Monitoring system and method for a marine propulsion device

Abstract

A control system and a control method of a propulsion device of a semi-submersible ship, state data of a ship propulsion device is used to control the ship to run to realize the corresponding working state, the control system comprises: an operation module for acquiring first state data of the propulsion device; a detection module for detecting running data of the ship; a processing module capable of obtaining second state data of the propulsion device based on the running data; a judgment module capable of obtaining the deviation value of the first state data and the second state data, and outputting a judgment result based on the relationship between the deviation value and the preset threshold value; a control module capable of outputting a corresponding control signal according to the judgment result, and controlling the ship to run based on the control signal. The application can adjust the working state of the ship according to the running data in real time, so that the propulsion device is not adjusted frequently, and the stable working state of the ship is maintained within a certain threshold range.

Description

[0001] This application is a divisional application of the invention entitled "Control System and Control Method for Semi-Submerged Ships", filed on April 28, 2023, with application number CN202310487972.7. Technical Field

[0002] This application relates to the field of semi-submerged propeller ship technology, and in particular to a control system and control method for a propulsion device for a semi-submerged propeller ship. Background Technology

[0003] With economic development, the demands for ship transportation speeds are gradually increasing. Surface-pipered propellers (SPPs) are being adopted by an increasing number of high-speed vessels. A surface-pipered propeller is a propeller that operates normally at high speeds with only half of its blades submerged in water. The motion control of surface-pipered vessels is complex. Traditionally, the control of surface-pipered vessels is primarily achieved by human operators, which cannot adjust the ship's motion in real time according to external changes, making it difficult to cope with complex situations at sea. Summary of the Invention

[0004] Therefore, it is necessary to provide an automatic control system and control method for the propulsion device of a semi-submerged propeller ship that can stably cope with complex external environments, in order to address the above problems.

[0005] On one hand, a control system for the propulsion device of a semi-submerged vessel is provided, wherein the status data of the vessel's propulsion device is used to control the vessel's operation to achieve the corresponding working state, and the control system includes:

[0006] An operation module is used to acquire first state data of the propulsion device, and the first state data is used to control the ship to achieve a first working state.

[0007] The detection module is used to detect the ship's operational data, which includes navigation and positioning data or ship environmental data.

[0008] A processing module is connected to the detection module. The processing module can obtain the second state data of the propulsion device based on the operating data. The second state data is used to control the ship to achieve a second working state.

[0009] The judgment module is connected to the processing module and the operation module; the judgment module can obtain the deviation value between the first state data and the second state data, and output the judgment result based on the relationship between the deviation value and a preset threshold.

[0010] The control module connects the operation module and the judgment module. The control module can output corresponding control signals according to the judgment result and control the ship's operation based on the control signals.

[0011] In some embodiments, when the deviation value is less than the threshold, the judgment result is to maintain control of the propulsion device based on the first state data; when the deviation value is greater than or equal to the threshold, the judgment module can correct the first state data based on the second state data and obtain third state data, and the judgment result is to control the propulsion device based on the third state data.

[0012] In some embodiments, when the deviation value is less than the threshold, the judgment result is to maintain control of the propulsion device based on the first state data; when the deviation value is greater than or equal to the threshold, the operation module can obtain fourth state data different from the first state data, the judgment module can correct the first state data according to the fourth state data and obtain third state data, and the judgment result is to control the propulsion device based on the third state data.

[0013] In some embodiments, when the deviation value is less than the threshold, the determination result is to maintain control of the propulsion device based on the first state data; when the deviation value is greater than or equal to the threshold, the determination result is to control the propulsion device based on the second state data.

[0014] In some embodiments, the control system further includes a display module connected to the operation module and the processing module, which is capable of displaying the required operating data and status data in real time.

[0015] In some embodiments, the display module includes an interface unit and a plurality of preset data display units. The interface unit is capable of displaying the required data display units, and the plurality of data display units are respectively used to display different running data or status data. One or more of the data display units can be invoked and loaded into the interface unit based on the operating data obtained by the operation module.

[0016] In some embodiments, the display module further includes a storage unit, and the data contained in the plurality of data display units can be stored in the storage unit in the form of data packets.

[0017] In some embodiments, the display module further includes a calling unit and multiple interface units. The calling unit can generate a calling instruction based on the operation data, and the interface units correspond to the data display unit. The data display unit can load the data into the interface unit through the interface units based on the calling instruction.

[0018] In some embodiments, the display module is built based on a dynamic link library.

[0019] On one hand, a control method for the propulsion device of a semi-submerged vessel is provided, wherein the state data of the vessel's propulsion device is used to control the vessel's operation to achieve the corresponding working state, and the control method includes:

[0020] Acquire first state data of the propulsion device, the first state data being used to control the ship to achieve a first working state;

[0021] The vessel's operational data is detected, including navigation and positioning data or vessel environmental data;

[0022] Based on the operational data, a second state data of the propulsion device is obtained, and the second state data is used to control the ship to achieve a second working state.

[0023] Obtain the deviation value between the first state data and the second state data, and output the judgment result based on the relationship between the deviation value and a preset threshold;

[0024] Based on the judgment result, a corresponding control signal is output, and the ship's operation is controlled based on the control signal.

[0025] The control system and method for the propulsion device of the aforementioned semi-submerged propeller vessel obtain second state data by acquiring the vessel's operating data, and output corresponding control signals based on the deviation value between the second state data and the set first state data. This allows for real-time adjustment of the vessel's operating state according to the operating data. At the same time, the adjustment of the vessel's operating state is based on the relationship between the deviation value and the set threshold, which prevents frequent adjustments to the propulsion device's state and ensures that the vessel maintains a stable operating state within a certain threshold range. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the control system structure of the propulsion device of a semi-submerged ship according to an embodiment of this application;

[0027] Figure 2 This is a cross-sectional view of a semi-submerged propeller device installed on the tail plate according to an embodiment of this application;

[0028] Figure 3 This is a schematic diagram of a semi-submerged propeller propulsion device according to an embodiment of this application, with part of the drive component removed.

[0029] Figure 4 This is a schematic diagram of the display module structure of the control system of the propulsion device of a semi-submerged ship according to an embodiment of this application;

[0030] Figure 5This is a schematic flowchart of a control method for a propulsion device of a semi-submerged ship according to an embodiment of this application. Detailed Implementation

[0031] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0032] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0034] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0035] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0036] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0037] See Figure 1 , Figure 1A schematic diagram of a control system for a propulsion device of a semi-submersible vessel according to an embodiment of this application is shown. The semi-submersible vessel's operating states include at least a first operating state and a second operating state. Switching between different operating states can be achieved through a semi-submersible propulsion device 1, which includes a cooperating drive assembly 10, an adjustment assembly 30, and a propulsion assembly 20. The semi-submersible propulsion device 1 has state data for controlling the vessel's operation to achieve different operating states, including first and second state data of the propulsion device. A control system 400 is used to control the semi-submersible vessel to adapt to changes in the external environment to achieve corresponding operating states. The control system 400 includes an operation module 410, a detection module 420, a processing module 430, a judgment module 440, a control module 450, an alarm module 460, and a display module 470. The operation module 410 is used to acquire externally input first state data. The first state data is used to control the vessel to achieve the first operating state. The detection module 420 is used to detect the vessel's operating data, including navigation and positioning data or vessel environmental data. The processing module 430 is connected to the detection module 420. The processing module 430 can obtain second state data based on the operating data. The second state data is used to control the ship to achieve the second working state. The judgment module 440 is connected to the processing module 430 and the operation module 410. The judgment module 440 can obtain the deviation value between the first state data and the second state data, judge the relationship between the deviation value and a preset threshold, and output the judgment result to the control module 450. The control module 450 is used to convert the state data into control signals for controlling the operation of the semi-submerged propeller device 1. The control module 450 is connected to the operation module 410 and the judgment module 440. The control module 450 can output corresponding control signals according to the judgment result and control the ship's operation based on the control signals. Specifically, the control signals include corresponding signals for controlling the operation of each component of the semi-submerged propeller device 1. The display module 470 is connected to the operation module 410, the detection module 420, and the processing module 430, and can display the required operating data and state data in real time. The "connection" mentioned above refers to an electrical connection formed through a line or a virtual connection relationship in the system.

[0038] The structure and principle of the semi-submerged propeller propulsion device 1 are briefly described below. Figure 2 As shown, the semi-submerged propeller propulsion device 1 is located at the stern plate 2 of the vessel. The semi-submerged propeller propulsion device 1 includes a drive assembly 10, a propulsion assembly 20, and an adjustment assembly 30. The drive assembly 10 provides power to the propulsion assembly 20 to drive the water transport vehicle. The adjustment assembly 30 is used to adjust the movement mode of the propulsion assembly 20 to adjust the speed, direction, and other movement states of the water transport vehicle.

[0039] The drive assembly 10 includes an output shaft that outputs driving force, and the output shaft rotates about a first axis 101. The drive assembly 10 includes a prime mover 12, a transmission unit 13, and a drive member 14. The prime mover 12 is used to output driving force, and the prime mover 12 can be a diesel engine, a gasoline engine, an electric motor, etc., without limitation. The transmission unit 13 is connected to the output shaft of the prime mover 12, and the transmission unit 13 is used to adjust the driving force output by the prime mover 12 to the required range, for example, adjusting the speed, torque, and driving direction output by the prime mover 12 according to actual needs to meet usage requirements. The drive member 14 is connected between the transmission unit 13 and the propulsion assembly 20, and is used to transmit the power output by the transmission unit 13 to the propulsion assembly 20, so that the propulsion assembly 20 operates according to actual needs. The prime mover 12, the transmission unit 13, and the drive member 14 are all connected sequentially along the first axis. In this embodiment, the output end of the drive member serves as the output shaft of the drive assembly 10.

[0040] In other embodiments, one or more of the transmission unit 13 and drive unit 14 may be omitted, and the output shaft of the prime mover 12 may be directly connected to the propulsion assembly 20, so that the speed, torque and direction of motion of the prime mover 12 can be adjusted by electronic control.

[0041] A semi-submerged propeller vessel has at least two states: an operating state and a stopped state. "Semi-submerged" refers to the propulsion assembly 20 being at least partially above the water surface when the semi-submerged propeller propulsion device 1 is in the operating state. The propulsion assembly 20 includes at least one propeller that moves under the drive of the drive assembly 10. The propeller may have blades, which interact with the water to generate thrust that propels the watercraft. Compared to other types of propulsion devices, semi-submerged propulsion devices have higher propulsion efficiency. When the blades move at high speed, they not only achieve higher open-water efficiency but also significantly reduce appendage drag because the propeller shaft and other accessories are exposed above the water surface. Furthermore, the diameter of the blades is not limited by other structures. Further, when the blades are running in the water, the pressure on the blade back decreases, forming a suction surface. If the pressure at a certain point drops to the saturated vapor pressure of the water at that point, steam and other gases escaping from the water form bubbles that adhere to the blade surface, creating cavitation. Cavitation is a major cause of propeller surface erosion, vibration, noise, and performance degradation. When the semi-submerged propeller blades alternately enter and exit the water, the resulting cavitation is replaced by the air cavity near the blades when the blades enter and exit the water, forming a "ventilated" state. Cavitation cannot form smoothly, avoiding the phenomenon of cavitation erosion on the blade surface, reducing underwater vibration and noise of the blades, and improving the service life of the blades.

[0042] Reference Figure 3As shown, the propulsion component 20 is connected to the output shaft of the drive component 10, and at least two first propulsion components 201 and second propulsion components 202 are arranged in parallel. In the embodiments disclosed in this application, there are two drive components 10, which are respectively connected to the first propulsion component 201 and the second propulsion component 202. In this embodiment, the first propulsion component 201 and the second propulsion component 202 have the same structure and size. Therefore, only one propulsion component is described below, and the same structure will not be described in detail. Correspondingly, the drive component 10 may include a first drive component 11 that independently drives the first propulsion component 201 and a second drive component 15 that independently drives the second propulsion component 202. The first drive component 11 and the second drive component 15 have similar structures. In other embodiments, only one drive component 10 may be provided. Accordingly, the drive component 10 includes a prime mover 12 and two sets of independent transmission units and drive components. The prime mover 12 outputs driving force in the same direction and with the same power. The two sets of independent transmission units can change the power and direction of the driving force as needed and transmit it to the propulsion component 20 through the drive components.

[0043] The first propulsion assembly 201 includes a connecting seat 220 that is driveably connected to the output shaft and a propeller 210 that is movably connected to the connecting seat 220. The connecting seat 220 has a transmission structure to transmit the driving force of the drive assembly 10. Furthermore, the central axis of the connecting seat 220 can coincide with the first axis 101. Under the action of the drive assembly 10, the propeller 210 rotates around the second axis 203, interacting with the water to propel the water transport vehicle forward. Simultaneously, the propeller 210 is rotatably connected to the connecting seat 220, and the propeller 210 as a whole can achieve multi-degree-of-freedom rotation via the adjusting assembly 30 while rotating around the second axis 203 through the connecting seat 220.

[0044] The propeller 210 includes propeller blades 211, a propeller housing 212, and a propeller shaft 213. The propeller blades 211 are disposed at one end of the propeller shaft 213, and the other end of the propeller shaft 213 is movably connected to a connecting seat 220. The propeller housing 212 is fitted over the propeller shaft 213, with one end close to the propeller shaft 213 and the other end close to or movably connected to the connecting seat 220. The propeller blades 211 have at least four blades; in this embodiment, as shown in the figure, there are five or six blades.

[0045] The adjustment assembly 30 includes a tilting mechanism 310, a rudder mechanism 320, and a propeller linkage 330. One end of the first propulsion assembly 201 and the second propulsion assembly 202 are fixed at the tailplate 2 of the water transport vehicle, and the other ends of the first propulsion assembly 201 and the second propulsion assembly 202 are connected by the propeller linkage 330. Furthermore, the propeller linkage 330 connects the propellers of the first propulsion assembly 201 and the second propulsion assembly 202, allowing adjacent propellers 210 to be adjusted simultaneously. Adjacent propellers 210 can be arranged substantially parallel, and the propeller linkage 330 is perpendicular to or opposite to the propellers 210. The adjustment assembly 30 includes at least two tilting mechanisms 310 and two rudder mechanisms 320 respectively corresponding to the first propulsion assembly 201 and the second propulsion assembly 202; only one of these is described here. One end of the tilting mechanism 310 is movably connected to the tailplate 2, and the other end is movably connected to the propeller 210. The steering mechanism 320 is movably connected to the tail plate 2 at one end and to the propeller 210 at the other end. The tilting mechanism 310 is capable of telescoping to adjust the rise and fall angle of the propeller 210 relative to the plane of the water surface. Specifically, the tilting mechanism 310 adjusts the rise and fall angle of the propeller 210 within a first plane. The second axis 203 and the central axis of the tilting mechanism 310 intersect to form the first plane. It should be noted that the second propulsion assembly 202 also has a corresponding first plane, which will not be elaborated upon here. The second tilting mechanism 310 controls the rise and fall of the propeller 210, thereby controlling the volume of the submerged portion of the propeller 210 and thus controlling drag and thrust. The telescoping mechanism 320 is capable of telescoping to adjust the horizontal swing angle between the second axis 203 and the first axis 101, i.e., adjusting the swing angle of the first plane relative to the first axis 101. The steering mechanism 320 controls the angle between the propeller 210 and the direction of travel of the water transport vehicle by controlling the swing of the propeller 210, thereby causing the semi-submerged propeller propulsion device 1 to generate thrust in the direction of travel to turn the water transport vehicle.

[0046] The telescopic movements of the tilting mechanism 310 and the rudder mechanism 320 cooperate to allow the propeller 210 to rotate around one end of the propeller 210 as a pivot point, and to position the propeller 210 at a desired preset position. When the propeller 210 needs to be positioned at the desired preset position, i.e., when the swing angle and rise / fall angle need to be fixed, the telescopic movements of the tilting mechanism 310 and the rudder mechanism 320 can be fixed at the corresponding telescopic stroke. Specifically, the maximum value of the rise / fall angle is less than or equal to the maximum value of the swing angle. The end of the propeller 210 connected to the connecting seat 220 serves as the pivot point, allowing the other end of the propeller 210, i.e., the free end, to rotate around the first axis 101 within the area defined by the elliptical path, thereby adjusting it to the desired position. The total stroke of the telescopic movement of the tilting mechanism is less than or equal to the total stroke of the telescopic movement of the rudder mechanism, so that the maximum value of the rise / fall angle is less than or equal to the maximum value of the swing angle. The maximum value of the heave angle is less than or equal to the maximum value of the swing angle, which makes the adjustment component 30 more stable in adjusting the propulsion component 20. Even in the working state, the tilting mechanism 310 and the steering mechanism 320 need to be adjusted simultaneously to complete the adjustment of different motion states of the water transport vehicle. For example, while deflecting the course, it is necessary to increase thrust to accelerate. This can also ensure the stability of the water transport vehicle's motion process and improve problems such as loss of control and inaccurate motion. The heave angle is greater than or equal to 5° and less than or equal to 30°, and the swing angle is greater than or equal to 5° and less than or equal to 75°. Further, the heave angle is greater than or equal to 10° and less than or equal to 20°, and the swing angle is greater than or equal to 15° and less than or equal to 60°. Within the above angle range, the tilting mechanism 310 and the steering mechanism 320 of the adjustment component 30 can complete the adjustment simultaneously, making the switching of the water transport vehicle's motion state more stable, overcoming resistance less, having stable force, and high adjustment efficiency.

[0047] The tilting mechanism 310 and / or steering mechanism 320 include a piston rod and a hydraulic cylinder. One end of the piston rod is connected to the hydraulic cylinder, and the other end is connected to the tailplate 2 or propeller 210 of the water transport vehicle. One end of the hydraulic cylinder is connected to the piston rod, and the other end is connected to the tailplate 2 or propeller 210 of the water transport vehicle. The piston rod can perform linear reciprocating motion in the hydraulic cylinder to adjust the lifting angle and the swing angle. In this embodiment, the tilting mechanism 310 and the steering mechanism 320 are hydraulic devices, which drive the movement of the propeller 210 through the reciprocating motion of the piston rod in the hydraulic cylinder. The hydraulic device also includes a pump, a power supply, a reservoir, etc., all of which are located inside the water transport vehicle, that is, on the opposite side of the tailplate 2 away from the propeller 210. The hydraulic device also includes a fluid conduit that passes through the tailplate 2 and connects to the hydraulic cylinder.

[0048] The first state data acquired by the operation module 410 includes the state data of the drive component 10, the propulsion component 20, and the adjustment component 30. Specifically, the first state data may include, but is not limited to: the rotational speed and power of the prime mover 12 of the drive component 10, the current extension and retraction stroke, heave angle, and yaw angle of the trim mechanism 310 and the steering mechanism 320. The data acquired by the operation module 410 is input by the operator based on manual observation of the external environment, or by observing the data displayed by the display module 470. The first state data can serve as the initial data for controlling the ship's starting motion, instructing the ship to switch from a stopped state to a working state and maintain this state of operation. The first state serves as the initial state of the ship's current navigation. The operation module 410 can also acquire fourth state data that differs from the first state data.

[0049] The ship environmental data acquired by the detection module 420 includes, but is not limited to: maritime customs, marine water quality and ecological environment information (such as chlorophyll concentration, suspended sediment content, colored soluble organic matter, etc.), marine dynamic environment information (seawater temperature, sea surface wind field, sea surface height, waves, currents, ocean gravity field, etc.), and other marine environmental information such as marine biology, marine chemistry, seabed geology, sediments, underwater topography, sea ice, and seawater pollution. The navigation and positioning data acquired by the detection module 420 includes, but is not limited to: ocean color, sea surface temperature, sea surface height, sea surface wind field, waves, currents, salinity, maritime targets, islands, coastal zones, real-time navigation position, and target position. The detection module 420 can be built based on satellite navigation equipment or AIS (Automatic Identification Systems) equipment.

[0050] The processing module 430 processes the running data, calculates and generates second state data, which corresponds one-to-one with the first state data, including but not limited to: the speed and power of the prime mover 12 of the drive component 10, the current extension and retraction stroke, lifting angle and swing angle of the tilting mechanism 310 and the steering mechanism 320.

[0051] Both the first and second state data correspond to the corresponding structures of the semi-submerged propeller propulsion device 1. The judgment module 440 can calculate the corresponding deviation value based on the corresponding data. For example, if the first state data is the acquired elevation angle, the judgment module 440 reads the elevation angle in the second state data and calculates the deviation value. The control module 450 can be directly used to generate control signals for the corresponding structures. For example, if the first or second state data is the rotational speed, the control module 450 can generate a control signal to control the prime mover 12 to achieve that rotational speed based on the rotational speed data.

[0052] When the deviation value calculated by the judgment module 440 is less than the threshold, the output judgment result is to continue the ship operating in the first working state, that is, to continue to control the semi-submerged propeller 1 with the first state data. When the deviation value calculated by the judgment module 440 is greater than or equal to the threshold, the judgment module 440 can correct the first state data based on the second state data and obtain the third state data. The judgment result is to use the third state data to control the semi-submerged propeller 1 to adjust its working state. When the external environment changes, the ship deviates from its original trajectory due to external influences and needs to adjust its motion state, or the ship needs to change its working state to counteract the effects of external influences, requiring real-time adjustment of the initially set initial state. The above judgment process is carried out in real time, and the third state data on which the adjustment is based becomes the new first state data before the next adjustment.

[0053] In other embodiments, when the deviation value calculated by the judgment module 440 is greater than or equal to the threshold, the judgment module 440 outputs a judgment result that uses the second state data as the basis for generating a control signal to switch the ship from the first operating state to the second operating state. When the ship's first state data cannot be corrected or using corrected state data would make adjusting the ship's operating state more inconvenient, the second state data can be used as the basis for generating a control signal to control the ship to adjust to the second operating state.

[0054] When the deviation value is greater than or equal to the threshold, the judgment module 440 has a first judgment result. The operation module 410 can acquire fourth state data, and the judgment module 440 can adjust the first judgment result based on the fourth state data to form and output a second judgment result. Furthermore, the operation module 410 and the display module 470 are integrated together. The display module 470 can provide a prompt for the first judgment result. The operator can input relevant information based on the prompt displayed by the display module 470. The relevant information may include a scheme to correct the first state data, an instruction to use the second state data, or an instruction to use the third state data. The operation module 410 can acquire the relevant information as the fourth state data.

[0055] In some embodiments of this example, the first operating state and the second operating state are operating states of the same level. The first operating state and the second operating state may include the following situations: The first operating state of the ship is a state of uniform motion at a first speed, at which time the prime mover 12 is at a first rotational speed; the second operating state of the ship is a state of uniform motion at a second speed, at which time the prime mover 12 is at a second rotational speed. The first operating state of the ship is a state of uniform motion at a first speed, at which time the trim mechanism 310 is at a first heave angle; the second operating state of the ship is a state of uniform motion at a second speed, at which time the trim mechanism 310 is at a second heave angle. The above-mentioned "same level" refers to the fact that the data types of the first state corresponding to the first operating state and the data types of the second state corresponding to the second operating state are of the same type and correspond to different action amplitudes of the same structure, without involving the participation of multiple structures and multiple types of state data.

[0056] In some embodiments of this example, the first working state and the second working state are working states at different levels. The first working state and the second working state may include the following situations: The first working state of the ship is a uniform motion state, and the second working state of the ship is an acceleration or deceleration motion state in which the drive component 10 and the adjustment component 30 cooperate. The first working state of the ship is that the adjustment component 30 does not move, and the first axis 101 is parallel to the second axis 203. The second working state of the ship is that the adjustment component acts to make the first axis 101 and the second axis 203 form an angle. The first working state of the ship is that one of the trim mechanism 310 or the rudder mechanism 320 performs adjustment action, and the second working state of the ship is that both the trim mechanism 310 and the rudder mechanism 320 perform adjustment action. Accordingly, the above-mentioned "different levels" refer to the fact that the data types of the first state corresponding to the first working state and the data types of the second state corresponding to the second working state are different or have different action amplitudes corresponding to the same structure, involving the participation of multiple structures or multiple types of state data.

[0057] For the same level of operating state, the judgment module 440 presets a first threshold. For different levels of operating states, the judgment module 440 presets a second threshold. Since different levels of operating states involve significant adjustments to the propulsion device or involve multiple structures, the value of the first threshold is less than or equal to the second threshold. When adjustments are involved within the same level, this allows the ship to adjust more stably from the first operating state to the second operating state. When adjustments are involved between different levels, it prevents situations where adjustments to the first state data need to be missed due to an excessively small threshold setting.

[0058] like Figure 4The display module 470 includes an interface unit 471, a calling unit 474, an interface unit 473, a storage unit 475, and multiple preset data display units 472. The interface unit 471 can display the required data display units 472, and the multiple data display units 472 are used to display different operating data or status data. One or more of the data display units 472 can be called and loaded into the interface unit 471 based on operation data obtained from the operation module 410. The multiple data display units 472 can be stored in the storage unit 475 in the form of data packets. The calling unit 474 can generate calling instructions based on the operation data. The interface unit 473 corresponds one-to-one with the data display units 472, and the data display units 472 can be loaded into the interface unit 472 through the interface unit 473 based on the calling instructions.

[0059] The data display unit 472 can be a virtual unit, and the display module 470 is built based on a dynamic link library (DLL). A DLL is a library containing code and data that can be used by multiple programs simultaneously. By using a DLL, the display module 470 allows for modularity between units, consisting of relatively independent data packages, enabling individual calls to required functions. Because the data display units 472 are independent of each other, the program loads faster, and each data display unit 472 is only loaded when the corresponding function is requested. Furthermore, updates can be more easily applied to individual data display units 472 without affecting other parts of the program. During runtime, the display module 470 loads the corresponding units via dynamic linking as needed, saving control system storage space and facilitating integration with other ship modules. The data display unit 472 and its corresponding DLL are stored in storage unit 475, and their addresses can be obtained through calling unit 474. A DLL is a compiled executable code file that includes at least one function; for example, the DLL aa.dll can contain sum, max, and sin functions. In other embodiments, the data display unit 472 may also be a physical unit, and the display module 470 further includes a driving unit for mapping the data display unit 472 to the interface unit.

[0060] The storage unit 475 used in this embodiment may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0061] Each module in the aforementioned control system 400 can be implemented entirely or partially through software, hardware, or a combination thereof. Each module of the control system 400 can be embedded in hardware within or independently of the processor in a computer device, or it can be stored in software within the memory of a computer device, so that the processor can call and execute the operations corresponding to each module.

[0062] like Figure 5 As shown, based on the same inventive concept, this embodiment also provides a control method for the propulsion device of a semi-submerged propeller ship. The control method is implemented based on the above-described modules, and the identical parts will not be described again here. The control method includes the following steps:

[0063] S100. Obtain first state data of the propulsion device. The first state data is used to control the ship to achieve the first state.

[0064] S200, to obtain operational data of the ship, including navigation and positioning data or ship environmental data.

[0065] S300. Obtain second state data of the propulsion device based on the operating data. The second state data is used to control the ship to achieve the second state.

[0066] S400: Obtain the deviation value between the first state data and the second state data, determine the relationship between the deviation value and the preset threshold, and output the determination result.

[0067] S500: Based on the judgment result, output the corresponding control signal, and control the ship's operation based on the control signal. Specifically, the control signal controls the operation of each component of the semi-submerged propeller propulsion device 1 to enable the ship to operate in different working states.

[0068] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0069] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A control system for a propulsion device of a semi-submersible vessel, wherein the state data of the propulsion device is used to control the vessel's operation to achieve a corresponding working state, characterized in that, The propulsion device is located at the stern of the ship, and the propulsion device includes: The propeller and adjustment assembly include: a tilting mechanism and a steering mechanism. One end of the tilting mechanism is movably connected to the tail plate, and the other end is movably connected to the propeller. One end of the steering mechanism is movably connected to the tail plate, and the other end is movably connected to the propeller. The tilting mechanism is capable of telescopic movement to adjust the rise and fall angle of the propeller relative to the plane of the water surface. The steering mechanism controls the angle between the propeller and the direction of travel of the water transport vehicle by controlling the swing of the propeller. The control system includes: An operation module is used to acquire first state data of the propulsion device, and the first state data is used to control the ship to achieve a first working state. The detection module is used to detect the ship's operational data, which includes navigation and positioning data or ship environmental data. A processing module is connected to the detection module. The processing module can obtain the second state data of the propulsion device based on the operating data. The second state data is used to control the ship to achieve a second working state. The judgment module is connected to the processing module and the operation module; the judgment module can obtain the deviation value between the first state data and the second state data, and output the judgment result based on the relationship between the deviation value and a preset threshold. A control module is connected to the operation module and the judgment module. The control module can output a corresponding control signal according to the judgment result and control the ship's operation based on the control signal. Wherein, when the first working state and the second working state are working states of the same level, the judgment module presets a first threshold; when the first working state and the second working state are working states of different levels, the judgment module presets a second threshold, and the value of the first threshold is less than or equal to the second threshold. When the deviation value is less than the threshold, the judgment result is to maintain control of the propulsion device based on the first state data; When the deviation value is greater than or equal to the threshold, the judgment module can correct the first state data based on the second state data and obtain the third state data. The judgment result is to control the propulsion device based on the third state data. Alternatively, when the deviation value is greater than or equal to the threshold, the operation module can obtain fourth state data different from the first state data. The judgment module can correct the first state data based on the fourth state data and obtain the third state data. The judgment result is to control the propulsion device based on the third state data.

2. The control system for the propulsion device of a semi-submerged propeller vessel according to claim 1, characterized in that, The control system also includes a display module, which is connected to the operation module and the processing module and can display the required operating data and status data in real time.

3. The control system for the propulsion device of a semi-submerged vessel according to claim 2, characterized in that, The display module includes an interface unit and a plurality of preset data display units. The interface unit can display the required data display units, and the plurality of data display units are used to display different running data or status data. One or more of the data display units can be invoked and loaded into the interface unit based on the operating data obtained by the operation module.

4. The control system for the propulsion device of a semi-submerged vessel according to claim 3, characterized in that, The display module also includes a storage unit, and the data contained in the plurality of data display units can be stored in the storage unit in the form of data packets.

5. The control system for the propulsion device of a semi-submerged propeller vessel according to claim 3, characterized in that, The display module further includes a calling unit and multiple interface units. The calling unit can generate a calling instruction based on the operation data, and the interface units correspond to the data display unit. The data display unit can load the data into the interface unit through the interface unit based on the calling instruction.

6. The control system for the propulsion device of a semi-submerged propeller vessel according to any one of claims 2 to 5, characterized in that, The display module is built based on a dynamic link library.

7. A control method for a control system of a propulsion device for a semi-submerged vessel according to any one of claims 1 to 6, wherein the state data of the vessel's propulsion device is used to control the vessel's operation to achieve the corresponding working state, characterized in that... The control method includes: Acquire first state data of the propulsion device, the first state data being used to control the ship to achieve a first working state; The vessel's operational data is detected, including navigation and positioning data or vessel environmental data; Based on the operational data, a second state data of the propulsion device is obtained, and the second state data is used to control the ship to achieve a second working state. The deviation value between the first state data and the second state data is obtained, and a judgment result is output based on the relationship between the deviation value and a preset threshold. When the first working state and the second working state are working states of the same level, the judgment module presets a first threshold. When the first working state and the second working state are working states of different levels, the judgment module presets a second threshold, and the value of the first threshold is less than or equal to the second threshold. Based on the judgment result, a corresponding control signal is output, and the ship's operation is controlled based on the control signal.

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