Ship crawling mode control method and device, electronic equipment and medium

Abstract

The invention provides a control method and device for a ship crawling mode, electronic equipment and a medium, and relates to the field of ship control, and the method comprises the steps: obtaining a starting instruction of the crawling mode of a to-be-processed ship; when the instruction is the starting instruction of the low-speed cruise mode, if it is determined that the current ship speed of the to-be-processed ship at the current moment meets the configured preset ship speed condition, a first speed is determined, and the to-be-processed ship is controlled to enter the low-speed cruise mode at the first speed; and when the instruction is the starting instruction of the constant-speed crawling mode, if it is determined that the current ship speed of the to-be-processed ship at the current moment meets the configured preset ship speed condition and the environment safety data meets the preset environment safety condition, a second speed is determined, and the to-be-processed ship is controlled to enter the constant-speed crawling mode at the second speed. Control of the crawling mode provided by the method can intelligently adapt to various complex navigation scenes, the operation burden of a driver is effectively relieved, and meanwhile high safety and operation stability of ship traveling are improved.

Description

Technical Field

[0001] The present application relates to the field of ship control, and in particular, to a control method, device, electronic equipment and medium for a ship creeping mode. Background Art

[0002] In scenarios where ships need to maintain low speeds, such as when berthing, queuing for locks, or sailing in narrow waterways, traditional ship propulsion control systems often have difficulty accurately controlling ships' low-speed navigation. Especially under complex water flow and wind conditions, the speed of the ship is easily affected by the external environment, making it difficult for the ship to maintain stable low-speed navigation, thereby increasing the complexity of operations and the risk of accidents. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a control method, device, electronic device and medium for a ship creeping mode, so as to solve the above-mentioned problems existing in the prior art and control the ship to maintain stable low-speed navigation.

[0004] In a first aspect, a method for controlling a creeping mode of a ship is provided, and the method may include:

[0005] Obtaining a start instruction of a creeping mode of the ship to be processed; the creeping mode is a low-speed cruising mode or a constant-speed creeping mode;

[0006] When the start instruction is a start instruction for the low-speed cruise mode, if it is determined that the current ship speed of the to-be-processed ship at the current moment satisfies the configured preset ship speed condition, the current ship speed is adjusted to obtain a first speed, and the to-be-processed ship is controlled to enter the low-speed cruise mode at the first speed;

[0007] When the start instruction is the start instruction of the constant speed creeping mode, if it is detected that there is a preceding ship in front of the ship to be processed, it is determined that the current ship speed of the ship to be processed at the current moment meets the configured preset ship speed condition, and after the environmental safety data meets the preset environmental safety condition, the current ship speed is adjusted to obtain a second speed, and the ship to be processed is controlled to enter the constant speed creeping mode at the second speed.

[0008] In a possible implementation, determining the first speed of the ship to be processed includes:

[0009] The current ship speed of the ship to be processed is adjusted according to the configured first control gain to obtain the first speed.

[0010] In a possible implementation, determining the second speed of the ship to be processed includes:

[0011] Get the current water flow speed, current wind speed and the speed of the ship ahead at the current moment;

[0012] Determining a correction speed according to the current water flow speed and the current wind speed;

[0013] The speed algorithm is used to process the speed of the ship ahead, the configured second control gain, the environmental correction factor and the corrected speed to determine the motor speed;

[0014] The second speed is determined according to the motor speed.

[0015] In a possible implementation, the rotation speed algorithm is:

[0016] ω motor2 =k 2 ·(v front -λ·Δv env )

[0017] Among them, v front is the speed of the ship ahead, k 2 is the second control gain, λ is the environmental correction coefficient, Δv env The corrected speed, ω, is determined by the current water velocity and the current wind speed. motor2 is the motor speed.

[0018] In a possible implementation, the correction algorithm for determining the correction speed is:

[0019] Δv env =α·v current +β·v wind ·cos(θ wind )

[0020] Where Δv env is the correction speed, v current is the current water velocity, v wind is the current wind speed, θ wind is the wind direction angle, α and β are the first correction coefficient and the second correction coefficient respectively.

[0021] In a possible implementation, determining the second speed of the ship to be processed includes:

[0022] Using a trained deep reinforcement learning network, the current ship speed, the current water flow speed, the current wind speed, the distance to the preceding ship, and the current wind direction angle are processed to determine the motor speed;

[0023] The second speed is determined according to the motor speed.

[0024] In a possible implementation, the preset environmental safety condition includes a safety distance;

[0025] The process of determining the safe distance includes:

[0026] Processing the reaction time and current ship speed of the ship to be processed to determine the current reaction distance;

[0027] Processing the current ship speed and current deceleration of the ship to be processed to determine the current braking distance;

[0028] The safety distance is determined based on the current reaction distance and the current braking distance.

[0029] In a second aspect, a control device for a creeping mode of a ship is provided, and the device may include:

[0030] An acquisition unit, used for acquiring a start instruction of a creeping mode of the ship to be processed; the creeping mode is a low-speed cruising mode or a constant-speed creeping mode;

[0031] an adjusting unit, configured to adjust the current ship speed to obtain a first speed if it is determined that the current ship speed of the ship to be processed at the current moment satisfies a configured preset ship speed condition when the start instruction is a start instruction of the low-speed cruise mode;

[0032] A control unit, used for controlling the ship to be processed to enter the low-speed cruising mode at the first speed;

[0033] The adjustment unit is further configured to, when the start instruction is the start instruction of the constant speed creeping mode, if it is detected that there is a preceding ship ahead of the ship to be processed, determine that the current ship speed of the ship to be processed at the current moment meets the configured preset ship speed condition, and the environmental safety data meets the preset environmental safety condition, and then adjust the current ship speed to obtain a second speed;

[0034] The control unit is also used to control the ship to be processed to enter the constant speed creeping mode at the second speed.

[0035] In a third aspect, an electronic device is provided, the electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0036] Memory, used to store computer programs;

[0037] The processor is used to implement any method step described in the first aspect when executing the program stored in the memory.

[0038] In a fourth aspect, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any method step described in the first aspect is implemented.

[0039] The present application provides a control method for a creeping mode of a ship, the method comprising: obtaining a start instruction of a creeping mode of a ship to be processed; when the start instruction is a start instruction of a low-speed cruise mode, if it is determined that the current ship speed of the ship to be processed at the current moment meets the configured preset ship speed condition, the current ship speed is adjusted to obtain a first speed, and the ship to be processed is controlled to enter a low-speed cruise mode at the first speed; when the start instruction is a start instruction of a constant-speed creeping mode, if it is detected that there is a ship ahead of the ship to be processed, it is determined that the current ship speed of the ship to be processed at the current moment meets the configured preset ship speed condition, and after the environmental safety data meets the preset environmental safety condition, the current ship speed is adjusted to obtain a second speed, and the ship to be processed is controlled to enter a constant-speed creeping mode at the second speed. The control of the creeping mode provided by the method can intelligently adapt to various complex navigation scenarios, effectively reduce the operating burden of the driver, and at the same time improve the safety and operational stability of the ship's travel. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 A system architecture diagram of a control method for a ship creeping mode provided in an embodiment of the present application;

[0042] Figure 2 A schematic flow chart of a method for controlling a creeping mode of a ship provided in an embodiment of the present application;

[0043] Figure 3 A schematic diagram of the structure of a control device for a creeping mode of a ship provided in an embodiment of the present application;

[0044] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] The control method, device, electronic device and medium of the creeping mode of a ship provided in the embodiments of the present application can be applied to Figure 1 In the system architecture shown in Figure 1 As shown, the system may include: a server and a ship detection system. The server may be a physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms. The ship detection system and the server may be directly or indirectly connected via wired or wireless communication, which is not limited in this application.

[0047] The ship detection system is used to obtain a start instruction of the creeping mode of the ship to be processed, and send the start instruction of the creeping mode of the ship to be processed to the server;

[0048] The server is used to obtain the start instruction of the creeping mode of the ship to be processed, so as to execute a control method of the creeping mode of the ship provided in the present application.

[0049] The ship detection system is also used to obtain the speed and distance of the ship ahead through the AIS system in the system according to the acquisition instructions sent by the server; obtain the water speed through the current meter; and obtain the wind speed and wind direction angle through the wind speed and direction meter.

[0050] It should be noted that the present application also includes a propulsion system for obtaining the speed of the ship to be processed and propelling the ship to be processed to sail at a certain speed.

[0051] In situations where ships need to maintain slow speeds, such as when berthing, queuing for locks, or sailing in narrow waterways, traditional propulsion systems often have difficulty accurately controlling ships' slow speeds. Especially under complex water flow and wind conditions, the speed of a ship is easily affected by the external environment, making it difficult for the ship to maintain stable slow speeds, thereby increasing operational complexity and the risk of accidents.

[0052] In the prior art, the control of ships at low speed mainly relies on the manual operation of the driver, and cannot achieve automatic and precise control. This operation mode has the following defects:

[0053] 1. High operational complexity: The driver needs to control the ship speed and rudder angle at the same time, which can easily lead to operational errors in narrow waterways or complex environments.

[0054] 2. Poor environmental adaptability: Traditional systems cannot automatically adjust propulsion according to changes in external environment such as water flow and wind speed, resulting in unstable ship speed when sailing at low speed.

[0055] 3. Lack of automated control: Existing propulsion systems are unable to achieve automated low-speed control based on multi-sensor input, which places a heavy burden on drivers, especially in complex scenarios.

[0056] 4. Inefficient energy management: When sailing at low speeds, traditional systems are unable to optimize the energy consumption of the propulsion system, which may lead to unnecessary energy consumption.

[0057] Therefore, the present application provides a control method for the creeping mode of a ship, which is used to solve the above-mentioned problems existing in the prior art and can control the ship to maintain stable low-speed navigation.

[0058] The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application may be combined with each other if there is no conflict.

[0059] Figure 2 The following is a flow chart of a method for controlling a creeping mode of a ship provided in an embodiment of the present application. Figure 2 As shown, the method may include:

[0060] Step S210: obtaining a start instruction of the creeping mode of the ship to be processed.

[0061] Among them, the creeping mode is a low-speed cruising mode or a constant-speed creeping mode.

[0062] The low-speed cruise mode is used to keep the ship sailing stably at a low speed and is suitable for berthing and unberthing scenarios.

[0063] The constant speed creeping mode maintains a relatively constant speed at a low speed. It is suitable for queuing to pass through locks or sailing in narrow waterways. It requires comprehensive consideration of the external environment and the dynamics of the vessels in front and behind.

[0064] Specifically, the creep mode start command is initiated in the following two ways:

[0065] Method 1: The driver triggers the physical button for creep mode located next to the thruster on the console.

[0066] The green round button is the start button for the creep mode. When the driver determines that the ship needs to enter the creep mode, it can be turned on with one button.

[0067] After turning on the creep mode, you can also issue a command to turn off the creep mode:

[0068] The red button is the forced exit button for creep mode. This button has level one authority. After the driver triggers this button, the creep mode shutdown command is initiated, and the relevant control modules of the creep mode completely lose control of the propulsion system.

[0069] Method 2: When the propulsion system enters the slow forward and slow reverse gears (for ships without these two gears, the gears are advance one and advance two), when the server autonomously determines that the creeping mode can be turned on, it generates a command to recommend turning on the creeping mode. This command can be indicated by controlling the green button on the control console to flash, which means that it is recommended to turn on the creeping mode. At this time, the driver can choose whether to trigger the button to turn on the creeping mode or not.

[0070] In some embodiments, the server recommends that a ship enter the creeping mode by determining that the distance of the ship to be processed from the endpoint or the distance from the ship in front meets a distance threshold, the relationship between the speed of the ship in front and the current speed of the ship to be processed meets a safe speed condition, and the speed of the ship to be processed meets a preset speed condition, thereby recommending that the ship to be processed enter the creeping mode.

[0071] Step S220: Determine whether the ship to be processed can enter the creeping mode according to the current ship speed and environmental safety data of the ship to be processed.

[0072] Specifically, when the start command is a start command of the low-speed cruise mode, it is determined whether the current ship speed of the ship to be processed at the current moment meets the configured preset ship speed condition:

[0073] A. If it is determined that the current ship speed of the ship to be processed at the current moment meets the configured preset ship speed condition, the current ship speed is adjusted to obtain the first speed, and the ship to be processed is controlled to enter the low-speed cruising mode at the first speed. If it is determined that the current ship speed of the ship to be processed at the current moment does not meet the configured preset ship speed condition, a prompt message is sent that the ship to be processed cannot enter the low-speed cruising mode.

[0074] The preset ship speed condition is a set ship speed range, and the critical value of the ship speed range includes a first speed and a second speed, wherein the first speed is less than the second speed;

[0075] When v low ≤v ship ≤v high , it indicates that the current ship speed meets the configured preset ship speed condition; otherwise, the current ship speed does not meet the configured preset ship speed condition.

[0076] Among them, v low is the first speed, v high is the second speed, v ship is the current ship speed.

[0077] Afterwards, the current ship speed is adjusted according to the configured first control gain to obtain the first speed.

[0078] The product of the first control gain and the current rotation speed corresponding to the current ship speed is calculated to obtain the first rotation speed, thereby determining the first speed.

[0079] The process can be expressed as follows:

[0080] ω motor1 =k 1 ·v ship ; Wherein, the first speed ω motor1 , k 1 is the first control gain.

[0081] B. When the start command is a start command for the constant speed creeping mode, if it is detected that there is a preceding ship ahead of the ship to be processed, it is determined that the current ship speed of the ship to be processed at the current moment meets the configured preset ship speed condition, and the environmental safety data meets the preset environmental safety condition, the current ship speed is adjusted to obtain a second speed, and the ship to be processed is controlled to enter the constant speed creeping mode at the second speed. If it is determined that the current ship speed of the ship to be processed at the current moment does not meet the preset ship speed condition and / or the environmental safety data does not meet the preset environmental safety condition, a prompt message is sent that the ship to be processed cannot enter the constant speed creeping mode.

[0082] In some embodiments, after obtaining one or more types of collected data, including the speed of the preceding ship and the distance to the preceding ship collected by the AIS system, the water speed obtained by the current meter, and the wind speed and wind direction angle obtained by the anemometer, in order to reduce the impact of instantaneous fluctuations of the sensor data, the Kalman filter algorithm is used to filter the same type of collected data:

[0083]

[0084] in: is the estimated value after filtering. k is the collected data at the current moment. k is the Kalman gain, calculated from the a priori estimated error covariance and the measurement noise covariance.

[0085] It should be noted that the process of determining whether the current ship speed of the ship to be processed at the current moment meets the configured preset ship speed condition is the same as the process of determining the low-speed cruising mode.

[0086] Among them, the preset environmental safety conditions include preset environmental conditions and preset safety conditions;

[0087] The preset environmental conditions include water flow conditions and wind speed conditions:

[0088] The water flow condition is the configured water flow threshold vcurrent_max ;

[0089] The wind speed condition is the configured wind speed threshold v wind_max ;

[0090] Among them, the environmental safety data includes the distance d between the ship to be processed and the ship ahead front , current ship speed and the speed v of the ship ahead front .

[0091] The preset safety conditions include safety distance conditions and safety speed conditions:

[0092] The safety distance condition is the configured distance threshold d safe ;

[0093] The safety speed condition is: v ship ≤v front ;

[0094] That is to say, when it is detected that there is a ship ahead of the ship to be processed, the condition for entering the constant speed creeping mode is: low ≤v ship ≤v high And|v current |≤v current_max And|v wind |≤v wind_max And d front >d safe And v ship ≤v front Among them, v current is the current water flow velocity, v wind is the current wind speed.

[0095] The process of determining the safety distance may specifically include:

[0096] The reaction time t of the ship to be processed reaction and the current ship speed to determine the current reaction distance d reaction ;

[0097] The current reaction distance calculation process is as follows:

[0098] d reaction =v ship ×t reaction

[0099] The current speed and deceleration of the ship to be processed a decelerat i on Processing is performed to determine the current braking distance d braking ;

[0100] The calculation process of the current braking distance is as follows:

[0101]

[0102] Based on the current reaction distance and the current braking distance, a safe distance is determined.

[0103] The calculation process of the safety distance is as follows:

[0104] d safe =d reaction +d braking

[0105] Determining the second speed of the ship to be processed may specifically include:

[0106] First, the correction speed is determined according to the current water flow speed and the current wind speed;

[0107] Δv env =α·v current +β·v wind ·cos(θ wind )

[0108] Where Δv env is the correction speed, v current is the current water velocity, v wind is the current wind speed, θ wind is the wind direction angle, α and β are the first correction coefficient and the second correction coefficient respectively.

[0109] Secondly, the speed algorithm is used to process the speed of the ship ahead, the configured second control gain, the environmental correction factor and the corrected speed to determine the motor speed;

[0110] Finally, the second speed is determined according to the motor speed.

[0111] The above speed algorithm can be expressed as:

[0112] ω motor2 =k 2 ·(v front -λ·Δv env )

[0113] Among them, v front is the speed of the ship ahead, k 2 is the second control gain, λ is the environmental correction coefficient, Δv env is the correction speed, ω motor2 is the motor speed.

[0114] In some embodiments, the first control gain, the second control gain, the first correction coefficient and the second correction coefficient are adjusted to adapt to different ship types and navigation environments.

[0115] When there is no preceding ship ahead of the ship to be processed, the condition for entering the constant speed creeping mode is the same as the condition for entering the low speed cruising mode.

[0116] In some embodiments, a trained deep reinforcement learning network is used to process the current ship speed, the current water flow speed, the current wind speed, the distance to the preceding ship, and the current wind direction angle to determine the motor speed;

[0117] The second speed is determined according to the motor speed.

[0118] The basic framework of a deep reinforcement learning network can include:

[0119] State space S: represents the current navigation state of the ship to be processed, such as the current ship speed v ship 、Current water flow velocity v current 、Current wind speed v wind , distance to the ship ahead d front wait.

[0120] Action space A: represents the output action of the model in creeping mode, such as the adjusted speed of the propulsion motor ω motor2 .

[0121] Reward function R(s,a): It is used to evaluate the reward obtained by taking action a in a certain state s, reflecting the quality of the control strategy.

[0122] Strategy π(a|s): represents the probability distribution of selecting action a in a given state s. DRL optimizes this strategy through training.

[0123] Furthermore, define the state vector s t Contains the following information: t =[v ship (t),v current (t),v wind (t),d front (t),θ wind (t)]; state vector s t The dimension n depends on the number of specific sensor inputs.

[0124] Define action a t To adjust the propulsion motor speed: a t =Δω motor (t). Among them, Δω motor (t) is the adjusted speed of the motor obtained at time t.

[0125] The reward function R(s,a) needs to comprehensively consider the control objectives, such as maintaining a constant low speed, reducing energy consumption, maintaining a safe distance, etc., which can include:

[0126] Speed ​​error penalty: R spee d(s t ,a t )=-(v ship (t)-v target ) 2 ; where v target is the target speed (such as a constant low speed).

[0127] Energy Consumption Penalty: R energy (s t ,a t )=-α·ω motor (t) 2 ; Where α is the energy consumption penalty coefficient.

[0128] Safe Distance Bonus: R distance (s t ,a t )=β·(d front (t)-d safe )if d front (t)>d safe , R distance (s t ,a t )=-γ·(d safe -d front (t))if d front (t)≤d safe ; Among them, α and γ are the reward and penalty coefficients.

[0129] Therefore, the total reward function is:

[0130] R(s t ,a t )=w 1 ·R speed (s t ,a t )+w 2 ·R energy (s t ,a t )+w 3 ·R distance (s t ,a t )

[0131] Among them, w 1 、w 2 and w 3 are the first weight, second weight and third weight respectively, reflecting the importance of each indicator.

[0132] The learning process of the deep Q network is: approximating the state-action value function Q(s,a) through the neural network Q(s,a;θ).

[0133] The specific learning methods are as follows:

[0134] a. Bellman equation:

[0135]

[0136] Among them, γ is the discount factor, which represents the decay of future rewards.

[0137] b. Loss function:

[0138]

[0139] The loss function L(θ) is minimized by the gradient descent method and the neural network parameters θ are updated.

[0140] In some embodiments, the training process of the Q network includes:

[0141] Step 1: Initialize the Q network parameters θ and the target network parameters θ′.

[0142] Step 2: Train in a simulation environment or a real ship operation environment to collect state transition data (s t ,a t ,r t ,s t+1 ).

[0143] Step 3: Update the Q network at each time step, calculate the loss and backpropagate.

[0144] Step 4: Update the target network θ′ regularly to stabilize the training process.

[0145] In some embodiments, the model training process can adopt the ∈ greedy strategy for action selection:

[0146] π(a|s)=randomly select an action with probability∈,π(a|s)=argmax a Q(s,a;θ)withprobability 1-∈. By continuously adjusting ∈, we gradually transition from exploration to utilization.

[0147] In the actual application process, the optimal strategy π(a|s) is deployed to the server in the actual crawling mode to realize intelligent control. During the operation, it continues to adapt to new environmental changes through online learning and retraining.

[0148] This method can more effectively cope with complex and changeable navigation environments through the DRL-optimized creeping mode control process, improve the control accuracy and response speed of the ship, reduce the need for manual intervention, and further enhance the automation and intelligence level of the system.

[0149] In some embodiments, after entering the creeping mode, the data input by the sensor is continuously monitored. If the corresponding conditions no longer meet the preset corresponding conditions, the server will send relevant information to remind the driver and flash a red button to indicate possible abnormalities.

[0150] If the driver manually exits creep mode or triggers the forced exit button and generates a shutdown command, the server will stop controlling the propulsion system when receiving the shutdown command and return to the normal manual operation mode.

[0151] The present application provides a control method for a creeping mode of a ship, the method comprising: obtaining a start instruction of a creeping mode of a ship to be processed; when the start instruction is a start instruction of a low-speed cruise mode, if it is determined that the current ship speed of the ship to be processed at the current moment meets the configured preset ship speed condition, the current ship speed is adjusted to obtain a first speed, and the ship to be processed is controlled to enter a low-speed cruise mode at the first speed; when the start instruction is a start instruction of a constant-speed creeping mode, if it is detected that there is a ship ahead of the ship to be processed, it is determined that the current ship speed of the ship to be processed at the current moment meets the configured preset ship speed condition, and after the environmental safety data meets the preset environmental safety condition, the current ship speed is adjusted to obtain a second speed, and the ship to be processed is controlled to enter a constant-speed creeping mode at the second speed. The control of the creeping mode provided by the method can intelligently adapt to various complex navigation scenarios, effectively reduce the operating burden of the driver, and at the same time improve the safety and operational stability of the ship's travel.

[0152] Corresponding to the above method, the present application embodiment also provides a control device for the creeping mode of a ship, such as Figure 3 As shown, the device comprises:

[0153] The acquisition unit 310 is used to acquire a start instruction of a creeping mode of the ship to be processed; the creeping mode is a low-speed cruising mode or a constant-speed creeping mode;

[0154] The adjustment unit 320 is configured to adjust the current ship speed to obtain a first speed if it is determined that the current ship speed of the ship to be processed at the current moment meets the configured preset ship speed condition when the start instruction is the start instruction of the low-speed cruise mode;

[0155] A control unit 330 is used to control the ship to be processed to enter the low-speed cruising mode at the first speed;

[0156] The adjustment unit 320 is further configured to, when the start instruction is the start instruction of the constant speed creeping mode, if it is detected that there is a preceding ship ahead of the ship to be processed, determine that the current ship speed of the ship to be processed at the current moment meets the configured preset ship speed condition, and the environmental safety data meets the preset environmental safety condition, and then adjust the current ship speed to obtain a second speed;

[0157] The control unit 330 is further used to control the ship to be processed to enter the constant speed creeping mode at the second speed.

[0158] The functions of each functional unit of a ship creeping mode control device provided in the above embodiment of the present application can be realized through the above method steps. Therefore, the specific working process and beneficial effects of each unit in a ship creeping mode control device provided in the embodiment of the present application will not be repeated here.

[0159] The present application also provides an electronic device, such as Figure 4 As shown, it includes a processor 410 , a communication interface 420 , a memory 430 and a communication bus 440 , wherein the processor 410 , the communication interface 420 , and the memory 430 communicate with each other via the communication bus 440 .

[0160] Memory 430, for storing computer programs;

[0161] The processor 410 is used to execute the program stored in the memory 430 to implement the following steps:

[0162] Obtaining a start instruction of a creeping mode of the ship to be processed; the creeping mode is a low-speed cruising mode or a constant-speed creeping mode;

[0163] When the start instruction is a start instruction for the low-speed cruise mode, if it is determined that the current ship speed of the to-be-processed ship at the current moment satisfies the configured preset ship speed condition, the current ship speed is adjusted to obtain a first speed, and the to-be-processed ship is controlled to enter the low-speed cruise mode at the first speed;

[0164] When the start instruction is the start instruction of the constant speed creeping mode, if it is detected that there is a preceding ship in front of the ship to be processed, it is determined that the current ship speed of the ship to be processed at the current moment meets the configured preset ship speed condition, and after the environmental safety data meets the preset environmental safety condition, the current ship speed is adjusted to obtain a second speed, and the ship to be processed is controlled to enter the constant speed creeping mode at the second speed.

[0165] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0166] The communication interface is used for communication between the above electronic device and other devices.

[0167] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0168] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0169] The implementation methods and beneficial effects of the components of the electronic device in the above embodiments to solve the problems can be seen in Figure 2 The various steps in the illustrated embodiment are implemented, therefore, the specific working process and beneficial effects of the electronic device provided by the embodiment of the present application are not repeated here.

[0170] In another embodiment provided in the present application, a computer-readable storage medium is also provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes a method for controlling a ship creeping mode as described in any of the above embodiments.

[0171] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute a method for controlling a creeping mode of a ship as described in any one of the above embodiments.

[0172] Those skilled in the art will appreciate that the embodiments in the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt a complete hardware embodiment, a complete software embodiment, or a form of an embodiment combining software and hardware. Moreover, the present application may adopt a form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0173] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0174] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0175] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0176] Unless otherwise defined, the technical terms or scientific terms used in this application should be understood by people with ordinary skills in the field to which the present invention belongs. "First", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect", "couple" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0177] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they are aware of the basic creative concepts. Therefore, the present application embodiments are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application embodiments.

[0178] Obviously, those skilled in the art can make various changes and modifications to the embodiments in the present application without departing from the spirit and scope of the embodiments in the present application. Thus, if these modifications and variations of the embodiments in the present application are within the scope of the embodiments in the present application and their equivalents, the embodiments in the present application are also intended to include these modifications and variations.

Claims

1. A method for controlling a creeping mode of a ship, characterized in that: The method comprises: Obtaining a start instruction of a creeping mode of the ship to be processed; the creeping mode is a low-speed cruising mode or a constant-speed creeping mode; When the start instruction is a start instruction for the low-speed cruise mode, if it is determined that the current ship speed of the to-be-processed ship at the current moment satisfies the configured preset ship speed condition, the current ship speed is adjusted to obtain a first speed, and the to-be-processed ship is controlled to enter the low-speed cruise mode at the first speed; When the start instruction is the start instruction of the constant speed creeping mode, if it is detected that there is a preceding ship in front of the ship to be processed, it is determined that the current ship speed of the ship to be processed at the current moment meets the configured preset ship speed condition, and after the environmental safety data meets the preset environmental safety condition, the current ship speed is adjusted to obtain a second speed, and the ship to be processed is controlled to enter the constant speed creeping mode at the second speed.

2. The method according to claim 1, characterized in that Determine the first speed of the vessel to be processed, including: The current ship speed of the ship to be processed is adjusted according to the configured first control gain to obtain the first speed.

3. The method according to claim 1, characterized in that Determine the second speed of the vessel to be processed, including: Get the current water flow speed, current wind speed and the speed of the ship ahead at the current moment; Determining a correction speed according to the current water flow speed and the current wind speed; The speed algorithm is used to process the speed of the ship ahead, the configured second control gain, the environmental correction factor and the corrected speed to determine the motor speed; The second speed is determined according to the motor speed.

4. The method according to claim 3, characterized in that The speed algorithm is: oh motor2 =k2·(v front -λ·Δv env ) Among them, v front is the speed of the ship ahead, k2 is the second control gain, λ is the environmental correction coefficient, Δv env The corrected speed, ω, is determined by the current water velocity and the current wind speed. motor2 is the motor speed.

5. The method according to claim 4, characterized in that The correction algorithm for determining the correction speed is: Δv env =α·v current +β·v wind ·cos(θ wind ) Where Δv env is the correction speed, v current is the current water velocity, v wind is the current wind speed, θ wind is the wind direction angle, α and β are the first correction coefficient and the second correction coefficient respectively.

6. The method according to claim 1, characterized in that Determine the second speed of the vessel to be processed, including: Using a trained deep reinforcement learning network, the current ship speed, the current water flow speed, the current wind speed, the distance to the preceding ship, and the current wind direction angle are processed to determine the motor speed; The second speed is determined according to the motor speed.

7. The method according to claim 1, characterized in that The preset environmental safety conditions include a safety distance; The process of determining the safe distance includes: Processing the reaction time and current ship speed of the ship to be processed to determine the current reaction distance; Processing the current ship speed and current deceleration of the ship to be processed to determine the current braking distance; The safety distance is determined based on the current reaction distance and the current braking distance.

8. A control device for a creeping mode of a ship, characterized in that: The device comprises: An acquisition unit, used for acquiring a start instruction of a creeping mode of the ship to be processed; the creeping mode is a low-speed cruising mode or a constant-speed creeping mode; an adjusting unit, configured to adjust the current ship speed to obtain a first speed if it is determined that the current ship speed of the ship to be processed at the current moment satisfies a configured preset ship speed condition when the start instruction is a start instruction of the low-speed cruise mode; A control unit, used for controlling the ship to be processed to enter the low-speed cruising mode at the first speed; The adjustment unit is further configured to, when the start instruction is the start instruction of the constant speed creeping mode, if it is detected that there is a preceding ship ahead of the ship to be processed, determine that the current ship speed of the ship to be processed at the current moment meets the configured preset ship speed condition, and the environmental safety data meets the preset environmental safety condition, and then adjust the current ship speed to obtain a second speed; The control unit is also used to control the ship to be processed to enter the constant speed creeping mode at the second speed.

9. An electronic device, characterized in that: The electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; A processor, for implementing the method steps described in any one of claims 1 to 7 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps described in any one of claims 1 to 7 are implemented.

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