Ship control method, device, equipment and computer readable storage medium

Abstract

The application provides a ship control method, which is applied to any target ship in an unmanned ship self-organizing network formation, and a common navigation control software is run on a navigation controller of each ship. Each function module of the navigation control software corresponds to the same or different function states of each ship, and different working states of each ship correspond to different function configuration files. The target ship acquires a control instruction issued by a control end, the control end being a command ship end or a shore-based end, and the control instruction being an independent navigation instruction or a cooperative formation instruction. Based on the control instruction, a related function module of the navigation control software run on the target ship is called, and the target ship is controlled based on a function configuration file corresponding to a function state of the called function module. All ships in the formation of the application have a set of common software function modules, which can be safely and reliably transplanted to other ships for navigation control. The application also provides a ship control device, equipment and a readable storage medium.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to a method, apparatus, device and computer-readable storage medium for controlling boats. Background Technology

[0002] Currently, unmanned surface vessels (USVs) are in a period of rapid development, and have achieved autonomous navigation and autopilot for single vessels. However, research on USV technology needs to be further improved, as certain single-function designs limit the scalability of USVs.

[0003] Because different types of vessels differ in various aspects, including hardware and software, these differences make it difficult to control different types of vessels uniformly, resulting in high control complexity and reducing the operability and effectiveness of vessel control. Summary of the Invention

[0004] This application provides a boat control method, apparatus, equipment, and computer-readable storage medium, which reduces the complexity of boat control and improves the operability and control effect of boat control.

[0005] Firstly, this application provides a vessel control method, applied to a target vessel, which is any vessel in an unmanned surface vessel (USV) ad hoc network formation. Each vessel in the USV ad hoc network formation has a navigation controller running common navigation control software. Each functional module of the navigation control software corresponds to the same or different functional states of each vessel, and different operating states of each vessel correspond to different functional configuration files. The method includes:

[0006] The system acquires control commands issued by a control terminal, which is either a command vessel or a shore-based terminal. The control commands are either independent navigation commands for the target vessel or coordinated formation commands between the target vessel and other vessels.

[0007] Based on the control command, the relevant functional modules of the navigation control software running on the target vessel are invoked, and the target vessel is controlled based on the functional configuration file corresponding to the functional status of the invoked functional module.

[0008] Optionally, the step of obtaining the control commands issued by the control terminal includes:

[0009] The system senses the situational information of the target vessel and uploads the situational information to the control terminal so that the control terminal can construct a global situational awareness of the unmanned vessel ad hoc network formation.

[0010] The control commands issued by the control terminal based on the global perception situation are obtained.

[0011] Optionally, the application layer corresponding to each functional module of the navigation control software includes:

[0012] The system consists of a control command receiving layer, a control command parsing layer, a formation algorithm parsing layer, a sensor information receiving and parsing layer, a non-formation autonomous navigation algorithm parsing layer, an information sending layer to the display and control terminal, and a control execution layer.

[0013] Optionally, relevant functional modules of the navigation control software running on the target vessel may be invoked, including:

[0014] The top-level functional module is invoked, which includes the control command receiving layer and the control command parsing layer;

[0015] The intermediate layer functional module is invoked, and the intermediate layer functional module includes at least one of the formation algorithm parsing layer, the sensor information receiving and parsing layer, and the non-formation autonomous navigation algorithm parsing layer;

[0016] The lowest-level functional module is invoked, which includes at least one of the information sending layer to the display and control terminal and the control execution layer.

[0017] Optionally, the target vessel includes at least two operating modes; before the mode switch is successful, the throttle of the target vessel is returned to zero and the gear is returned to neutral.

[0018] Optionally, the target vessel's operating modes include manned mode, unmanned mode, and automatic mode, and the method further includes:

[0019] Determine the duration of the communication interruption between the target vessel and the control terminal;

[0020] When the target vessel is in manned mode, the navigation controller of the target vessel will only monitor the working status of the target vessel and will not execute control commands other than mode switching. The bridge central control platform of the target vessel will send command information including cruise mode control according to the working status of the target vessel.

[0021] When the target vessel is in the unmanned mode, if the communication interruption duration is less than or equal to a first preset duration, the current operating state of the target vessel is maintained; if the communication interruption duration is greater than the first preset duration, the throttle of the target vessel is returned to zero and the gear is returned to neutral, maintaining the unmanned mode; if the communication interruption duration is greater than a second preset duration and the second preset duration is greater than the first preset duration, the throttle of the target vessel is returned to zero and the gear is returned to neutral, switching from the unmanned mode back to the manned mode.

[0022] When the target vessel is in the automatic mode, if the communication interruption duration is less than or equal to the third preset duration, the current operating state of the target vessel is maintained; if the communication interruption duration is greater than the third preset duration, the throttle of the target vessel is returned to zero and the gear is returned to neutral, maintaining the automatic mode; if the communication interruption duration is greater than the fourth preset duration and the fourth preset duration is greater than the third preset duration, the throttle of the target vessel is returned to zero and the gear is returned to neutral, switching from the automatic mode back to the manned mode.

[0023] Optionally, the communication system between each vessel in the unmanned vessel self-organizing network formation and the command vessel is a decentralized, temporary, autonomous network communication system.

[0024] Secondly, this application provides a vessel control device, which is applied to a target vessel, which is any vessel in an unmanned vessel ad hoc network formation. Each vessel in the unmanned vessel ad hoc network formation has a navigation controller running common navigation control software. Each functional module of the navigation control software corresponds to the same or different functional states of each vessel, and different operating states of each vessel correspond to different functional configuration files. The device includes:

[0025] The instruction acquisition unit is used to acquire control instructions issued by the control terminal, which is either the command vessel or the shore-based terminal. The control instructions are either the independent navigation instructions of the target vessel or the coordinated formation instructions of the target vessel and other vessels.

[0026] The vessel control unit is used to invoke relevant functional modules of the navigation control software running on the target vessel based on the control command, and to control the target vessel based on the functional configuration file corresponding to the functional status of the invoked functional module.

[0027] Optionally, the instruction acquisition unit is specifically used for:

[0028] The system senses the situational information of the target vessel and uploads the situational information to the control terminal so that the control terminal can construct a global situational awareness of the unmanned vessel ad hoc network formation.

[0029] The control commands issued by the control terminal based on the global perception situation are obtained.

[0030] Optionally, the application layer corresponding to each functional module of the navigation control software includes:

[0031] The system consists of a control command receiving layer, a control command parsing layer, a formation algorithm parsing layer, a sensor information receiving and parsing layer, a non-formation autonomous navigation algorithm parsing layer, an information sending layer to the display and control terminal, and a control execution layer.

[0032] Optionally, when the vessel control unit invokes relevant function modules of the navigation control software running on the target vessel, it is specifically used for:

[0033] The top-level functional module is invoked, which includes the control command receiving layer and the control command parsing layer;

[0034] The intermediate layer functional module is invoked, and the intermediate layer functional module includes at least one of the formation algorithm parsing layer, the sensor information receiving and parsing layer, and the non-formation autonomous navigation algorithm parsing layer;

[0035] The lowest-level functional module is invoked, which includes at least one of the information sending layer to the display and control terminal and the control execution layer.

[0036] Optionally, the target vessel includes at least two operating modes; before the mode switch is successful, the throttle of the target vessel is returned to zero and the gear is returned to neutral.

[0037] Optionally, the target vessel's operating modes include manned mode, unmanned mode, and automatic mode, and the device further includes:

[0038] A duration determination unit is used to determine the duration of the communication interruption between the target vessel and the control terminal;

[0039] The manned mode unit is used to, when the target vessel is in the manned mode, enable the navigation controller of the target vessel to only monitor the working status of the target vessel and not execute control commands other than mode switching, and enable the bridge centralized control platform of the target vessel to send command information including cruise mode control according to the working status of the target vessel.

[0040] The unmanned mode unit is configured to maintain the current operating state of the target vessel when the target vessel is in the unmanned mode if the communication interruption duration is less than or equal to a first preset duration; if the communication interruption duration is greater than the first preset duration, the throttle of the target vessel is returned to zero and the gear is returned to neutral to maintain the unmanned mode; if the communication interruption duration is greater than a second preset duration and the second preset duration is greater than the first preset duration, the throttle of the target vessel is returned to zero and the gear is returned to neutral to switch from the unmanned mode back to the manned mode.

[0041] The automatic mode unit is configured to maintain the current operating state of the target vessel when the target vessel is in the automatic mode if the communication interruption duration is less than or equal to a third preset duration; if the communication interruption duration is greater than the third preset duration, the target vessel's throttle is returned to zero and the gear is returned to neutral, maintaining the automatic mode; if the communication interruption duration is greater than a fourth preset duration and the fourth preset duration is greater than the third preset duration, the target vessel's throttle is returned to zero and the gear is returned to neutral, switching from the automatic mode back to the manned mode.

[0042] Optionally, the communication system between each vessel in the unmanned vessel self-organizing network formation and the command vessel is a decentralized, temporary, autonomous network communication system.

[0043] Thirdly, this application provides an electronic device, including: a processor and a memory;

[0044] The memory is used to store computer programs;

[0045] The processor is used to execute the above-described boat control method by invoking the computer program.

[0046] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described boat control method.

[0047] As can be seen from the technical solution provided in this application, the target vessel is any one of the vessels in the unmanned surface vessel (USV) ad hoc network formation. Each vessel in the USV ad hoc network formation has a common navigation control software running on its navigation controller. Each functional module of the navigation control software corresponds to the same or different functional states of each vessel, and different operating states of each vessel correspond to different functional configuration files. Based on this, the target vessel receives control commands issued by a control terminal, which can be a command vessel or a shore-based terminal. The control commands are either independent navigation commands for the target vessel or coordinated formation commands between the target vessel and other vessels. Based on the control commands, the relevant functional modules of the navigation control software running on the target vessel are invoked, and the target vessel is controlled based on the functional configuration files corresponding to the functional states of the invoked functional modules. Because each vessel is different in size, and the state of its equipment such as engines, propellers, and searchlights is not uniform, and the control methods are also different, the navigation controller software state of each vessel is different. By using the navigation control software provided in this application, the same software configuration item can be applied to the control of the entire vessel formation. It realizes that all intelligent vessels in the formation can use a common set of software function modules. The software hierarchy is clear, maintenance is convenient, and it can be safely and reliably ported to other vessels for navigation control. Attached Figure Description

[0048] Figure 1 This application shows a block diagram of the working environment of an unmanned vessel self-organizing network formation system;

[0049] Figure 2 This is a schematic diagram of the working environment of the navigation control software shown in this application;

[0050] Figure 3 This is a schematic diagram illustrating the coupling relationships between the various application layers of the navigation control software shown in this application;

[0051] Figure 4 This is a schematic flowchart illustrating a boat control method according to this application;

[0052] Figure 5 This is a schematic diagram of the navigation control software workflow shown in this application;

[0053] Figure 6 This is a schematic diagram illustrating the switching of the navigation control software's operating mode as shown in this application;

[0054] Figure 7 This is a schematic diagram illustrating the composition of a boat control device shown in this application;

[0055] Figure 8 This is a schematic diagram of the structure of an electronic device shown in this application. Detailed Implementation

[0056] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0057] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0058] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0059] This application provides a vessel control method, specifically a general navigation control method for unmanned vessel self-organizing network formations, relating to the field of intelligent vessel control. This application does not limit the type or number of vessels. For example, the unmanned vessel self-organizing network formation in this application consists of a 42FT fishing boat, an 11.8-meter high-speed boat, and two 8.5-meter high-speed boats. Following the design principles of integration, modularity, high autonomy, and collaboration, it achieves autonomous navigation and flexible switching between formation modes under three sea states.

[0060] Each vessel in an unmanned surface vessel (USV) self-organizing network is equipped with a navigation controller and one or more (e.g., 2-4) display controllers. Navigation control software runs on the navigation controller to perform intelligent navigation control and formation mode switching. The navigation control software realizes functions such as collecting and controlling the status of the vessel's left and right engines, collecting and controlling the status of the stern engine or rudder angle, receiving and executing control commands sent by shore-based or display controller software, implementing intelligent navigation control, formation switching, and sending real-time status information to display controllers and other vessels.

[0061] The navigation controller software designed in this application embodiment is a general-purpose navigation control software that achieves modularity, high reliability, and good adaptability of the control platform.

[0062] See Figure 1 The diagram shown illustrates the working environment of an unmanned surface vessel (USV) self-organizing network swarm system. The functions achievable by the control software of each vessel are as follows:

[0063] 1) The command vessel can directly control decision-making and command locally, completing the uploading and distribution of decision-making and command instructions; it can also receive decision-making and command instructions from shore-based units and transmit them via relay to various unmanned small boats (such as...). Figure 1 (Other boats shown) Formation navigation control and navigation status monitoring. In addition, the command boat can comprehensively process the situational awareness information of each unmanned boat, construct a global situational awareness of the unmanned boats, and realize uploading and downloading.

[0064] 2) Each unmanned surface vessel (USV) can be controlled locally, remotely via wireless, or autonomously, to complete independent navigation commands or coordinated formation commands issued by the shore-based command vessel. Furthermore, each USV can monitor its own navigation status in real time, perceive its own situational information, and upload this information to the command vessel and shore-based display and control devices.

[0065] 3) When each unmanned boat is in single-boat operation mode, its navigation controller software has three operating modes: manned mode, unmanned mode and automatic mode. The three modes can be switched directly through commands. When the communication between the navigation controller and the shore base is abnormal, the operating mode can be switched automatically.

[0066] In this embodiment, because each unmanned surface vessel (USV) differs in size and the status of its engines, propellers, searchlights, and other equipment, as well as its control methods, the navigation control software status of each USV varies. To achieve a single software configuration item applicable to the entire vessel fleet, the software control scheme provided in this embodiment was designed. This scheme enables all intelligent vessels in the fleet to use a single software configuration item, has a clear software hierarchy, is easy to maintain, and can be safely and reliably ported to other vessels for navigation control.

[0067] The boat control method provided in the embodiments of this application will be described in detail below.

[0068] The vessel control method provided in this application is applied to a target vessel, which is any vessel in an unmanned vessel ad hoc network formation. Each vessel in the unmanned vessel ad hoc network formation has a general navigation control software running on its navigation controller. Each functional module of the navigation control software corresponds to the same or different functional states of each vessel, and different working states of each vessel correspond to different functional configuration files.

[0069] Specifically, such as Figure 2 The diagram shows the working environment of the navigation control software. The navigation control software runs on the navigation controller and performs the following functions: 1) collecting information from the power system, steering gear system, and various signal lights on the vessel; 2) controlling the power system, steering gear system, and various signal lights on the vessel via AO, DO, and Modbus protocols; 3) receiving, parsing, executing, and responding to commands sent by shore-based or other display controllers, and sending the vessel's status information to each display controller; 4) path control in single-vessel autonomous cruise mode; 5) path control in formation navigation mode and formation mode switching.

[0070] Based on the design principles and required functions of the navigation control software, a layered architecture is adopted for the framework design: functional modules and application layers. Functional modules that can be reused for different vessel states are consistent, while functional modules with inconsistent states are selected for use according to set parameters. The relationship between the main application layers and functional modules is shown in Table 1.

[0071] Table 1 Relationship between Application Layer and Functional Modules

[0072]

[0073]

[0074] It should be noted that the embodiments of this application adopt a modular design approach and an open network platform. Each functional module can be appropriately tailored as needed, resulting in strong scalability.

[0075] As can be seen, in the embodiments of this application, the application layers corresponding to each functional module of the navigation control software may include: a control command receiving layer, a control command parsing layer, a formation algorithm parsing layer, a sensor information receiving and parsing layer, a non-formation autonomous navigation algorithm parsing layer, an information sending layer to the display and control terminal, and a control execution layer.

[0076] See Figure 3 The diagram shows the coupling relationship between the application layers of the navigation control software. According to the coupling relationship between the application layers, it is divided into three layers: the top layer is the control command receiving layer and the control command parsing and pre-implementation layer; the middle layer is the formation algorithm parsing layer, the power system and other sensor information receiving and parsing layer, and the non-formation autonomous navigation algorithm parsing layer; the bottom layer is the information sending layer to the display and control terminal and the power system and other control execution layer.

[0077] Of the seven application layers shown in Table 1 above, five of the functional modules are fully compatible across all vessels. However, the two functional modules in the middle and bottom layers (the functional modules corresponding to numbers 4 and 5 in Table 1) are not fully compatible due to the different hardware interfaces on each vessel. Therefore, different configuration files were designed for each vessel. When using these configuration files, users can select which functional module to use, thus achieving the goal of having different hardware but compatible software across different vessels.

[0078] See Figure 4 This is a flowchart illustrating a vessel control method provided in an embodiment of this application. The execution subject of this method is a target vessel (i.e., any vessel in an unmanned vessel ad hoc network formation), and the method includes the following steps S401-S402:

[0079] S401: Receive control commands issued by the control terminal, wherein the control terminal is either the command vessel or the shore-based terminal, and the control commands are independent navigation commands for the target vessel or coordinated formation commands between the target vessel and other vessels.

[0080] In this embodiment, the command vessel can directly control decision-making and command locally, transmitting and uploading decision-making and command instructions, or receive decision-making and command instructions from shore-based systems and transmit them via relay. Therefore, the command vessel can directly issue control instructions to target vessels, and it can also receive control instructions from shore-based control platforms and transmit them to target vessels. This allows the command vessel to control each vessel in the unmanned surface vessel (USV) ad hoc network to complete prescribed coordinated formation navigation maneuvers or independent navigation maneuvers.

[0081] In one implementation of this application, "acquiring control commands issued by the control terminal" in S401 may include: sensing the situational information of the target vessel and uploading the situational information to the control terminal so that the control terminal can construct a global perception situation of the unmanned vessel ad hoc network formation; and acquiring control commands issued by the control terminal based on the global perception situation.

[0082] In this implementation, each vessel in the unmanned surface vessel (USV) ad hoc network can perceive its own situational awareness (i.e., its current operational status and other information) and upload this information to the command vessel. The command vessel then processes the situational awareness information from each vessel to construct a global situational awareness information for all vessels. Based on this global situational awareness information, the command vessel can issue control commands to all or certain vessels to achieve command and control. Alternatively, the command vessel can upload the situational awareness information from each vessel to a shore-based system. The shore-based system then processes this information to construct a global situational awareness information for all vessels. Based on this global situational awareness information, the shore-based system can issue control commands to all or certain vessels through the command vessel to achieve command and control.

[0083] S402: Based on control commands, call the relevant function modules of the navigation control software running on the target vessel, and control the target vessel based on the function configuration file corresponding to the function status of the called function module.

[0084] In this embodiment, the control commands issued by the control terminal may be independent navigation commands for the target vessel or cooperative formation commands between the target vessel and other vessels in the unmanned vessel ad hoc network formation. After receiving the control commands issued by the control terminal, the target vessel can use the navigation control software running on the navigation controller to complete the independent navigation commands or cooperative formation commands issued by the control terminal.

[0085] In this embodiment of the application, each vessel in the command boat and the unmanned vessel self-organizing network formation adopts the concept of intelligent design and supports different formation modes through different usage environments and scenarios, including multiple formation modes such as cruise cooperative formation mode, attack cooperative formation mode, close reconnaissance cooperative formation mode and withdrawal cooperative formation mode, which are flexible to use.

[0086] In one implementation of this application, the "calling relevant functional modules of the navigation control software running on the target vessel" in S402 may include: calling the top-level functional module, which includes a control command receiving layer and a control command parsing layer; calling the intermediate-level functional module, which includes at least one of a formation algorithm parsing layer, a sensor information receiving and parsing layer, and a non-formation autonomous navigation algorithm parsing layer; and calling the bottom-level functional module, which includes at least one of a message sending layer to the display and control terminal and a control execution layer.

[0087] In this implementation, after the navigation control software is initialized, it continuously checks for received external commands in the main process. If a command is detected, the top-level functional module is called for processing, and the type of command is determined. Then, the corresponding intermediate-level functional module is called for processing, and finally, the bottom-level functional module is called to control the vessel's movement. Furthermore, the real-time status of the vessel is periodically sent to the display and control terminals (including at least one display and control device from the target vessel, command vessel, and shore-based terminals) in the main process. To ensure communication reliability and security, after receiving a command from the display and control terminal, the frame header, frame trailer, command length, and checksum are checked. Only if all requirements are met is the command transmitted.

[0088] Specifically, such as Figure 5 The diagram illustrates the navigation control software workflow. After the target vessel's navigation control software is initialized, it needs to select the corresponding system configuration file based on the target vessel's IP address. This allows the software to call relevant functional modules and then enter a timed cycle. Within each timed cycle, when the first timed duration (e.g., 50ms) is reached, the navigation control software processes data received on the CAN bus. When the second timed duration (e.g., 100ms) is reached, the software processes command information received on the network for corresponding control. When the third timed duration (e.g., 1s) is reached, the software sends real-time vessel status information. At this point, the current timed cycle ends, and the next timed cycle begins.

[0089] In this embodiment, the target vessel includes at least two operating modes. Before a successful mode switch, the throttle of the target vessel is returned to zero and the gear is returned to neutral. Specifically, when the navigation controller of the target vessel communicates normally with the control terminal (i.e., the shore-based terminal or the command vessel terminal), the control terminal can set the initial operating mode and send a mode switch command to the navigation controller when a mode switch is required. Alternatively, when there are people on the target vessel, the captain can manually trigger the above command. When the navigation controller of the target vessel communicates abnormally with the control terminal (e.g., a communication interruption occurs), the specific mode switch method will be described later. In addition, the target vessel can directly perform mode switches between different operating modes. Before a successful mode switch, the command to return the throttle to zero and the gear to neutral should be executed first. This command can be issued by the navigation controller of the target vessel when it is determined that a mode switch is required, so that the target vessel can complete the operation of "returning the throttle to zero and the gear to neutral".

[0090] In the embodiments of this application, the working modes of the target vessel may include manned mode, unmanned mode and automatic mode. In manned mode, it can be locally controlled; in unmanned mode, it can be remotely wirelessly controlled; and in automatic mode, it can autonomously navigate and control, thereby enabling the target vessel to complete independent navigation commands or coordinated formation commands.

[0091] The three modes are: Manned mode (with the captain operating the vessel), Unmanned mode (without the vessel on board, allowing remote control of starting, gear shifting, and rudder), and Automatic mode (after setting a target point or route, the navigation controller automatically controls the vessel's movement; the target point or route can be set remotely from the shore or command vessel, or by the captain on the target vessel).

[0092] In this embodiment of the application, it is necessary to determine the duration of the communication interruption between the target vessel and the control terminal (i.e., the shore-based terminal or the command vessel terminal), and combine it with... Figure 6 The diagram shown illustrates the switching between different operating modes of the navigation control software, and explains the operation of switching between various operating modes of the target vessel.

[0093] 1. When the target vessel is in manned mode, the navigation controller of the target vessel shall only monitor the working status of the target vessel and shall not execute control commands other than mode switching. The bridge control platform of the target vessel shall send command information including cruise mode control according to the working status of the target vessel.

[0094] like Figure 6As shown, after the target vessel's navigation control software is powered on, it is first put into manned mode. When the target vessel is in manned mode, regardless of whether communication is interrupted, the navigation controller only monitors the operational status of the target vessel's combat platform and does not execute control commands other than mode switching. The workflow of the bridge centralized control software is as follows: before sending the first command, it needs to receive the combat platform operational status information sent by the navigation controller, and then send command information including cruise mode control based on the received combat platform operational status. These commands can be manually triggered by the personnel on board.

[0095] 2. When the target vessel is in unmanned mode, if the communication interruption duration is less than or equal to the first preset duration, the target vessel's current working state is maintained; if the communication interruption duration is greater than the first preset duration, the target vessel's throttle is returned to zero and the gear is returned to neutral, maintaining unmanned mode; if the communication interruption duration is greater than the second preset duration and the second preset duration is greater than the first preset duration, the target vessel's throttle is returned to zero and the gear is returned to neutral, switching from unmanned mode back to manned mode.

[0096] like Figure 6 As shown, taking a first preset duration of 5 seconds (i.e., 5s) and a second preset duration of 1 minute (1min) as an example: When the target vessel is in unmanned mode, if the communication interruption is ≤5s, the working status of the target vessel's navigation controller and the bridge centralized control platform remains unchanged; if the communication interruption is >5s, the target vessel's navigation controller issues the command "throttle back to 0, gear back to neutral," and keeps the target vessel in unmanned mode, while the intelligent terminal (i.e., the display controller at the shore-based end or the command vessel end) shows the target vessel's working status as "throttle back to 0, gear back to neutral, working status remains unmanned mode"; if the communication interruption is >1min, the target vessel's navigation controller issues the command "throttle back to 0, gear back to neutral," and returns the target vessel to manned mode, while the intelligent terminal (i.e., the display controller at the shore-based end or the command vessel end) shows the target vessel's working status as "throttle back to 0, gear back to neutral, working status returns to manned mode." It is evident that, even when communication is interrupted, the navigation controller and the smart terminal maintain the same operational status regarding the target vessel.

[0097] 3. When the target vessel is in automatic mode, if the communication interruption duration is less than or equal to the third preset duration, the target vessel's current operating state will be maintained; if the communication interruption duration is greater than the third preset duration, the target vessel's throttle will be returned to zero and the gear will be returned to neutral, maintaining automatic mode; if the communication interruption duration is greater than the fourth preset duration and the fourth preset duration is greater than the third preset duration, the target vessel's throttle will be returned to zero and the gear will be returned to neutral, switching from automatic mode back to manned mode.

[0098] like Figure 6As shown, taking the third preset duration of 10 seconds (i.e., 10s) and the fourth preset duration of 1 minute (1min) as examples, when the target vessel is in automatic cruise mode (i.e., the automatic mode mentioned above), if the communication interruption is ≤10s, the working status of the target vessel's navigation controller and the bridge centralized control platform remains unchanged; if the communication interruption is >10s, the target vessel's navigation controller issues the command "throttle back to 0, gear back to neutral" and keeps the target vessel in automatic cruise mode, while the working status of the target vessel in the intelligent terminal (i.e., the display controller at the shore-based end or the command vessel end) is "throttle back to 0, gear back to neutral, working status remains automatic cruise mode"; if the communication interruption is >1min, the target vessel's navigation controller issues the command "throttle back to 0, gear back to neutral" and returns the target vessel to manned mode, while the working status of the target vessel in the intelligent terminal (i.e., the display controller at the shore-based end or the command vessel end) is "throttle back to 0, gear back to neutral, working status returns to manned mode". It is evident that, even when communication is interrupted, the navigation controller and the smart terminal maintain the same operational status regarding the target vessel.

[0099] It should be noted that the embodiments of this application do not limit the specific duration of the first preset duration, the second preset duration, the third preset duration, and the fourth preset duration, which can be set according to needs.

[0100] In this embodiment, the communication system between the individual vessels and the command vessel in the unmanned surface vessel (USV) ad hoc network formation is a decentralized, temporary, autonomous network communication system. Specifically, ad hoc network technology can be used between the command vessel and each USV. Under any circumstances, the vessels can form an intelligent, multi-hop, mobile, peer-to-peer decentralized, temporary, autonomous network communication system, thereby achieving wireless interconnection and interoperability among the vessels, thus realizing ad hoc networking and autonomous communication.

[0101] In the boat control method provided in the above embodiments of this application, since each boat is different in size and the status of the equipment such as engines, propellers, and searchlights used are not uniform, and the control methods are also different, the navigation controller software status of each boat is different. By using the navigation control software provided in the embodiments of this application for navigation control, the same software configuration item can be applied to the control of the entire boat formation. It realizes that all intelligent boats in the formation can use a common set of software function modules. The software hierarchy is clear, maintenance is convenient, and it can be safely and reliably ported to other boats for navigation control.

[0102] See Figure 7This is a schematic diagram of a vessel control device provided in an embodiment of this application. The device is applied to a target vessel, which is any vessel in an unmanned surface vessel (USV) ad hoc network formation. Each vessel in the USV ad hoc network formation has a navigation controller running common navigation control software. Each functional module of the navigation control software corresponds to the same or different functional states of each vessel, and different operating states of each vessel correspond to different functional configuration files. The device includes:

[0103] The instruction acquisition unit 710 is used to acquire control instructions issued by the control terminal, which is either the command vessel terminal or the shore-based terminal. The control instructions are either the independent navigation instructions of the target vessel or the coordinated formation instructions of the target vessel and other vessels.

[0104] The vessel control unit 720 is used to call relevant functional modules of the navigation control software running on the target vessel based on the control command, and to control the target vessel based on the functional configuration file corresponding to the functional status of the called functional module.

[0105] In one implementation of this application embodiment, the instruction acquisition unit 710 is specifically used for:

[0106] The system senses the situational information of the target vessel and uploads the situational information to the control terminal so that the control terminal can construct a global situational awareness of the unmanned vessel ad hoc network formation.

[0107] The control commands issued by the control terminal based on the global perception situation are obtained.

[0108] In one implementation of this application, the application layer corresponding to each functional module of the navigation control software includes:

[0109] The system consists of a control command receiving layer, a control command parsing layer, a formation algorithm parsing layer, a sensor information receiving and parsing layer, a non-formation autonomous navigation algorithm parsing layer, an information sending layer to the display and control terminal, and a control execution layer.

[0110] In one implementation of this application, when the vessel control unit 720 invokes relevant functional modules of the navigation control software running on the target vessel, it is specifically used for:

[0111] The top-level functional module is invoked, which includes the control command receiving layer and the control command parsing layer;

[0112] The intermediate layer functional module is invoked, and the intermediate layer functional module includes at least one of the formation algorithm parsing layer, the sensor information receiving and parsing layer, and the non-formation autonomous navigation algorithm parsing layer;

[0113] The lowest-level functional module is invoked, which includes at least one of the information sending layer to the display and control terminal and the control execution layer.

[0114] In one implementation of this application, the target vessel includes at least two operating modes; before the mode switch is successful, the throttle of the target vessel is returned to zero and the gear is returned to neutral.

[0115] In one implementation of this application, the target vessel's operating modes include manned mode, unmanned mode, and automatic mode, and the device further includes:

[0116] A duration determination unit is used to determine the duration of the communication interruption between the target vessel and the control terminal;

[0117] The manned mode unit is used to, when the target vessel is in the manned mode, enable the navigation controller of the target vessel to only monitor the working status of the target vessel and not execute control commands other than mode switching, and enable the bridge centralized control platform of the target vessel to send command information including cruise mode control according to the working status of the target vessel.

[0118] The unmanned mode unit is configured to maintain the current operating state of the target vessel when the target vessel is in the unmanned mode if the communication interruption duration is less than or equal to a first preset duration; if the communication interruption duration is greater than the first preset duration, the throttle of the target vessel is returned to zero and the gear is returned to neutral to maintain the unmanned mode; if the communication interruption duration is greater than a second preset duration and the second preset duration is greater than the first preset duration, the throttle of the target vessel is returned to zero and the gear is returned to neutral to switch from the unmanned mode back to the manned mode.

[0119] The automatic mode unit is configured to maintain the current operating state of the target vessel when the target vessel is in the automatic mode if the communication interruption duration is less than or equal to a third preset duration; if the communication interruption duration is greater than the third preset duration, the target vessel's throttle is returned to zero and the gear is returned to neutral, maintaining the automatic mode; if the communication interruption duration is greater than a fourth preset duration and the fourth preset duration is greater than the third preset duration, the target vessel's throttle is returned to zero and the gear is returned to neutral, switching from the automatic mode back to the manned mode.

[0120] In one implementation of this application, the communication system between each vessel in the unmanned vessel self-organizing network formation and the command vessel is a decentralized, temporary, autonomous network communication system.

[0121] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0122] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described 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 the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0123] This application also provides an electronic device, the structural schematic diagram of which is shown below. Figure 8 As shown, the electronic device 8000 includes at least one processor 8001, a memory 8002, and a bus 8003. At least one processor 8001 is electrically connected to the memory 8002. The memory 8002 is configured to store at least one computer-executable instruction, and the processor 8001 is configured to execute the at least one computer-executable instruction to perform the steps of any boat control method provided in any embodiment or optional implementation of this application.

[0124] Furthermore, the processor 8001 can be an FPGA (Field-Programmable Gate Array) or other devices with logic processing capabilities, such as an MCU (Microcontroller Unit) or a CPU (Central Processing Unit).

[0125] Applying the embodiments of this application, since each vessel is of different size and uses different equipment such as engines, propellers, and searchlights, and the control methods are also different, the navigation controller software state of each vessel is different. By using the navigation control software provided in the embodiments of this application for navigation control, the same software configuration item can be applied to the control of the entire vessel formation. It realizes that all intelligent vessels in the formation can use a common set of software function modules. The software hierarchy is clear, maintenance is convenient, and it can be safely and reliably ported to other vessels for navigation control.

[0126] This application also provides another computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of any of the vessel control methods provided in any embodiment or optional implementation of this application.

[0127] The computer-readable storage media provided in this application include, but are not limited to, any type of disk (including floppy disk, hard disk, optical disk, CD-ROM, and magneto-optical disk), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic cards, or optical cards. In other words, readable storage media include any medium by which a device (e.g., a computer) stores or transmits information in a readable form.

[0128] Applying the embodiments of this application, since each vessel is of different size and uses different equipment such as engines, propellers, and searchlights, and the control methods are also different, the navigation controller software state of each vessel is different. By using the navigation control software provided in the embodiments of this application for navigation control, the same software configuration item can be applied to the control of the entire vessel formation. It realizes that all intelligent vessels in the formation can use a common set of software function modules. The software hierarchy is clear, maintenance is convenient, and it can be safely and reliably ported to other vessels for navigation control.

[0129] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for controlling a boat, characterized in that, The method is applied to a target vessel, which is any vessel in an unmanned surface vessel (USV) ad hoc network formation. Each vessel in the USV ad hoc network formation has a common navigation control software running on its navigation controller. Each functional module of the navigation control software corresponds to the same or different functional states of each vessel, and different operating states of each vessel correspond to different functional configuration files. The method includes: The system acquires control commands issued by a control terminal, which is either a command vessel or a shore-based terminal. The control commands are either independent navigation commands for the target vessel or coordinated formation commands between the target vessel and other vessels. Based on the control command, the relevant functional modules of the navigation control software running on the target vessel are invoked, and the target vessel is controlled based on the functional configuration file corresponding to the functional state of the invoked functional module. The step of invoking relevant functional modules of the navigation control software running on the target vessel based on the control command, and controlling the target vessel based on the functional configuration file corresponding to the functional status of the invoked functional module, includes: Once the navigation control software of the target vessel is initialized, the system configuration file corresponding to the target vessel is selected based on the target vessel's IP address. This allows the relevant functional modules of the navigation control software to be called based on the system configuration file, and then the timed loop cycle begins. Within each timing cycle, when the first timing duration is reached, the navigation control software needs to process the data information received on the CAN bus; when the second timing duration is reached, the navigation control software needs to process the instruction information received on the network, and use it to perform corresponding control according to the instruction information; when the third timing duration is reached, the navigation control software sends the real-time status information of the vessel; at this time, the current timing cycle ends and the next timing cycle begins.

2. The method according to claim 1, characterized in that, The acquisition of control commands issued by the control terminal includes: The system senses the situational information of the target vessel and uploads the situational information to the control terminal so that the control terminal can construct a global situational awareness of the unmanned vessel ad hoc network formation. The control commands issued by the control terminal based on the global perception situation are obtained.

3. The method according to claim 1, characterized in that, The application layer corresponding to each functional module of the navigation control software includes: The system consists of a control command receiving layer, a control command parsing layer, a formation algorithm parsing layer, a sensor information receiving and parsing layer, a non-formation autonomous navigation algorithm parsing layer, an information sending layer to the display and control terminal, and a control execution layer.

4. The method according to claim 3, characterized in that, Invoking relevant functional modules of the navigation control software running on the target vessel, including: The top-level functional module is invoked, which includes the control command receiving layer and the control command parsing layer; The intermediate layer functional module is invoked, and the intermediate layer functional module includes at least one of the formation algorithm parsing layer, the sensor information receiving and parsing layer, and the non-formation autonomous navigation algorithm parsing layer; The lowest-level functional module is invoked, which includes at least one of the information sending layer to the display and control terminal and the control execution layer.

5. The method according to claim 1, characterized in that, The target vessel includes at least two operating modes; before the mode switch is successful, the throttle of the target vessel is returned to zero and the gear is returned to neutral.

6. The method according to claim 5, characterized in that, The target vessel's operating modes include manned mode, unmanned mode, and automatic mode, and the method further includes: Determine the duration of the communication interruption between the target vessel and the control terminal; When the target vessel is in manned mode, the navigation controller of the target vessel will only monitor the working status of the target vessel and will not execute control commands other than mode switching. The bridge central control platform of the target vessel will send command information including cruise mode control according to the working status of the target vessel. When the target vessel is in the unmanned mode, if the communication interruption duration is less than or equal to a first preset duration, the current operating state of the target vessel is maintained; if the communication interruption duration is greater than the first preset duration, the throttle of the target vessel is returned to zero and the gear is returned to neutral, maintaining the unmanned mode; if the communication interruption duration is greater than a second preset duration and the second preset duration is greater than the first preset duration, the throttle of the target vessel is returned to zero and the gear is returned to neutral, switching from the unmanned mode back to the manned mode. When the target vessel is in the automatic mode, if the communication interruption duration is less than or equal to the third preset duration, the current operating state of the target vessel is maintained; if the communication interruption duration is greater than the third preset duration, the throttle of the target vessel is returned to zero and the gear is returned to neutral, maintaining the automatic mode; if the communication interruption duration is greater than the fourth preset duration and the fourth preset duration is greater than the third preset duration, the throttle of the target vessel is returned to zero and the gear is returned to neutral, switching from the automatic mode back to the manned mode.

7. The method according to any one of claims 1-6, characterized in that, The communication system between the individual vessels and the command vessel in the unmanned vessel self-organizing network formation is a decentralized, temporary, autonomous network communication system.

8. A boat control device, characterized in that, The device is applied to a target vessel, which is any vessel in an unmanned surface vessel (USV) ad hoc network formation. Each vessel in the USV ad hoc network formation has a common navigation control software running on its navigation controller. Each functional module of the navigation control software corresponds to the same or different functional states of each vessel, and different operating states of each vessel correspond to different functional configuration files. The device includes: The instruction acquisition unit is used to acquire control instructions issued by the control terminal, which is either the command vessel or the shore-based terminal. The control instructions are either the independent navigation instructions of the target vessel or the coordinated formation instructions of the target vessel and other vessels. The vessel control unit is used to call relevant functional modules of the navigation control software running on the target vessel based on the control command, and to control the target vessel based on the functional configuration file corresponding to the functional status of the called functional module. The step of invoking relevant functional modules of the navigation control software running on the target vessel based on the control command, and controlling the target vessel based on the functional configuration file corresponding to the functional status of the invoked functional module, includes: Once the navigation control software of the target vessel is initialized, the system configuration file corresponding to the target vessel is selected based on the target vessel's IP address. This allows the relevant functional modules of the navigation control software to be called based on the system configuration file, and then the timed loop cycle begins. Within each timing cycle, when the first timing duration is reached, the navigation control software needs to process the data information received on the CAN bus; when the second timing duration is reached, the navigation control software needs to process the instruction information received on the network, and use it to perform corresponding control according to the instruction information; when the third timing duration is reached, the navigation control software sends the real-time status information of the vessel; at this time, the current timing cycle ends and the next timing cycle begins.

9. An electronic device, characterized in that, include: Processor, memory; The memory is used to store computer programs; The processor is configured to execute the boat control method as described in any one of claims 1-7 by invoking the computer program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the boat control method according to any one of claims 1-7.

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