currently safely perform the stern engine position adjustment operation. At this time, the electronic device can send a stern engine position adjustment instruction to the hook to trigger the hook to perform the stern engine position adjustment operation.

[0054] It should be noted that no matter whether the on-hook is in the flameout shutdown state as determined when detecting the working status of the on-hook in step 1031, or whether the on-hook is in the flameout shutdown state after sending the flameout command to the on-hook in step 1032, as long as the electronic device has determined that the on-hook is in the flameout shutdown state, step 1033 can be executed to send the stern engine position adjustment command to the on-hook.

[0055] In some embodiments, when the vessel is in operation, it is not necessary to adjust the position of the stern engine. Based on this, in order to save resources of electronic equipment, before step 101, the stern engine control method further includes:

[0056] Check whether the ship's location is within the preset water range, where the preset water range refers to the water range demarcated with the dock / mother ship as the center;

[0057] Accordingly, step 101 may be specifically performed as follows: after the position of the ship is within the preset water area, the current action purpose of the ship is determined.

[0058] Generally speaking, when adjusting the position of a ship's stern engine, the ship will be near the dock or mother ship; after the stern engine position is adjusted, the ship can set off for operations or complete docking. Based on this, a water area can be demarcated with the dock or mother ship as the center as the preset water area. If the ship is within the preset water area, it can be considered that the ship is likely to be preparing to dock or prepare to start operations. Only then does the electronic device need to determine the current purpose of the ship's action and execute a series of subsequent operations. Conversely, if the ship is not within the preset water area, there is no need to trigger the electronic device to execute the various steps proposed in the embodiments of the present application.

[0059] In some embodiments, during the process of adjusting the stern engine position, the motor for adjusting the stern engine position may fail to stop driving in time due to certain reasons, resulting in the stern engine rising too high / falling too low, which may cause internal damage to the hook. To avoid this situation, a limit sensor for the stern engine can be set on the hook to limit the extreme position that the stern engine can reach. It can be understood that once the limit sensor is triggered, it indicates that the stern engine position has been adjusted to the extreme position. To avoid damage to the inside of the hook, the output of the limit sensor can be connected to the control power supply of the hook, so that when the limit sensor is triggered, its output can directly control the cutting off of the control power supply, thereby preventing the motor for adjusting the stern engine position from continuing to drive and ensuring that the position of the stern engine does not exceed the extreme position.

[0060] As can be seen from the above, in the embodiment of the present application, after the ship equipped with the hook engine is started, the current action purpose of the ship can be determined. Since the position of the stern engine of the hook engine is expected to be different under different action purposes, the target position range of the stern engine can be determined according to the current action purpose, and whether the stern engine is within the target position range can be detected. If the stern engine is not within the target position range, it is considered that there is currently a need to adjust the position of the stern engine, and a stern engine position adjustment instruction can be sent to the hook engine to instruct the hook engine to adjust the position of the stern engine to the target position range. In the above process, the intelligent adjustment of the stern engine position is achieved through the current action purpose of the ship, and the crew no longer needs to manually control the stern engine position, which can reduce risks.

[0061] Corresponding to the stern engine control method provided above, the embodiment of the present application further provides a stern engine control device, which is applied to a ship whose power plant is a hanging engine. Figure 4 As shown, the stern engine control device 4 includes:

[0062] Determination module 401, used to determine the current action purpose of the ship;

[0063] A first detection module 402 is used to detect whether the position of the on-hook stern engine is within a target position range, where the target position range is determined according to the current action purpose;

[0064] The adjustment module 403 is configured to send a stern engine position adjustment instruction to the onboard controller if the position of the stern engine is not within the target position range. The stern engine position adjustment instruction is configured to instruct the onboard controller to adjust the position of the stern engine to within the target position range.

[0065] In some embodiments, the determination module 401 includes:

[0066] An information acquisition unit, used to obtain the ship's status and navigation data within a preset time period;

[0067] The purpose determination unit is used to determine the current action purpose of the ship based on the ship status and navigation data.

[0068] In some embodiments, the purpose determination unit includes:

[0069] a first determining subunit, configured to determine that the current action purpose of the ship is: operation, if the ship state changes from a non-operating state to an operating state within a preset time period and the navigation data remains within a preset first navigation data range;

[0070] The second determining subunit is used to determine that the current action purpose of the ship is: docking if the ship state remains in the running state and the navigation data changes from being within the preset second navigation data range to being within the first navigation data range within a preset time period.

[0071] In some embodiments, when the current action purpose is operation, the target position range is: a first preset position range, wherein, when the ship is entering the water, when the position of the stern engine is within the first preset position range, the stern engine is underwater; when the current action purpose is docking, the target position range is: a second preset position range, wherein, when the ship is entering the water, when the position of the stern engine is within the second preset position range, the stern engine is above the water.

[0072] In some embodiments, the adjustment module 403 includes:

[0073] A status detection unit is used to detect the working status of the hook engine if the position of the stern engine is not within the target position range;

[0074] The first sending unit is used to send a flameout instruction to the on-hook machine when the on-hook machine is in an ignition running state, and the flameout instruction is used to control the on-hook machine to be flameout and shut down;

[0075] The second sending unit is used to send a stern engine position adjustment instruction to the hook engine when the hook engine is in a flameout and shutdown state.

[0076] In some embodiments, the stern engine control device 4 further includes:

[0077] The second detection module is used to detect whether the position of the ship is within the preset water range, wherein the preset water range refers to the water range demarcated with the dock / mother ship as the center;

[0078] The determination module 401 is specifically configured to determine the current action purpose of the ship after the ship's position is within a preset water area.

[0079] In some embodiments, a limit sensor for the stern engine is provided on the hook machine, and the limit sensor cuts off the control power supply of the hook machine when triggered.

[0080] As can be seen from the above, in the embodiment of the present application, after the ship equipped with the hook engine is started, the stern engine control device can determine the current action purpose of the ship. Since the position of the stern engine expected to be hung up is also different under different action purposes, the stern engine control device can determine the target position range of the stern engine according to the current action purpose, and detect whether the stern engine is within the target position range. If the stern engine is not within the target position range, it is considered that there is currently a need to adjust the position of the stern engine, and the stern engine control device can send a stern engine position adjustment instruction to the hook engine to instruct the hook engine to adjust the position of the stern engine to within the target position range. In the above process, the intelligent adjustment of the stern engine position is achieved through the current action purpose of the ship, and the crew no longer needs to manually control the stern engine position, which can reduce risks.

[0081] Corresponding to the stern engine control method provided above, an embodiment of the present application further provides an electronic device. The electronic device is mounted on a ship or has a communication connection with the ship. Figure 5 The electronic device 5 in the embodiment of the present application includes: a memory 501, one or more processors 502 ( Figure 5 Only one is shown) and a computer program stored in memory 501 and executable on the processor. Memory 501 is used to store software programs and units. Processor 502 executes the software programs and units stored in memory 501 to perform various functional applications and data processing to obtain resources corresponding to the above-mentioned preset events. Specifically, when processor 502 executes the above-mentioned computer program stored in memory 501, it implements the following steps:

[0082] Determine the current purpose of the vessel, where the vessel is equipped with a hanger engine;

[0083] Check whether the position of the stern engine is within the target position range, which is determined by the current action purpose;

[0084] If the position of the stern engine is not within the target position range, a stern engine position adjustment instruction is sent to the on-hook engine, and the stern engine position adjustment instruction is used to instruct the on-hook engine to adjust the position of the stern engine to within the target position range.

[0085] Assuming that the above is the first possible implementation, in a second possible implementation provided on the basis of the first possible implementation, determining the current action purpose of the ship includes:

[0086] Obtain the ship's status and navigation data within a preset time period;

[0087] Determine the current purpose of the ship's action based on the ship's status and navigation data.

[0088] In a third possible implementation provided as a basis for the second possible implementation, determining the current action purpose of the ship based on the ship status and navigation data includes:

[0089] If, within a preset time period, the vessel state changes from a non-operating state to an operating state, and the navigation data remains within a preset first navigation data range, the current action purpose of the vessel is determined to be: operation;

[0090] Within the preset time period, if the ship status remains in the running state and the navigation data changes from being within the preset second navigation data range to being within the first navigation data range, the current action purpose of the ship is determined to be: docking.

[0091] In a fourth possible implementation provided on the basis of the above-mentioned first possible implementation, when the current action purpose is operation, the target position range is: a first preset position range, wherein, when the ship is entering the water, when the position of the stern engine is within the first preset position range, the stern engine is underwater; when the current action purpose is docking, the target position range is: a second preset position range, wherein, when the ship is entering the water, when the position of the stern engine is within the second preset position range, the stern engine is above the water.

[0092] In a fifth possible implementation provided based on the first possible implementation, if the position of the stern engine is not within the target position range, sending a stern engine position adjustment instruction to the onboard engine includes:

[0093] If the position of the stern engine is not within the target position range, the working status of the hook engine is detected;

[0094] When the on-hook machine is in the ignition running state, a flameout command is sent to the on-hook machine, and the flameout command is used to control the on-hook machine to shut down;

[0095] When the engine is in the shutdown state, a stern engine position adjustment instruction is sent to the engine.

[0096] In a sixth possible implementation provided on the basis of the first possible implementation, or the second possible implementation, or the third possible implementation, or the fourth possible implementation, or the fifth possible implementation, before determining the current action purpose of the ship, the processor 502 implements the following steps by running the computer program stored in the memory 501:

[0097] Check whether the ship's location is within the preset water range, where the preset water range refers to the water range demarcated with the dock / mother ship as the center;

[0098] Determine the vessel's current operational purpose, including:

[0099] After the position of the ship is within the preset waters, the current action purpose of the ship is determined.

[0100] In a seventh possible implementation provided on the basis of the first possible implementation, or the second possible implementation, or the third possible implementation, or the fourth possible implementation, or the fifth possible implementation, a limit sensor for the stern engine is further provided on the hook, and the limit sensor cuts off the control power of the hook when triggered.

[0101] It should be understood that in the embodiment of the present application, the processor 502 may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0102] The memory 501 may include a read-only memory and a random access memory, and provides instructions and data to the processor 502. A portion or all of the memory 501 may also include a non-volatile random access memory. For example, the memory 501 may also store device category information.

[0103] As can be seen from the above, in the embodiment of the present application, after the ship equipped with the hook engine is started, the electronic device can determine the current action purpose of the ship. Since the position of the stern engine of the hook engine is expected to be different under different action purposes, the electronic device can determine the target position range of the stern engine according to the current action purpose, and detect whether the stern engine is within the target position range. If the stern engine is not within the target position range, it is considered that there is currently a need to adjust the position of the stern engine, and the electronic device can send a stern engine position adjustment instruction to the hook engine to instruct the hook engine to adjust the position of the stern engine to the target position range. In the above process, the intelligent adjustment of the stern engine position is achieved through the current action purpose of the ship, and the crew no longer needs to manually control the stern engine position, which can reduce risks.

[0104] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0105] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0106] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of external device software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0107] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of the above modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0108] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0109] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the associated hardware through a computer program. The above-mentioned computer program can be stored in a computer-readable storage medium, and the computer program, when executed by the processor, can implement the steps of the above-mentioned various method embodiments. Among them, the above-mentioned computer program includes computer program code, and the above-mentioned computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The above-mentioned computer-readable storage medium may include: any entity or device that can carry the above-mentioned computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer-readable memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the above-mentioned computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practices in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practices, computer-readable storage media does not include electrical carrier signals and telecommunication signals.

[0110] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A stern engine control method, characterized in that: include: Determining a current operational purpose of a vessel, wherein the vessel is equipped with a hanger engine; detecting whether the position of the on-hook stern engine is within a target position range, wherein the target position range is determined according to the current action purpose; If the position of the stern engine is not within the target position range, sending a stern engine position adjustment instruction to the onboard engine, wherein the stern engine position adjustment instruction is used to instruct the onboard engine to adjust the position of the stern engine to within the target position range; The determination of the current action purpose of the vessel includes: Obtaining the ship status and navigation data of the ship within a preset time period; If, within the preset time period, the state of the vessel changes from a non-operating state to an operating state, and the navigation data remains within a preset first navigation data range, then determining that the current action purpose of the vessel is: operation; Within the preset time period, if the ship status remains in the operating state and the navigation data changes from being within the preset second navigation data range to being within the first navigation data range, the current action purpose of the ship is determined to be: docking.

2. The stern engine control method according to claim 1, wherein: When the current action purpose is operation, the target position range is: a first preset position range, wherein, when the ship is in the water, when the position of the stern engine is within the first preset position range, the stern engine is underwater; when the current action purpose is docking, the target position range is: a second preset position range, wherein, when the ship is in the water, when the position of the stern engine is within the second preset position range, the stern engine is above water.

3. The stern engine control method according to claim 1, wherein: If the position of the stern engine is not within the target position range, sending a stern engine position adjustment instruction to the hook engine includes: If the position of the stern engine is not within the target position range, detecting the working state of the hook engine; When the on-hook machine is in an ignition running state, sending a flameout instruction to the on-hook machine, wherein the flameout instruction is used to control the on-hook machine to be flameout and shut down; When the onboard engine is in a flameout and shutdown state, the stern engine position adjustment instruction is sent to the onboard engine.

4. The stern engine control method according to any one of claims 1 to 3, characterized in that: Before determining the current action purpose of the ship, the stern engine control method further includes: Detecting whether the position of the vessel is within a preset water range, wherein the preset water range refers to a water range demarcated with the dock / mother ship as the center; The determination of the current operational purpose of the vessel includes: After the position of the ship is within the preset water area, the current action purpose of the ship is determined.

5. The stern engine control method according to any one of claims 1 to 3, characterized in that: The hook machine is provided with a limit sensor for the stern machine, and the limit sensor cuts off the control power supply of the hook machine when being triggered.

6. A stern engine control device, characterized in that: include: a determination module, configured to determine a current action purpose of a vessel, wherein the vessel is equipped with an onboard engine; a detection module, configured to detect whether the position of the on-hook stern engine is within a target position range, wherein the target position range is determined according to the current action purpose; an adjustment module, configured to send a stern engine position adjustment instruction to the onboard engine if the position of the stern engine is not within the target position range, wherein the stern engine position adjustment instruction is used to instruct the onboard engine to adjust the position of the stern engine to within the target position range; Wherein, the determining module includes: An information acquisition unit, configured to acquire the ship status and navigation data of the ship within a preset time period; a purpose determination unit, configured to determine a current action purpose of the ship based on the ship state and the navigation data; Wherein, the purpose determination unit includes: a first determining subunit, configured to determine that the current action purpose of the ship is: operation, if the state of the ship changes from a non-operating state to an operating state within the preset time period and the navigation data remains within a preset first navigation data range; The second determining subunit determines that the current action purpose of the ship is: docking if the ship state remains in the operating state and the navigation data changes from being within the preset second navigation data range to being within the first navigation data range within the preset time period.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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