Yacht active anti-rolling and anti-sickness bed and control method thereof

Abstract

The present invention provides an active anti-roll and anti-sickness bed for yachts and a control method thereof. The bed comprises a base, a sensor module, a communication module, an actuator module, a driver module, and a control and decision module. The bed is fixed to the yacht floor via the base. The sensor module collects sensor data and transmits it to the control and decision module via the communication module. The communication module is responsible for communication between the other modules. The control and decision module analyzes the sensor data acquired by the sensor module, designs a controller, and sends control instructions to the actuator module to make decisions and control the bed. The driver module receives the control instructions and drives the actuator module. The actuator module executes the control instructions to achieve the movement of the bed. The bed comprises a first rotation mechanism and a second rotation mechanism. This invention significantly reduces the roll and pitch angles of the bed, significantly improving the comfort of passengers on the yacht bed.

Description

Technical Field

[0001] The present invention relates to the technical field of shipborne anti-rolling equipment, and in particular to an active anti-rolling and anti-sickness device for yachts and a control method thereof. Background Art

[0002] Yachts are a premium durable consumer product for water use, combining sailing, sports, entertainment, and leisure, making them popular with people. With the rapid development of society and the economy, the number of yachts in use has increased significantly.

[0003] While yachts are well-equipped and offer a pleasant travel experience, strong winds and waves inevitably cause the vessel to rock violently at sea. This rocking is particularly severe on the smaller and medium-sized yachts, which are the most common. Resting on a yacht bed during this time can not only compromise quality rest but can also lead to motion sickness, including difficulty breathing, nausea and vomiting, making it impossible to get out of bed. This can last for days, posing a serious health risk. Therefore, the design of a bed that reduces rocking and prevents sickness is crucial to significantly improve the yacht travel experience.

[0004] The main types of rolling a yacht experiences at sea are roll and pitch. Roll is the side-to-side swaying of the hull, while pitch is the fore-and-aft swaying of the hull. In strong winds and high waves, the hull will roll and pitch simultaneously. In sea conditions of level 5, the roll angle can reach 20 degrees and the pitch angle can reach 10 degrees. Currently, some anti-roll devices, such as anti-roll fins and anti-roll gyros, can provide a certain degree of anti-roll effect on yachts. However, these devices are large, consume high power, and are extremely expensive to manufacture. While they can reduce the overall rolling of the ship, they cannot completely eliminate roll and pitch. Even after the hull has been stabilized, a considerable degree of rolling will still occur, which cannot completely eliminate the problem of seasickness for those on board. Therefore, a roll stabilization bed with anti-roll and anti-sickness functions, whose operation is independent of external conditions, is a more economical and effective solution to this problem.

[0005] Currently, there are no anti-sickness beds for ships on the domestic and international markets. A review of relevant patents reveals that current research focuses on anti-sickness seats for vehicles, such as CN106828207A, CN205168252U, CN210101396U, and CN206551915U. These seats are primarily used to reduce vibration during driving and improve passenger comfort. Patents related to anti-sickness beds are extremely rare, and most of them are passive. Patent CN111232135A proposes a marine bed designed to alleviate seasickness symptoms. This passive anti-sickness bed utilizes a padded bed, a buffer mechanism, and a balancing mechanism to provide cushioning when the ship's hull is rocked, minimizing relative motion in both the vertical and tilt directions, thereby reducing the irritation experienced by the occupant. CN205615681U designed a passive shipboard anti-roll balancing bed. Counterweights of appropriate weight are installed on a counterweight bearing plate to balance the bed's swing. Limiting ropes are installed between the counterweight bearing plate and the bed's support frame to control the swing amplitude of each swing frame. These two passive anti-roll beds have very limited ability to reduce the bed's roll and pitch angles, reducing only a small amount of shaking and providing poor comfort. Summary of the Invention

[0006] In view of the defects in the prior art, the present invention provides a yacht active anti-rolling and anti-sickness bed and a control method thereof.

[0007] According to the present invention, a yacht active anti-rolling and anti-sickness bed and a control method thereof are provided, and the scheme is as follows:

[0008] In a first aspect, an active anti-sickness bed for yachts is provided. The anti-sickness bed comprises a base, a sensor module, a communication module, an actuator module, a driver module, and a control decision module. The entire anti-sickness bed is fixed to the yacht floor via the base, and each module is mounted on the base.

[0009] Among them, the sensor module: connects to the controller, collects sensor data, and sends the sensor data to the control decision module through the communication module;

[0010] Communication module: responsible for communication between other modules;

[0011] Control decision module: By analyzing the sensor data obtained by the sensor module, the controller is designed. The controller is connected to the driver module, sends control instructions to the driver module, and makes decisions and controls on the actuator module.

[0012] Driver module: receives control instructions and drives the actuator module;

[0013] Actuator module: executes control instructions to realize the movement of the anti-sway and anti-sickness bed, including: a first rotation mechanism and a second rotation mechanism.

[0014] Preferably, a support frame and a bed frame are provided on the base;

[0015] The support frame connects the actuator module and the bed frame. The bed frame is used to fix the mattress and is installed between the support frame and the mattress.

[0016] Preferably, different mattresses can be replaced on the bed frame according to needs.

[0017] Preferably, a fuse is provided on the base, which is installed on one side of the base and is located between the external power supply and the controller circuit board in the circuit. It is used to provide overload protection for the anti-sway and anti-sickness bed. If an overload occurs, the fuse blows and the system enters a protection mode to ensure the safety of core components including the control. At the same time, a buzzer installed on the controller circuit board sounds an alarm to prompt overload and replace the fuse.

[0018] Preferably, a terminal module is provided on the base for storing each branch terminal.

[0019] Preferably, the first rotating mechanism includes: a first motor, a first reducer, and a first rotating shaft, wherein the first motor is used to drive the first rotating shaft, and the first reducer is located between the first motor and the first rotating shaft, and is used to reduce the rotation speed of the first rotating shaft and increase the torque. The first rotating shaft is the roll axis of the anti-sickness and anti-roll table, and provides the anti-sickness and anti-roll table with a roll degree of freedom.

[0020] The second rotation mechanism includes: a second motor, a second reducer, and a second rotating shaft, wherein the second motor is used to drive the second rotating shaft, and the second reducer is located between the second motor and the second rotating shaft, and is used to reduce the rotation speed of the second rotating shaft and increase the torque. The second rotating shaft is the pitch axis of the anti-sickness stabilization table, and provides the pitch degree of freedom of the anti-sickness stabilization table;

[0021] The first rotating mechanism is fixed on the base, the second rotating mechanism is fixed on the first rotating shaft, the first rotating shaft and the second rotating shaft are vertically staggered, and the driver module is respectively connected to the first motor and the second motor to drive the movement of the two motors.

[0022] Preferably, the control decision module designs the controller by analyzing the sensor data and specifically includes:

[0023] O i x i y i z i is the inertial coordinate system, O e x e y e z e is the yacht cabin coordinate system, O h x h y h zh It is the coordinate system for anti-sway and anti-bed sickness;

[0024] When affected by wind and waves, the yacht cabin coordinate system O e x e y e z e and the inertial coordinate system O i x i y i z i There is an angle between them, and the pitch angle of the angle around the y-axis is β e , the roll angle around the x-axis is α e The anti-roll and anti-sickness bed surface is the task space or operation space of the entire anti-roll and anti-sickness bed system. Its pitch angle and roll angle relative to the cabin floor are β h 、a h ;

[0025] Assume that the joint space coordinates of the first motor and the second motor of the anti-sickness bed are q1 and q2, which represent the relative motion of the first rotation mechanism and the second rotation mechanism respectively. Based on the knowledge of geometry and robot kinematics, the inverse kinematic solution is obtained as:

[0026]

[0027] Among them, f inv (x) represents the inverse solution of x. Taking the derivative of the above formula, we get:

[0028]

[0029] Where J is the velocity mapping Jacobian matrix of inverse kinematics;

[0030] Similarly, the kinematic solution is:

[0031] x=f fwd (q) (3)

[0032] Assume that the pitch angle and roll angle of the double bed surface relative to the inertial coordinate system are β i , α i , then

[0033] β i =β e +β h (4)

[0034] α i =α e +α h (5)

[0035] Then the control goal of the task space control rate is to make the angle β i , α i is 0;

[0036] Control algorithm:

[0037] Based on the above control objectives, a variety of control methods including PID control, optimal control, and MPC control are used to design the controller. Among them, the PID control method is used to design the controller as follows:

[0038] Assume that the control rate of the anti-sway and anti-sickness bed task space is as follows:

[0039]

[0040] In the above formula, β e 、 α e 、 All are obtained by the inertial navigation unit after processing by the perception fusion algorithm, β h 、 α h 、 From the kinematic solution above, the joint coordinate q is measured by the encoder, k p is the proportional adjustment coefficient of the PID controller, k D is the differential adjustment coefficient of the PID controller;

[0041] Calculated by formula (6) and (7) After integration, the angular velocity that needs to be corrected for the anti-sickness bed in the task space is obtained. and attitude angle Δβ h , Δα h .

[0042] In a second aspect, a control method for active stabilization and bed sickness prevention of yachts is provided, the control method comprising:

[0043] Step S1: The real-time attitude information of the yacht in the inertial space is obtained in real time through the sensor module, and the sensor data measured by the sensor module is sent to the control decision module through the communication module;

[0044] Step S2: The control decision module determines the target posture of the anti-rolling and anti-sickness bed relative to the yacht cabin floor based on the kinematic model by analyzing the sensor data;

[0045] Step S3: the driver module drives the motor to rotate according to the control decision of the control decision module;

[0046] Step S4: The control decision module adjusts the current posture angle of the anti-rolling and anti-sickness bed relative to the yacht cabin in real time according to the current posture angle obtained by the sensor module in real time, so as to achieve the target posture.

[0047] In a third aspect, a computer-readable storage medium storing a computer program is provided, wherein when the computer program is executed by a processor, the steps in the control method for active stabilization and anti-bedsickness of a yacht are implemented.

[0048] In a fourth aspect, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps in the control method for active stabilization and bed sickness prevention of a yacht are implemented.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] 1. This invention designs a new type of tandem two-degree-of-freedom anti-roll and anti-sickness bed. This mechanism has a large working space, a maximum roll angle of 20 degrees, and a maximum pitch angle of 20 degrees. It can greatly reduce the roll and pitch angles of the anti-sickness bed caused by the shaking of the yacht, greatly improving the comfort of the bed occupant.

[0051] 2. The present invention designs a corresponding controller that can accurately track the planned two-degree-of-freedom motor trajectory, thereby achieving high-precision, low-latency real-time offset and reduction of the roll angle and pitch angle caused by the shaking of the hull to the double bed.

[0052] Other beneficial effects of the present invention will be explained through the introduction of specific technical features and technical solutions in the specific implementation methods. Those skilled in the art should be able to understand the beneficial technical effects brought about by the introduction of these technical features and technical solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0054] Figure 1 To actively reduce shaking and prevent bed sickness;

[0055] Figure 2 This is the block diagram of the main quilt anti-sickness system;

[0056] Figure 3 This is the model of the anti-sickness bed in the inertial coordinate system;

[0057] Figure 4 This is the control algorithm block diagram;

[0058] Figure 5 This is the overall control flow chart of the system.

[0059] Figure markings: 1. Driver module; 2. Fuse; 3. Terminal module; 4. Controller; 5. First motor; 6. First reducer; 7. Base; 8. Second motor; 9. First rotating shaft; 10. Sensor module; 11. Second reducer; 12. Support frame; 13. Second rotating shaft; 14. Bed frame. DETAILED DESCRIPTION

[0060] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0061] The embodiment of the present invention provides a yacht active anti-roll and anti-sickness bed. To solve the roll and pitch problems caused by the shaking of the yacht hull, a two-degree-of-freedom active anti-roll and anti-sickness double bed mechanism is designed, and a corresponding controller is designed. This greatly reduces the roll angle and pitch angle of the bed body, greatly improving the comfort of people on the yacht bed. Figure 1 and Figure 2 As shown, it specifically includes: a base 7, a sensor module 10, a communication module, an actuator module, a driver module 1 and a control decision module. The entire anti-roll and anti-sickness bed is fixed to the yacht floor through the base 7, and each module is installed on the base.

[0062] The base 7 is equipped with a support frame 12 and a bed frame 14. The support frame 12 connects the actuator module and the bed frame 14. The bed frame 14 is used to secure the mattress and is installed between the support frame 12 and the mattress. The bed frame 14 can be replaced with different mattresses as needed. The base 7 is equipped with a fuse 2, fixed to one side of the base. It is located between the controller and the external power supply in the circuit. It provides overload protection for the anti-sway and anti-sickness bed. The entire system has been designed with overload margin in mind. Generally, minor overloads will not damage core components such as the controller. However, if a severe overload occurs, the fuse will blow, and the system will enter protection mode to ensure the safety of core components such as the controller. At the same time, a buzzer on the controller circuit board will sound an alarm to indicate an overload and to replace the fuse. The base 7 is also equipped with a terminal module 3 for storing the various branch terminals.

[0063] Specifically, the first rotating mechanism is fixed to the base 7, and the second rotating mechanism is fixed to the first rotating shaft 9. The first rotating shaft and the second rotating shaft are arranged vertically and staggered. The driver module 1 is connected to the first motor 5 and the second motor 8 respectively to drive the movement of the two motors. The controller 4 is connected to the driver module to send control instructions to the driver. At the same time, the sensor module 10 is installed on the base and connected to the controller. It is used to send sensor data to the controller. The fuse 2 is fixed to one side of the base and is located between the controller and the external power supply in the circuit to provide overload protection for the anti-sway and anti-sickness bed. The terminal module 3 is used to store the branch line segments between each module to regularize the internal wiring of the anti-sway bed and reduce electromagnetic interference between the lines. The support frame 12 is fixed to the second rotating shaft 13 to fix the frame 14 of the double bed. The mattress is placed on the bed frame.

[0064] Among them, the sensor IMU module collects sensor data, including the lateral and longitudinal accelerations of the yacht cabin and the attitude angle of the yacht; and sends the sensor data to the control decision module through the communication module.

[0065] Communication module: responsible for communication between other modules.

[0066] The control and decision-making module is the core module of the entire anti-roll and anti-sickness bed system. By analyzing sensor data obtained by the IMU, the controller 4 is designed and sends control instructions to the actuator modules to make decisions and control them, thereby offsetting the yacht's roll and pitch angles in wind and waves and achieving balance.

[0067] Driver module 1: This includes the drivers for the first and second motors 5 and 8, along with their heat sink. The motor drivers receive control commands and drive the two motors in the actuator module. The heat sink is an aluminum heat sink connected to the drivers.

[0068] The actuator module executes control commands to achieve the movement of the anti-sickness bed. It includes a first rotation mechanism and a second rotation mechanism. The first rotation mechanism comprises a first motor 5, a first reducer 6, and a first rotating shaft 9. The first motor drives the first rotating shaft. The first reducer, located between the first motor and the first rotating shaft, reduces the first rotating shaft's speed and increases its torque. The first rotating shaft is the roll axis of the anti-sickness bed and provides the bed's roll degree of freedom. The second rotation mechanism comprises a second motor 8, a second reducer 11, and a second rotating shaft 13. The second motor drives the second rotating shaft. The second reducer, located between the second motor and the second rotating shaft, reduces the second rotating shaft's speed and increases its torque. The second rotating shaft is the pitch axis of the anti-sickness bed and provides the bed's pitch degree of freedom.

[0069] Specifically, refer to Figure 3As shown in FIG, the model of the active anti-sickness bed of the present invention in the inertial coordinate system, wherein O i x i y i z i is the inertial coordinate system, O e x e y e z e is the yacht cabin coordinate system, O h x h y h z h This is the coordinate system for reducing shaking and preventing bed sickness, that is, the coordinate system of a person lying on a double bed.

[0070] The yacht is sailing on the sea. Due to the influence of wind and waves, the yacht cabin coordinate system O e x e y e z e and the inertial coordinate system O i x i y i z i There will be an angle between the two, and the pitch angle of the angle around the y-axis is β e , the roll angle around the x-axis is α e The anti-roll and anti-sickness bed surface is the task space or operation space of the entire anti-roll and anti-sickness bed system. Its pitch angle and roll angle relative to the cabin floor are β h , α h ;

[0071] Assume that the joint space coordinates of the first motor 5 and the second motor 8 of the anti-sickness bed are q1 and q2, which represent the relative motion of the first rotation mechanism and the second rotation mechanism respectively. According to the knowledge of geometry and robot kinematics, the inverse kinematic solution can be obtained as:

[0072]

[0073] Among them, f inv (x) represents the inverse solution of x. Taking the derivative of the above formula, we can get:

[0074]

[0075] Where J is the velocity mapping Jacobian matrix of inverse kinematics;

[0076] Similarly, the kinematic solution is:

[0077] x=f fwd (q) (3)

[0078] Assume that the pitch angle and roll angle of the double bed surface relative to the inertial coordinate system are β i , α i, then

[0079] β i =β e +β h (4)

[0080] a i =α e +α h (5)

[0081] Then the control goal of the task space control rate is to make the angle β i , α i is 0;

[0082] Control algorithm:

[0083] Based on the control objectives above, various control methods such as PID control, optimal control, and MPC control can be used to design the controller. This invention uses PID control as an example to illustrate the controller design idea.

[0084] Assume that the control rate of the anti-sway and anti-sickness bed task space is as follows:

[0085]

[0086] In the above formula, β e 、 α e 、 They are obtained by the inertial navigation unit (IMU) after processing by the perception fusion algorithm, β h 、 α h 、 From the kinematic solution above, the joint coordinate q is measured by the encoder, k p is the proportional adjustment coefficient of the PID controller, k D Represents the differential adjustment coefficient of the controller;

[0087] Calculated by formula (6) and (7) After integration, the angular velocity that needs to be corrected in the task space is obtained. and attitude angle Δβ h , Δa h The control algorithm block diagram is as follows Figure 4 shown.

[0088] The present invention also provides a control method for active anti-rolling and bed sickness prevention of yachts, referring to Figure 5 As shown, the control method includes:

[0089] Step S1: The real-time attitude information of the yacht in the inertial space is obtained in real time through the sensor module 10, and the sensor data measured by the sensor module 10 is sent to the control decision module through the communication module;

[0090] Step S2: The control decision module determines the target posture of the anti-rolling and anti-sickness bed relative to the yacht cabin floor based on the kinematic model by analyzing the sensor data;

[0091] Step S3: the driver module 1 drives the motor to rotate according to the control decision of the control decision module;

[0092] Step S4: the control decision module adjusts the current posture angle of the anti-rolling and anti-sickness bed relative to the yacht cabin in real time according to the current posture angle obtained by the sensor module 10 in real time, so as to achieve the target posture.

[0093] Next, the present invention will be described in more detail through analysis of the results.

[0094] To verify the effectiveness of the proposed mechanism and control algorithm, a double bed with active roll stabilization and anti-sickness was installed on a 3D vibration platform. During testing, different roll and pitch angles were applied to the platform to simulate wave excitation. An IMU was installed on the platform to measure the excitation angle, while an IMU was installed on the bed's surface to measure the angle of the bed. The test results are shown in Tables 1 and 2.

[0095] Table 1 Roll angle reduction efficiency of active anti-sickness bed

[0096]

[0097] It can be concluded from the above table that under different roll excitations, the roll angle reduction efficiency can reach up to 97.62%.

[0098] Table 2 Efficiency of longitudinal stabilization of active anti-sickness bed

[0099]

[0100]

[0101] It can be concluded from the above table that under different pitch excitations, the pitch angle anti-roll efficiency can reach up to 97.23%.

[0102] The embodiment of the present invention provides a yacht active anti-roll and anti-sickness bed and a control method thereof, which greatly reduces the yacht cabin roll caused by wind and waves, with a roll reduction efficiency of up to 97.62%; greatly reduces the yacht cabin pitch caused by wind and waves, with a roll reduction efficiency of up to 97.23%.

[0103] Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, and units provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same functions of the system and its various devices, modules, and units provided by the present invention in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; the devices, modules, and units for implementing various functions can also be considered as both software modules implementing the method and structures within the hardware component.

[0104] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A yacht active anti-rolling and anti-sickness bed, characterized in that: include: The entire anti-roll and anti-sickness bed is fixed to the yacht floor through the base, and each module is installed on the base; Among them, the sensor module: connects to the controller, collects sensor data, and sends the sensor data to the control decision module through the communication module; Communication module: responsible for communication between other modules; Control decision module: By analyzing the sensor data obtained by the sensor module, the controller is designed. The controller is connected to the driver module, sends control instructions to the driver module, and makes decisions and controls on the actuator module. Driver module: receives control instructions and drives the actuator module; Actuator module: executes control instructions to realize the movement of the anti-sway and anti-sickness bed, including: a first rotation mechanism and a second rotation mechanism; The control decision module analyzes sensor data and designs a controller specifically including: O i x i y i z i is the inertial coordinate system, O e x e y e z e is the yacht cabin coordinate system, O h x h y h z h It is the coordinate system for anti-sway and anti-bed sickness; When affected by wind and waves, the yacht cabin coordinate system O e x e y e z e and the inertial coordinate system O i x i y i z i There is an angle between them, and the pitch angle of the angle around the y-axis is β e , the roll angle around the x-axis is a e The anti-roll and anti-sickness bed surface is the task space or operation space of the entire anti-roll and anti-sickness bed system. Its pitch angle and roll angle relative to the cabin floor are β h , α h ; Assume that the joint space coordinates of the first motor and the second motor of the anti-sickness bed are q1 and q2, which represent the relative motion of the first rotation mechanism and the second rotation mechanism respectively. Based on the knowledge of geometry and robot kinematics, the inverse kinematic solution is obtained as: Among them, f inv (x) represents the inverse solution of x. Taking the derivative of the above formula, we get: Where J is the velocity mapping Jacobian matrix of inverse kinematics; The kinematic solution is: x=f fwd (q) (3) Assume that the pitch angle and roll angle of the double bed surface relative to the inertial coordinate system are β i 、a i , then β i ＝β e +β h (4) a i ＝α e +α h (5) Then the control goal of the task space control rate is to make the angle β i , α i is 0; Control algorithm: Based on the above control objectives, a variety of control methods including PID control, optimal control, and MPC control are used to design the controller. Among them, the PID control method is used to design the controller as follows: Assume that the control rate of the anti-sway and anti-sickness bed task space is as follows: In the above formula, β e 、 α e 、 All are obtained by the inertial navigation unit after processing by the perception fusion algorithm, β h 、 α h 、 From the kinematic solution above, the joint coordinate q is measured by the encoder, k p is the proportional adjustment coefficient of the PID controller, k D is the differential adjustment coefficient of the PID controller; Calculated by formula (6) and (7) After integration, the angular velocity that needs to be corrected in the task space is obtained. and attitude angle Δβ h , Δα h .

2. The yacht active anti-rolling and anti-sickness bed according to claim 1, characterized in that: A support frame and a bed frame are provided on the base; The support frame connects the actuator module and the bed frame. The bed frame is used to fix the mattress and is installed between the support frame and the mattress.

3. The yacht active anti-rolling and anti-sickness bed according to claim 2, characterized in that: Different mattresses can be replaced on the bed frame according to needs.

4. The yacht active anti-rolling and anti-sickness bed according to claim 1, characterized in that: The base is provided with a fuse, which is installed on one side of the base and is located between the external power supply and the controller circuit board in the circuit. It is used to provide overload protection for the anti-sway and anti-sickness bed. If an overload occurs, the fuse blows and the system enters a protection mode to ensure the safety of the core components including the control. At the same time, a buzzer installed on the controller circuit board sounds an alarm, prompting an overload and the need to replace the fuse.

5. The yacht active anti-rolling and anti-sickness bed according to claim 1, characterized in that: The base is provided with a terminal module for storing each branch terminal.

6. The yacht active anti-rolling and anti-sickness bed according to claim 1, characterized in that: The first rotating mechanism includes: a first motor, a first reducer, and a first rotating shaft, wherein the first motor is used to drive the first rotating shaft, and the first reducer is located between the first motor and the first rotating shaft, and is used to reduce the rotation speed of the first rotating shaft and increase the torque. The first rotating shaft is the roll axis of the anti-sickness and anti-roll table, and provides the anti-sickness and anti-roll table with a roll degree of freedom; The second rotation mechanism includes: a second motor, a second reducer, and a second rotating shaft, wherein the second motor is used to drive the second rotating shaft, and the second reducer is located between the second motor and the second rotating shaft, and is used to reduce the rotation speed of the second rotating shaft and increase the torque. The second rotating shaft is the pitch axis of the anti-sickness stabilization table, and provides the pitch degree of freedom of the anti-sickness stabilization table; The first rotating mechanism is fixed on the base, the second rotating mechanism is fixed on the first rotating shaft, the first rotating shaft and the second rotating shaft are vertically staggered, and the driver module is respectively connected to the first motor and the second motor to drive the movement of the two motors.

7. A control method for realizing the active anti-rolling and bed sickness prevention of yachts according to any one of claims 1 to 6, characterized in that: include: Step S1: The real-time attitude information of the yacht in the inertial space is obtained in real time through the sensor module, and the sensor data measured by the sensor module is sent to the control decision module through the communication module; Step S2: The control decision module determines the target posture of the anti-rolling and anti-sickness bed relative to the yacht cabin floor based on the kinematic model by analyzing the sensor data; Step S3: the driver module drives the motor to rotate according to the control decision of the control decision module; Step S4: The control decision module adjusts the current posture angle of the anti-rolling and anti-sickness bed relative to the yacht cabin in real time according to the current posture angle obtained by the sensor module in real time, so as to achieve the target posture.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the control method for active stabilization and bed sickness prevention of yachts according to any one of claims 1 to 6 are implemented.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the computer program is executed by a processor, the steps of the control method for active stabilization and bed sickness prevention of yachts according to any one of claims 1 to 6 are implemented.

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