A method, device, system and boat controller for controlling the navigation of a boat

Abstract

The application provides a navigation control method, device and system of a ship and a ship controller. The ship controller is in communication connection with a remote controller and a ship power system. The ship power system comprises a manual driving mode control system and a remote driving mode control system. The method comprises the following steps: obtaining a navigation control signal sent by the remote controller when the ship power system is switched to the remote driving mode control system; the navigation control signal comprises a throttle control signal, a switch control signal and a rudder angle control signal; determining a power parameter of the ship by using the throttle control signal and the switch control signal, and performing thrust control on the ship by the remote driving mode control system based on the power parameter; determining a steering wheel control instruction of the ship by using the rudder angle control signal, and performing steering control on the ship by the remote driving mode control system based on the steering wheel control instruction. The method can improve the convenience of the navigation control of the ship.

Description

Technical Field

[0001] This application relates to the field of ship navigation control technology, and in particular to a ship navigation control method, device, system and ship controller. Background Technology

[0002] Currently, the navigation control of boats is generally achieved through manual steering by the operator sitting in the cockpit. Taking a propeller-driven boat with a stern rudder as an example, the operator manually adjusts the throttle lever to control the propeller speed, thus controlling the boat's speed, and manually adjusts the steering wheel to control the rudder angle, thus controlling the boat's heading. However, this method, requiring the operator to be constantly in the cockpit for navigation control, makes the process cumbersome.

[0003] Therefore, how to improve the ease of navigation control of vessels is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide a method, apparatus, system, boat controller, and computer-readable storage medium for navigation control of a vessel, which aims to enable various navigation controls and thereby improve the convenience of navigation control.

[0005] Firstly, this application provides a method for controlling the navigation of a boat. It is applied to a boat controller, which is communicatively connected to a remote controller and a boat propulsion system; the boat propulsion system includes a manual driving mode control system and a remote driving mode control system; the method includes:

[0006] When the vessel's power system switches to the remote driving mode control system, the navigation control signal sent by the remote controller is acquired; the navigation control signal includes throttle control signal, switch control signal and rudder angle control signal;

[0007] The power parameters of the vessel are determined using the throttle control signal and the switch control signal, and the thrust of the vessel is controlled by the remote driving mode control system based on the power parameters.

[0008] The steering wheel control command of the vessel is determined by the rudder angle control signal, and the vessel is steered based on the steering wheel control command by the remote driving mode control system.

[0009] In one embodiment, the power parameters include the thruster's rotational speed percentage and thruster direction of rotation; the process of determining the vessel's power parameters using the throttle control signal and the switch control signal, and then controlling the vessel's thrust based on these power parameters through the remote driving mode control system, includes:

[0010] The percentage of the propeller's rotational speed is determined using the throttle control signal.

[0011] The direction of rotation of the propeller of the vessel is determined by the switch control signal;

[0012] The remote driving mode control system controls the thrust of the vessel based on the speed percentage and the direction of operation.

[0013] In one embodiment, determining the steering wheel control command of the vessel using the rudder angle control signal, and then controlling the vessel's steering based on the steering wheel control command through the remote driving mode control system, includes:

[0014] The commanded rudder angle percentage is determined using the rudder angle control signal;

[0015] The rudder angle command value is determined based on the commanded rudder angle percentage and the maximum rudder angle value of the vessel.

[0016] Obtain the estimated rudder angle of the vessel;

[0017] The steering wheel control command of the vessel is determined based on the estimated rudder angle value and the rudder angle command value;

[0018] The remote driving mode control system controls the steering of the vessel based on the steering wheel control commands.

[0019] In one embodiment, obtaining the estimated rudder angle of the vessel includes:

[0020] Obtain the linear displacement value of the hydraulic pump extension rod of the steering wheel of the boat;

[0021] Based on the preset mapping relationship between rudder angle and displacement value, the estimated rudder angle value corresponding to the linear displacement value is determined.

[0022] In one embodiment, when the vessel's propulsion system switches to a remote driving mode control system, acquiring the navigation control signal sent by the remote controller includes:

[0023] When the vessel's power system switches to the remote driving mode control system, a camera pre-installed on the vessel acquires real-time video of the surrounding area and sends the real-time video to the remote controller, so that the operator can operate the remote controller based on the real-time video and determine the corresponding navigation control signal.

[0024] Receive the navigation control signal sent by the remote controller.

[0025] In one embodiment, the method further includes:

[0026] In response to a switching command, the vessel's power system is switched to either a remote driving mode control system or a manual driving mode control system.

[0027] In one embodiment, the method further includes:

[0028] When the steering wheel torque is detected to be greater than or equal to a preset torque threshold, the boat's power system is switched to manual driving mode control system.

[0029] Secondly, this application also provides a navigation control device for a boat. It is applied to a boat controller, which is communicatively connected to a remote controller and a boat propulsion system; the boat propulsion system includes a manual driving mode control system and a remote driving mode control system; the device includes:

[0030] The remote signal acquisition module is used to acquire navigation control signals sent by the remote controller when the vessel's power system switches to the remote driving mode control system; the navigation control signals include throttle control signals, switch control signals, and rudder angle control signals.

[0031] The thrust control module is used to determine the power parameters of the vessel using the throttle control signal and the switch control signal, and to perform thrust control on the vessel based on the power parameters through the remote driving mode control system.

[0032] The steering control module is used to determine the steering wheel control command of the vessel using the rudder angle control signal, and to perform steering control on the vessel based on the steering wheel control command through the remote driving mode control system.

[0033] Thirdly, this application also provides a navigation control system for a vessel, comprising a vessel controller, a remote controller, a vessel propulsion system, and a switching device; the remote controller includes a shore-based bridge and / or a mobile control terminal; the vessel propulsion system includes a manual driving mode control system and a remote driving mode control system; the vessel controller is communicatively connected to both the remote controller and the vessel propulsion system; the switching device is connected to both the manual driving mode control system and the remote driving mode control system.

[0034] The switching device is used to switch lines to switch between the manual driving mode control system and the remote driving mode control system.

[0035] The boat controller is used to acquire navigation control signals sent by the remote controller when the boat's power system switches to the remote driving mode control system; the navigation control signals include throttle control signals, switch control signals and rudder angle control signals; the throttle control signals and the switch control signals are used to determine the boat's power parameters, and the rudder angle control signals are used to determine the boat's steering wheel control commands;

[0036] The remote driving mode control system is used to control the thrust of the vessel based on the power parameters and to control the steering of the vessel based on the steering wheel control commands.

[0037] Fourthly, this application also provides a boat controller. The boat controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described above.

[0038] Fifthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method described above.

[0039] This application provides a navigation control method for a boat, applied to a boat controller. The boat controller is communicatively connected to a remote controller and a boat propulsion system. The boat propulsion system includes a manual driving mode control system and a remote driving mode control system. In this method, a remote driving mode control system is added to the existing manual driving mode control system. When the boat propulsion system switches to the remote driving mode control system, the boat's power parameters are determined based on the throttle control signal and the switch control signal sent by the remote controller. The steering wheel control command is determined based on the rudder angle control signal. The remote driving mode control system performs thrust control on the boat based on the power parameters and steering control on the boat based on the steering wheel control signal. Thus, based on the existing manual driving mode, remote control of the boat is achieved using the remote controller. Therefore, this method can realize multiple navigation controls for the boat, thereby improving the convenience of navigation control.

[0040] It is understood that the navigation control device, system, boat controller, and computer-readable storage medium provided in the embodiments of this application have the same beneficial effects as the navigation control method of the boat described above, and will not be repeated here. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the navigation control system of a boat.

[0043] Figure 2 A flowchart illustrating a navigation control method for a vessel provided in this application embodiment;

[0044] Figure 3 This is a schematic diagram of a switching circuit provided in an embodiment of this application;

[0045] Figure 4 This is a schematic diagram of another switching circuit provided in an embodiment of this application;

[0046] Figure 5 The diagram shown is a structural schematic of a navigation control device for a boat provided in an embodiment of this application;

[0047] Figure 6 A schematic diagram illustrating the establishment of a communication link between a boat controller and a remote controller, provided as an embodiment of this application;

[0048] Figure 7 This is a schematic diagram of the structure of a boat controller provided in an embodiment of this application. Detailed Implementation

[0049] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of this application with unnecessary detail.

[0050] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0051] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0052] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0053] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0054] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. "A plurality" means "two or more."

[0055] Figure 1 This is a schematic diagram of a navigation control system for a boat provided in an embodiment of this application. The navigation control system 100 includes a boat controller 110, a remote controller 120, a boat propulsion system 130, and a switching device 140. The boat propulsion system 130 includes a manual driving mode control system 131 and a remote driving mode control system 132. The boat controller 110 is communicatively connected to both the remote controller 120 and the boat propulsion system 130. The switching device 140 is connected to both the manual driving mode control system 131 and the remote driving mode control system 132, and is used to connect the corresponding lines of the manual driving mode control system 131 or the remote driving mode control system 132 to the boat controller 110, thereby realizing the switching between the manual driving mode control system 131 and the remote driving mode control system 132.

[0056] The navigation control method for a boat provided in this application embodiment can be executed by the boat controller 110 when running a corresponding computer program.

[0057] Figure 2The flowchart illustrates a navigation control method for a vessel according to an embodiment of this application. For ease of explanation, only the parts relevant to this embodiment are shown. The method provided in this embodiment includes the following steps:

[0058] S100: When the ship's power system switches to the remote driving mode control system, it acquires the navigation control signals sent by the remote controller; the navigation control signals include throttle control signals, switch control signals and rudder angle control signals.

[0059] The boat controller can be an STM32 microcontroller, a development board, or an industrial computer, etc. This embodiment does not limit the specific type of boat controller.

[0060] The remote controller includes a shore-based bridge and / or a mobile control terminal.

[0061] Specifically, the shore-based bridge refers to the control panel of the simulated ship's cockpit set up on the shore. The shore-based bridge includes a simulated throttle lever and a simulated steering wheel. The driver determines the throttle control signal and switch control signal by operating the simulated throttle lever, and determines the rudder angle control signal by operating the simulated steering wheel.

[0062] Specifically, a mobile control terminal refers to a handheld, portable operating terminal. This terminal can include desktop computers, laptops, handheld computers, and remote control handles, etc. This embodiment does not limit the specific type of mobile control terminal. In one specific example, the mobile operating terminal may also include a simulated throttle lever and a simulated steering lever. The driver determines the throttle control signal and the switch control signal by operating the simulated throttle lever, and determines the rudder angle control signal by operating the simulated steering lever.

[0063] In practical applications, the remote controller sends throttle control signals and switch control signals to the boat controller so that the boat controller can use the boat's power system to control the thrust of the boat; and sends rudder angle control signals to the boat controller so that the boat's bore controller can use the boat's power system to control the steering of the boat.

[0064] It should be noted that point-to-point communication between the remote controller and the boat controller can be achieved through wireless bridges, Mesh self-organizing networks, satellite communication, and mobile communication networks. That is, a communication connection can be established between the shore-based bridge and the boat controller, or a communication connection can be established between the mobile control terminal and the boat controller.

[0065] Among them, wireless bridges and Mesh self-organizing networks have the advantages of large bandwidth and stable communication, but they limit the distance between the boat and the shore to a preset distance threshold (such as 20 kilometers); satellite communication can get rid of the distance limitation between the boat and the shore, but the disadvantage is that it is expensive and has limited bandwidth; mobile networks such as 4G or 5G networks can also get rid of the distance limitation between the boat and the shore, and the bandwidth can meet the data transmission requirements between the boat and the remote controller.

[0066] In practical applications, remote communication equipment is pre-installed on both the shore and the ship. Based on the virtual local area network (VLAN), intranet penetration technology is used to build a VLAN between the shore and multiple ships, establish communication connections between the shore and each ship, and realize data interaction and information exchange between the remote controller and the ship controller.

[0067] Based on the established communication connection between the remote controller and the vessel controller, the vessel can transmit the collected data back to the remote controller in real time. Specifically, the vessel controller acquires edge data and sends it to the remote controller via the established remote communication equipment. Edge data includes the vessel's position, latitude and longitude information, heading angle, main engine speed, throttle value, engine room temperature, and video image information, etc. Correspondingly, the remote controller can simultaneously and efficiently issue commands to the vessel controller, such as the shore-based bridge sending destination commands, route commands, and driving mode switching commands to the vessel controller.

[0068] In this embodiment, when the boat's propulsion system switches to the remote driving mode control system, it indicates that navigation control of the boat needs to be achieved through the remote controller. Therefore, after the remote controller determines the boat's navigation control signal and sends the navigation control signal to the boat controller, the boat controller receives the navigation control signal.

[0069] Among them, navigation control signals refer to the signals sent by the remote controller to control the navigation of the vessel; navigation control signals include throttle control signals, switch control signals, and rudder angle control signals. Specifically, the throttle control signal is a signal that represents the throttle value; the switch control signal is a signal that controls the operating state of the switch controller, which controls the forward / reverse rotation of the propeller; and the rudder angle control signal is a signal that controls the rudder angle value of the vessel.

[0070] S200: The power parameters of the boat are determined by throttle control signals and switch control signals, and the thrust of the boat is controlled by the remote driving mode control system based on the power parameters.

[0071] In this context, "power parameters" refers to the thrust applied to the vessel by the remote driving mode control system to control its speed. It's understood that vessels typically control speed by adjusting the propeller's rotational speed; the propeller can be a propeller. The propeller is generally mounted on a propulsion shaft below the waterline at the stern of the vessel. The main engine drives the propeller shaft to rotate, drawing water in from the blades' intake and expelling it from the exhaust, using the water's reaction force to propel the vessel forward. Therefore, power parameters can be propeller control parameters, specifically including the propeller's rotational speed percentage and direction of rotation, or other types of values; this embodiment does not limit these.

[0072] After determining the power parameters of the vessel using throttle control signals and switch control signals, the propeller speed is controlled based on the power parameters to achieve thrust control of the vessel.

[0073] S300: Uses rudder angle control signals to determine the steering wheel control commands of the vessel, and uses a remote driving mode control system to control the vessel's steering based on the steering wheel control commands.

[0074] Among them, steering wheel control commands refer to commands that control the steering wheel of a boat to turn left, right, or stop. They are generally used by the steering control system to control the direction of travel of the boat.

[0075] In practical applications, a steering wheel motor is installed below the steering wheel of the boat; the steering wheel motor supports serial communication; the sleeve of the steering wheel motor is connected to the steering wheel with screws; the boat controller sends steering wheel control commands to the steering wheel motor, and controls the steering wheel of the boat to turn left, right, or stop by controlling the left turn, right turn, or stop of the sleeve inside the steering wheel motor, thereby realizing steering control of the boat based on steering wheel control commands.

[0076] This application provides a method for controlling the navigation of a boat, applied to a boat controller. The boat controller is communicatively connected to a remote controller and a boat propulsion system. The boat propulsion system includes a manual driving mode control system and a remote driving mode control system. In this method, a remote driving mode control system is added to the existing manual driving mode control system. When the boat propulsion system switches to the remote driving mode control system, the boat's power parameters are determined based on the throttle control signal and the switch control signal sent by the remote controller. The steering wheel control command is determined based on the rudder angle control signal. The remote driving mode control system performs thrust control on the boat based on the power parameters and steering control on the boat based on the steering wheel control signal. Thus, based on the existing manual driving mode, remote control of the boat is achieved using the remote controller. Therefore, this method can realize multiple navigation controls for the boat, thereby improving the convenience of navigation control.

[0077] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, the power parameters include the thruster's rotational speed percentage and thruster rotation direction; the power parameters of the vessel are determined using throttle control signals and switch control signals, and the thrust of the vessel is controlled based on these power parameters through a remote driving mode control system, including:

[0078] The percentage of the propeller speed of a boat is determined using throttle control signals;

[0079] The direction of the propeller's rotation is determined by using switch control signals;

[0080] The remote driving mode control system controls the thrust of the boat based on the speed percentage and direction of rotation.

[0081] In this embodiment, the power parameters include the thruster's rotational speed percentage and the thruster's rotation direction; the thruster's rotation direction includes forward or reverse rotation.

[0082] Specifically, the remote driving mode control system includes a thruster operating speed determination system; wherein, the thruster operating speed determination system includes a PWM to voltage module, a dual-machine control box, and a thruster; wherein, the PWM to voltage module is communicatively connected to the dual-machine control box, the dual-machine control box is communicatively connected to the thruster; and the boat controller is communicatively connected to the PWM to voltage module.

[0083] In a specific example, the process of determining the thruster's rotational speed percentage based on the thruster's operating speed determination system includes: after receiving the throttle control signal from the remote controller, the boat controller determines the corresponding PWM signal based on the throttle control signal and sends the PWM signal to the PWM-to-voltage module through the PWM output port; the PWM-to-voltage module determines the corresponding voltage value (0-5V) according to the pre-stored PWM-voltage mapping relationship and sends the determined voltage value to the dual-machine control box; the dual-machine control box determines the thruster's rotational speed percentage; where, rotational speed percentage = voltage value / 5V * 100. The dual-machine control box controls the thruster's operation according to the rotational speed percentage.

[0084] It should be noted that the remote driving mode control system also includes relays. In a specific example, the process of determining the thruster's direction of rotation includes: after receiving the switch control signal sent by the remote controller, the boat controller determines the corresponding high-level or low-level signal based on the switch control signal, and sends the high-level or low-level signal to the relay through the voltage output port, controlling the relay to open or close; the relay controls the thruster's forward or reverse rotation. Specifically, when the relay is open, the thruster rotates forward; when the relay is closed, the thruster rotates in reverse. The relay can be a GPIO interface relay; this embodiment does not limit the specific type of relay, as long as it can achieve the corresponding function.

[0085] As can be seen, the method of this embodiment can efficiently realize thrust control of the boat based on speed percentage and direction of rotation through a remote driving mode control system.

[0086] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, the steering wheel control command of the vessel is determined using the rudder angle control signal, and the vessel is steered based on the steering wheel control command through a remote driving mode control system, including:

[0087] The commanded rudder angle percentage is determined using the rudder angle control signal;

[0088] The rudder angle command value is determined based on the commanded rudder angle percentage and the vessel's maximum rudder angle value.

[0089] Obtain the estimated rudder angle of the vessel;

[0090] Determine the steering wheel control commands for the vessel based on the estimated rudder angle and the rudder angle command value;

[0091] The remote driving mode control system controls the steering of the boat based on steering wheel control commands.

[0092] It should be noted that the shore-based bridge and the mobile remote control terminal establish UDP (User Datagram Protocol) network communication and SBUS (Serial Communication Protocol) serial communication with the ship controller, respectively. Rotating the simulated steering wheel on the shore-based bridge or moving the simulated steering lever on the handheld remote control terminal will generate corresponding rudder angle control signals, which are real-time values ​​in SBUS protocol format. Both the shore-based bridge and the mobile remote control terminal can send rudder angle command values ​​within the range of "positive maximum to negative maximum"; correspondingly, the ship controller receives the rudder angle command values ​​sent by the remote controller.

[0093] Specifically, the ship controller acquires the rudder angle control signal sent by the remote controller, along with its minimum, median, and maximum values; and determines the commanded rudder angle percentage based on these values. For example, if the minimum value of the rudder angle control signal is 1050, the median value is 1500, and the maximum value is 1950, then the commanded rudder angle percentage is determined as follows:

[0094] Commanded rudder angle percentage = (rudder angle control signal - 1500) / (1950 - 1500) * 100; where the value range of the commanded rudder angle percentage is -100 to 100; -100 represents the maximum value of the left rudder, 0 represents the rudder angle is 0, and 100 represents the maximum value of the right rudder.

[0095] It should be noted that the rudder angle command value is related to the vessel's maximum rudder angle value; the vessel's maximum rudder angle value is limited by its mechanical structure. Specifically, the rudder angle command value is determined based on the commanded rudder angle percentage and the vessel's maximum rudder angle value: rudder angle command value δ d = Commanded rudder angle percentage / 100 * Maximum rudder angle value. Assuming the maximum rudder angle is 30°, then the commanded rudder angle value δ d = Command rudder angle percentage / 100 * 30.

[0096] After determining the rudder angle command value and the rudder angle estimate value, the difference between the rudder angle command value and the rudder angle estimate value is calculated. Based on the relationship between the difference value and the difference threshold, the rudder angle control signal is determined to control the steering wheel motor to turn left / right / stop, thereby realizing closed-loop control of any rudder angle.

[0097] Specifically, if the absolute value of the difference between the rudder angle command value and the rudder angle estimate is less than or equal to the first difference threshold, the steering wheel motor is controlled to stop; otherwise, if the absolute value of the difference between the rudder angle command value and the rudder angle estimate is greater than the first difference threshold, the steering wheel motor is controlled to turn; specifically, if the difference between the rudder angle command value and the rudder angle estimate is greater than the second difference threshold, the steering wheel motor is determined to turn right; if the difference between the rudder angle command value and the rudder angle estimate is less than the third difference threshold, the steering wheel motor is determined to turn left.

[0098] The first difference threshold is a fault tolerance value, which aims to reduce the motor switching frequency and improve the mechanical service life of the system. In this embodiment, the specific values ​​of the first difference threshold, the second difference threshold and the third difference threshold are not limited, and can be set according to actual needs.

[0099] In one specific implementation, the difference between the rudder angle command value and the rudder angle estimate value determines the rudder angle control signal as follows:

[0100]

[0101] In the motor control law above, when the absolute value of the error between the rudder angle command value and the rudder angle estimate is less than or equal to 1°, the steering wheel motor remains stationary; when the absolute value of the error between the rudder angle command value and the rudder angle estimate is greater than 1°, the steering wheel motor is turned on.

[0102] As can be seen, the method of this embodiment can efficiently determine steering wheel control commands and improve the efficiency of boat steering control.

[0103] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, obtaining the estimated rudder angle of the vessel includes:

[0104] Obtain the linear displacement value of the hydraulic pump extension rod of the boat's steering wheel;

[0105] Based on the preset mapping relationship between rudder angle and displacement value, determine the estimated rudder angle value corresponding to the linear displacement value.

[0106] In this embodiment, a linear displacement sensor is installed on the steering wheel of the boat. The slider of the linear displacement sensor is connected to the end of the hydraulic pump telescopic rod. The linear displacement sensor collects the linear displacement value of the hydraulic pump telescopic rod of the steering wheel and outputs the serial communication signal of the linear displacement value of the hydraulic pump telescopic rod to the boat controller in real time.

[0107] The estimated rudder angle is the current rudder angle value of the vessel. In this embodiment, linear displacement values ​​corresponding to multiple rudder angle values ​​are collected in advance, and a corresponding rudder angle-displacement value mapping relationship is constructed; the rudder angle-displacement value mapping relationship table or mapping relationship curve is not limited in this embodiment.

[0108] After acquiring the current linear displacement value, interpolation calculation is performed based on the pre-built rudder angle-displacement value mapping relationship to determine the rudder angle value corresponding to the current linear displacement value, that is, to determine the estimated rudder angle value corresponding to the linear displacement value.

[0109] As can be seen, the method of this embodiment can efficiently and conveniently determine the rudder angle estimate.

[0110] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, when the boat's power system switches to the remote driving mode control system, acquiring the navigation control signal sent by the remote controller includes:

[0111] When the ship's power system switches to the remote driving mode control system, real-time video of the surrounding area of ​​the ship is acquired by a camera pre-installed on the ship and sent to the remote controller so that the operator can operate the remote controller based on the real-time video and determine the corresponding navigation control signal.

[0112] Receive navigation control signals sent by the remote controller.

[0113] In this embodiment, cameras are pre-installed on the boat; specifically, one camera can be installed at a preset location on the boat to collect real-time video of the area around the boat, or corresponding cameras can be installed at multiple preset locations on the boat to collect real-time video of the area around the boat.

[0114] The camera captures real-time video, which is then sent to a remote controller. Upon receiving the video, the remote controller displays it on a screen, allowing operators to simulate being in the boat's cockpit and remotely control the boat's navigation based on the displayed video.

[0115] Specifically, operators manipulate the simulated steering wheel and throttle lever on the shore-based bridge using real-time video. The shore-based bridge acquires the corresponding steering wheel and throttle operation parameters, determines the navigation control signal, and sends it to the vessel controller. The vessel controller uses the throttle control signal and switch control signal to determine the vessel's power parameters, and uses the rudder angle control signal to determine the vessel's steering wheel control command. The remote driving mode control system then controls the vessel's thrust based on the power parameters and controls the vessel's steering based on the steering wheel control command, thereby achieving remote navigation control of the vessel.

[0116] It should be noted that the camera can transmit real-time video to the shore-based bridge via a mobile communication network, so that the shore-based bridge can conveniently and promptly obtain real-time video and perform remote navigation control in a timely manner.

[0117] As can be seen, the method according to this embodiment can improve the convenience of controlling the navigation of boats.

[0118] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, the method further includes:

[0119] In response to a switching command, the vessel's propulsion system is switched between a remote driving mode control system and a manual driving mode control system.

[0120] Figure 3 This is a schematic diagram of a switching circuit provided in an embodiment of this application. Figure 3 As shown, in manual mode, the control circuit of the control system is consistent with the original ship; in neutral mode, all circuits are disconnected, and the ship's power system cannot be controlled manually or remotely, ensuring navigation safety; in automatic mode, the control system is connected to the control circuit, and the ship can be remotely controlled using the remote controller and the ship controller.

[0121] In this embodiment, the boat's power system includes a manual driving mode control system and a remote driving mode control system. The boat's navigation control system is equipped with a switching device, which can be a three-phase multi-level transfer switch, i.e., a three-phase switch for "autonomous / neutral / manual". The operator can manually control the three-phase multi-level transfer switch to switch different circuit groups by manually rotating the physical knob, or send a switching command to the boat controller through the remote controller. The boat controller controls the three-phase multi-level transfer switch to switch circuit groups based on the switching command, and safely and reliably switches the corresponding control mode.

[0122] The method described in this embodiment can efficiently and conveniently switch between different navigation control modes, improving the ease of navigation control for vessels.

[0123] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, to facilitate the driver's rapid takeover of the steering wheel and throttle lever in emergency situations, switching the boat's power system to a manual driving mode control system, an alternative route switching scheme is designed. The boat navigation control method provided in this embodiment also includes:

[0124] When the steering wheel torque is detected to be greater than or equal to the preset torque threshold, the boat's power system is switched to manual driving mode control system.

[0125] In this embodiment, a torque sensor is installed on the shaft system below the steering wheel of the boat. The torque sensor collects the torque data of the steering wheel shaft system in real time to obtain the steering wheel torque, and sends the steering wheel torque to the boat controller in real time. After obtaining the steering wheel torque, the boat controller compares the steering wheel torque with a preset torque threshold. If the steering wheel torque is greater than or equal to the preset torque threshold, it means that the driver is manually operating the steering wheel, that is, it is necessary to switch the remote driving mode control system to the manual driving mode control system; otherwise, the remote driving mode control system is maintained.

[0126] In specific implementations, such as Figure 4 The diagram shows another switching circuit structure. Based on the switching circuit described above, a set of relay I / O modules is added. Under the control mode of high and low level input, the relay I / O modules accept the on / off management of the device control terminal to realize the automatic connection / disconnection of the circuit.

[0127] When the three-phase multi-level transfer switch knob is switched to the "automatic" position, the remote driving mode control system (line 3) is connected and the manual driving mode control system (line 2) is disconnected. Relay I / O modules 1 and 2 are disconnected, while relay I / O modules 3, 4, and 5 are connected. At this time, the boat controller controls the thrust of the boat based on the power parameters through the remote driving mode control system, that is, controls the operation of the propeller. It also controls the steering of the boat based on the steering wheel control commands through the remote driving mode control system, that is, controls the operation of the steering wheel motor.

[0128] Specifically, a preset torque threshold is stored in the boat controller. When the steering wheel torque is received from the torque sensor, if the steering wheel torque is greater than or equal to the preset torque threshold, a corresponding high or low level is output. Under the control of the high or low level output by the boat controller, the remote driving mode control system (line 3) is automatically disconnected, and the manual driving mode control system (line 2) is automatically connected after a preset time. The shorter the preset time, the faster the switching speed. The preset time can be 0.05 seconds, and this embodiment does not limit it. If the steering wheel torque is less than or equal to the preset torque threshold, the remote driving mode control system (line 3) remains connected, and the manual driving mode control system (line 2) remains disconnected.

[0129] In other words, if the driver wants to take control of the boat's steering wheel and throttle, he can forcefully turn the steering wheel without manually rotating the physical knob to change gears. At this time, the boat controller will detect the abnormal steering wheel torque and automatically switch the remote driving mode control system (line 3) to the manual driving mode control system (line 2), thus achieving a fast and reliable switch from remote driving mode to manual driving mode.

[0130] It should be noted that when switching from the manual driving mode control system to the remote driving mode control system, the driver needs to manually press the reset button, which will disconnect the boat controller's control relay I / O module. Figure 4 The manual driving mode control system (line 2) in the middle is reconnected. Figure 4 The remote driving mode control system (line 3) in the middle.

[0131] According to the method of this embodiment, the navigation control mode can be automatically switched based on the steering wheel torque, which can further improve the convenience of navigation control.

[0132] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0133] Figure 5The diagram shown is a structural schematic of a navigation control device for a boat provided in an embodiment of this application. Figure 5 As shown, the navigation control device for the boat in this embodiment is applied to the boat controller, which is communicatively connected to both a remote controller and the boat propulsion system. The boat propulsion system includes a manual driving mode control system and a remote driving mode control system; it includes a remote signal acquisition module 510, a thrust control module 520, and a steering control module 530; wherein,

[0134] The remote signal acquisition module 510 is used to acquire navigation control signals sent by the remote controller when the ship's power system switches to the remote driving mode control system; the navigation control signals include throttle control signals, switch control signals and rudder angle control signals;

[0135] The thrust control module 520 is used to determine the power parameters of the boat using throttle control signals and switch control signals, and to control the thrust of the boat based on the power parameters through a remote driving mode control system.

[0136] The steering control module 530 is used to determine the steering wheel control command of the vessel using the rudder angle control signal, and to perform steering control of the vessel based on the steering wheel control command through the remote driving mode control system.

[0137] The navigation control device for a boat provided in this application embodiment has the same beneficial effects as the navigation control method for a boat described above.

[0138] In one specific implementation, the power parameters include the thruster's rotational speed percentage and thruster rotation direction; the thrust control module includes:

[0139] The first data determination submodule is used to determine the percentage of the propeller speed of the boat using the throttle control signal;

[0140] The rotation direction determination submodule is used to determine the rotation direction of the propeller of the boat using the switch control signal;

[0141] The thrust control submodule is used to control the thrust of the vessel based on the speed percentage and the direction of rotation through the remote driving mode control system.

[0142] In one specific implementation, the steering control module includes:

[0143] The third data determination submodule is used to determine the commanded rudder angle percentage using the rudder angle control signal;

[0144] The fourth data determination submodule is used to determine the rudder angle command value based on the commanded rudder angle percentage and the maximum rudder angle value of the vessel;

[0145] The fifth data determination submodule is used to obtain the estimated rudder angle of the vessel;

[0146] The instruction determination submodule is used to determine the steering wheel control command of the vessel based on the rudder angle estimation value and the rudder angle command value.

[0147] The steering control submodule is used to control the steering of the vessel based on the steering wheel control commands through the remote driving mode control system.

[0148] In one specific implementation, the fifth data determination submodule includes:

[0149] A linear displacement value acquisition unit is used to acquire the linear displacement value of the hydraulic pump extension rod of the steering wheel of the boat.

[0150] The rudder angle estimation unit is used to determine the rudder angle estimation value corresponding to the linear displacement value according to the preset rudder angle-displacement value mapping relationship.

[0151] In one specific implementation, the remote signal acquisition module includes:

[0152] The navigation control signal determination submodule is used to acquire real-time video of the surrounding area of ​​the ship through a camera pre-installed on the ship when the ship's power system switches to the remote driving mode control system, and send the real-time video to the remote controller so that the operator can operate the remote controller based on the real-time video to determine the corresponding navigation control signal.

[0153] A control signal receiving submodule is used to receive the navigation control signals sent by the remote controller.

[0154] In one specific embodiment, a navigation control device for a vessel further includes:

[0155] The switching command response module is used to respond to a switching command and switch the vessel's power system to a remote driving mode control system or a manual driving mode control system according to the switching command.

[0156] In one specific embodiment, a navigation control device for a vessel further includes:

[0157] The system switching module is used to switch the boat's power system to manual driving mode control system when the steering wheel torque is detected to be greater than or equal to a preset torque threshold.

[0158] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0159] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0160] This application also provides a navigation control system for a vessel, such as... Figure 1 As shown, the navigation control system 100 of the vessel includes a vessel controller 110, a remote controller 120, a vessel propulsion system 130, and a switching device 140; the remote controller 120 includes a shore-based bridge and / or a mobile control terminal; the vessel propulsion system 130 includes a manual driving mode control system 131 and a remote driving mode control system 132; the vessel controller 110 is communicatively connected to the remote controller 120 and the vessel propulsion system 130 respectively; the switching device 140 is connected to the manual driving mode control system 131 and the remote driving mode control system 132 respectively.

[0161] Switching device 140 is used to switch lines to switch between manual driving mode control system 131 and remote driving mode control system 132;

[0162] The boat controller 110 is used to acquire navigation control signals sent by the remote controller 120 when the boat power system 130 switches to the remote driving mode control system 132; the navigation control signals include throttle control signals, switch control signals and rudder angle control signals; the throttle control signals and switch control signals are used to determine the boat's power parameters, and the rudder angle control signals are used to determine the boat's steering wheel control commands;

[0163] The remote driving mode control system 120 is used to control the thrust of the boat based on power parameters and to control the steering of the boat based on steering wheel control commands.

[0164] Figure 6 This is a schematic diagram illustrating the establishment of a communication link between a boat controller and a remote controller, as provided in an embodiment of this application. Figure 6As shown, the remote controller includes a shore-based bridge and a mobile control terminal. In addition to the original dual-machine control box, thruster, steering wheel, hydraulic pump and other components, the communication link also includes a shore-based bridge, mobile control terminal, camera, 4G / 5G router, switch, boat controller, steering wheel motor, linear displacement sensor, voltage output module, circuit switch control module and other components.

[0165] The shore-based bridge establishes a local area network (LAN) with the ship's 4G / 5G router 2 via 4G / 5G router 1, based on mobile operator traffic, to establish a communication connection between the shore-based bridge and the ship's controller; the mobile control terminal establishes a communication connection with the ship's controller within line of sight.

[0166] The process of thrust control for a vessel based on a manual driving mode control system includes: based on the change in the rotation angle of the throttle handle, a 0-5V analog voltage signal is output to the dual-machine control box through a one-way angle-to-voltage conversion module, and the dual-machine control box determines the speed percentage of the stern electric outboard motor (thrust); a mechanical relay is used to control the opening / closing of the circuit, and the relay is controlled to open or close according to a one-way switch signal, and the relay controls the forward or reverse rotation of the thruster; when the relay is open, the thruster is controlled to rotate forward, and when the relay is closed, the thruster is controlled to rotate in reverse.

[0167] The process of steering a boat based on the manual driving mode control system includes: the steering wheel drives the hydraulic lever and cable, the cable drives the hydraulic cylinder at the stern, the telescopic shaft associated with the hydraulic lever drives the twin-engine linkage, and the twin-engine linkage drives the two electric outboard motors (thrusters) to rotate simultaneously.

[0168] The process of thrust control for a boat based on a remote driving mode control system includes: The simulated throttle handle outputs one throttle control signal (0-5V analog voltage signal) and one switch control signal. The boat controller determines the corresponding PWM signal based on the throttle control signal and sends it to the PWM-to-voltage module through the PWM output port. The PWM-to-voltage module determines the corresponding voltage value (0-5V) based on a pre-stored PWM-voltage mapping relationship and sends the determined voltage value to the dual-motor control box. The dual-motor control box controls the speed (percentage of speed) of the stern electric outboard motor (thruster). The boat controller determines the corresponding high-level or low-level signal based on the switch control signal and sends it to a relay through the voltage output port to control the relay to open or close. The relay controls the forward or reverse rotation of the thruster.

[0169] The process of steering control of a boat based on a remote driving mode control system includes: installing a steering wheel motor under the steering wheel of the boat; the steering wheel motor supporting serial communication; the sleeve of the steering wheel motor being connected to the steering wheel with screws; the boat controller sending steering wheel control commands to the steering wheel motor, and controlling the left turn, right turn, or stop of the steering wheel of the boat by controlling the left turn, right turn, or stop of the sleeve inside the steering wheel motor, thereby realizing steering control of the boat based on steering wheel control commands.

[0170] This application provides a method for controlling the navigation of a boat, applied to a boat controller. The boat controller is communicatively connected to a remote controller and a boat propulsion system. The boat propulsion system includes a manual driving mode control system and a remote driving mode control system. In this method, a remote driving mode control system is added to the existing manual driving mode control system. When the boat propulsion system switches to the remote driving mode control system, the boat's power parameters are determined based on the throttle control signal and the switch control signal sent by the remote controller. The steering wheel control command is determined based on the rudder angle control signal. The remote driving mode control system performs thrust control on the boat based on the power parameters and steering control on the boat based on the steering wheel control signal. Thus, based on the existing manual driving mode, remote control of the boat is achieved using the remote controller. Therefore, this method can realize multiple navigation controls for the boat, thereby improving the convenience of navigation control.

[0171] Figure 7 This is a schematic diagram of a boat controller provided in an embodiment of this application. Figure 7 As shown, the boat controller 700 of this embodiment includes a memory 701, a processor 702, and a computer program 703 stored in the memory 701 and executable on the processor 702; when the processor 702 executes the computer program 703, it implements the steps* of the above-described boat navigation control method embodiments; or when the processor 702 executes the computer program 703, it implements the functions of each module / unit in the above-described device embodiments.

[0172] For example, computer program 703 can be divided into one or more modules / units, one or more of which are stored in memory 701 and executed by processor 702 to implement the method of the embodiments of this application. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of computer program 703 in boat controller 700. For example, computer program 703 can be divided into a remote signal acquisition module, a thrust control module, and a steering control module, with the specific functions of each module as follows:

[0173] The remote signal acquisition module is used to acquire navigation control signals sent by the remote controller when the vessel's power system switches to the remote driving mode control system; the navigation control signals include throttle control signals, switch control signals, and rudder angle control signals.

[0174] The thrust control module is used to determine the power parameters of the vessel using the throttle control signal and the switch control signal, and to perform thrust control on the vessel based on the power parameters through the remote driving mode control system.

[0175] The steering control module is used to determine the steering wheel control command of the vessel using the rudder angle control signal, and to perform steering control on the vessel based on the steering wheel control command through the remote driving mode control system.

[0176] The boat controller 700 may include, but is not limited to, a memory 701 and a processor 702. Those skilled in the art will understand that... Figure 7 This is merely an example of a boat controller and does not constitute a limitation on the boat controller. It may include more or fewer components than shown, or combine certain components, or different components. For example, the boat controller may also include input / output devices, network access devices, buses, etc.; wherein, input / output devices may include cameras, audio acquisition / playback devices, displays, etc.; network access devices may include communication modules for wireless communication with external devices.

[0177] In applications, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0178] In applications, memory can be an internal storage unit of a terminal device, such as its hard drive or RAM; it can also be an external storage device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card; or it can include both internal and external storage units. Memory is used to store operating systems, applications, boot loaders, data, and other programs, such as computer program code. Memory can also be used to temporarily store data that has been output or will be output.

[0179] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps in the above-described method embodiments.

[0180] The computer-readable storage medium provided in this application embodiment has the same beneficial effects as the above-described method for controlling the navigation of a boat.

[0181] This application implements all or part of the processes in the methods of the above embodiments, which can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, such as a USB flash drive, a portable hard drive, a magnetic disk, or an optical disk.

[0182] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0183] Those skilled in the art will recognize that the device and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0184] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interface, or the device may be indirectly coupled or communicated, and may be electrical, mechanical, or other forms.

[0185] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for controlling the navigation of a vessel, characterized in that, The method is applied to a boat controller, which is communicatively connected to a remote controller and a boat propulsion system; the boat propulsion system includes a manual driving mode control system and a remote driving mode control system; the method includes: When the vessel's power system switches to the remote driving mode control system, the navigation control signal sent by the remote controller is acquired; the navigation control signal includes throttle control signal, switch control signal and rudder angle control signal; The power parameters of the vessel are determined using the throttle control signal and the switch control signal, and the thrust of the vessel is controlled by the remote driving mode control system based on the power parameters. The steering wheel control command of the vessel is determined using the rudder angle control signal, and the vessel is steered based on the steering wheel control command through the remote driving mode control system. Determining the steering wheel control command includes: determining the commanded rudder angle percentage using the rudder angle control signal; determining the rudder angle command value based on the commanded rudder angle percentage and the vessel's maximum rudder angle value; rudder angle command value = commanded rudder angle percentage / 100 * maximum rudder angle value; obtaining the linear displacement value of the hydraulic pump extension rod of the vessel's steering wheel; determining the estimated rudder angle value corresponding to the linear displacement value based on a preset rudder angle-displacement value mapping relationship; and determining the vessel's steering wheel control command based on the estimated rudder angle value and the rudder angle command value.

2. The method according to claim 1, characterized in that, The power parameters include the thruster's rotational speed percentage and thruster direction of rotation; the process of determining the vessel's power parameters using the throttle control signal and the switch control signal, and then controlling the vessel's thrust based on these power parameters through the remote driving mode control system, includes: The percentage of the propeller's rotational speed is determined using the throttle control signal. The direction of rotation of the propeller of the vessel is determined by the switch control signal; The remote driving mode control system controls the thrust of the vessel based on the speed percentage and the direction of operation.

3. The method according to claim 1, characterized in that, When the vessel's power system switches to a remote driving mode control system, acquiring the navigation control signal sent by the remote controller includes: When the vessel's power system switches to the remote driving mode control system, a camera pre-installed on the vessel acquires real-time video of the surrounding area and sends the real-time video to the remote controller, so that the operator can operate the remote controller based on the real-time video and determine the corresponding navigation control signal. Receive the navigation control signal sent by the remote controller.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: In response to a switching command, the vessel's power system is switched to either a remote driving mode control system or a manual driving mode control system.

5. The method according to claim 4, characterized in that, The method further includes: When the steering wheel torque is detected to be greater than or equal to a preset torque threshold, the boat's power system is switched to manual driving mode control system.

6. A navigation control device for a boat, characterized in that, An application for a boat controller, wherein the boat controller is communicatively connected to a remote controller and a boat propulsion system; the boat propulsion system includes a manual driving mode control system and a remote driving mode control system; the device includes: The remote signal acquisition module is used to acquire navigation control signals sent by the remote controller when the vessel's power system switches to the remote driving mode control system; the navigation control signals include throttle control signals, switch control signals, and rudder angle control signals. The thrust control module is used to determine the power parameters of the vessel using the throttle control signal and the switch control signal, and to perform thrust control on the vessel based on the power parameters through the remote driving mode control system. A steering control module is used to determine the steering wheel control command of the vessel using the rudder angle control signal, and to perform steering control on the vessel based on the steering wheel control command through the remote driving mode control system; the steering control module includes: The third data determination submodule is used to determine the commanded rudder angle percentage using the rudder angle control signal; The fourth data determination submodule is used to determine the rudder angle command value based on the commanded rudder angle percentage and the maximum rudder angle value of the vessel; rudder angle command value = commanded rudder angle percentage / 100 * maximum rudder angle value; The fifth data determination submodule is used to obtain the estimated rudder angle value of the vessel; the fifth data determination submodule includes a linear displacement value acquisition unit, used to obtain the linear displacement value of the hydraulic pump extension rod of the steering wheel of the vessel; and a rudder angle estimation value determination unit, used to determine the estimated rudder angle value corresponding to the linear displacement value according to a preset rudder angle-displacement value mapping relationship. The instruction determination submodule is used to determine the steering wheel control command of the vessel based on the rudder angle estimation value and the rudder angle command value. The steering control submodule is used to control the steering of the vessel based on the steering wheel control commands through the remote driving mode control system.

7. A navigation control system for a vessel, characterized in that, The vessel's navigation control system includes a vessel controller, a remote controller, a vessel propulsion system, and a switching device; the remote controller includes a shore-based bridge and / or a mobile control terminal; the vessel propulsion system includes a manual driving mode control system and a remote driving mode control system; the vessel controller is communicatively connected to both the remote controller and the vessel propulsion system; the switching device is connected to both the manual driving mode control system and the remote driving mode control system. The switching device is used to switch lines to switch between the manual driving mode control system and the remote driving mode control system. The boat controller is used to acquire navigation control signals sent by the remote controller when the boat's power system switches to the remote driving mode control system; the navigation control signals include throttle control signals, switch control signals and rudder angle control signals; the throttle control signals and the switch control signals are used to determine the boat's power parameters, and the rudder angle control signals are used to determine the boat's steering wheel control commands; Determining the steering wheel control command includes: using the rudder angle control signal to determine the commanded rudder angle percentage; and determining the rudder angle command value based on the commanded rudder angle percentage and the maximum rudder angle value of the vessel. Rudder angle command value = commanded rudder angle percentage / 100 * maximum rudder angle value; obtain the linear displacement value of the hydraulic pump extension rod of the steering wheel of the vessel; determine the estimated rudder angle value corresponding to the linear displacement value according to the preset rudder angle-displacement value mapping relationship; determine the steering wheel control command of the vessel according to the estimated rudder angle value and the rudder angle command value; The remote driving mode control system is used to control the thrust of the vessel based on the power parameters and to control the steering of the vessel based on the steering wheel control commands.

8. A boat controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 5.

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