Ship control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a ship control method and device, electronic equipment and a storage medium, and relates to the technical field of ships. The method is applied to a controller, the controller is in communication connection with a touch screen terminal and a power device, and the method comprises the steps that a touch screen instruction sent by a user based on the touch screen terminal is received, and the touch screen instruction comprises a target control mode and control parameters corresponding to the target control mode. And generating a target control instruction based on the target control mode and the control parameters. And controlling the power device according to the target control instruction. The operation steps of the ship can be simplified, and the probability of ship operation errors is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the field of ship technology, and in particular to a ship control method, device, electronic equipment and storage medium. Background Art

[0002] In traditional ship control systems, mechanical or hydraulic control devices are generally used to control various devices. These control devices transmit the operator's instructions to the devices to be controlled through physical connections. For example, the propeller is controlled by a joystick, the direction is controlled by a rudder, and the power is controlled by a pedal.

[0003] However, the inventors have found through research that the existing ship equipment control methods often require complex operating steps and a high level of operating skills and experience, and are prone to problems such as improper operation. Summary of the invention

[0004] The objects of the present invention include, for example, providing a ship control method, device, electronic device and storage medium, which can at least partially solve the above-mentioned technical problems.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, an embodiment of the present invention provides a ship control method, which is applied to a controller, wherein the controller is respectively connected to a touch screen terminal and a power device for communication; the method comprises:

[0007] Receiving a touch screen instruction sent by a user based on the touch screen terminal, the touch screen instruction including a target control mode and a control parameter corresponding to the target control mode;

[0008] Based on the target control mode and the control parameters, generating a target control instruction;

[0009] The power device is controlled according to the target control instruction.

[0010] Optionally, the target control mode includes a propeller control mode, the control parameter includes a thrust percentage, and the power device includes a propeller; and generating a target control instruction based on the target control mode and the control parameter includes:

[0011] Call the thruster motor performance curve table corresponding to the thruster;

[0012] Based on the thrust percentage, determining a target motor speed corresponding to the thrust percentage in the thruster motor performance curve table;

[0013] The target control instruction is generated according to the thruster control mode and the target motor speed.

[0014] Optionally, the control parameter further includes thrust direction, and the propeller includes a steering propeller and a lateral propeller; and generating a target control instruction based on the target control mode and the control parameter further includes:

[0015] determining a target thruster from among the steering thruster and the lateral thruster according to the thrust direction;

[0016] If the target thruster is the steering thruster, converting the thrust direction into the propeller angle value of the thruster;

[0017] The target control instruction is generated based on the propeller angle value of the propeller, the propeller control mode and the target motor speed.

[0018] Optionally, controlling the power device according to the target control instruction includes:

[0019] Obtaining the current motor speed of the propeller;

[0020] Calculating a speed difference between the current motor speed and the target motor speed;

[0021] Determining at least one speed adjustment interval value and a corresponding speed adjustment duration according to the speed difference;

[0022] According to the speed adjustment interval value and the speed adjustment duration, the propeller motor is controlled to gradually adjust from the current motor speed to the target motor speed.

[0023] Optionally, the target control mode includes a neutral mode, and the method further includes:

[0024] If the target control mode is the neutral control mode, the power transmission to the power device is disconnected.

[0025] Optionally, after disconnecting the power transmission with the power device, the method further comprises:

[0026] Real-time monitoring of the power signal fed back by the power device;

[0027] If it is detected that the power signal is not zero, an alarm signal is generated and sent to the touch screen terminal, and timing starts from the sending of the alarm signal;

[0028] If the timing duration reaches the preset duration, the power device is controlled to shut down.

[0029] Optionally, the receiving a touch screen instruction sent by the user based on the touch screen terminal includes:

[0030] Detecting a touch signal generated by a user touching the touch screen terminal, wherein the touch signal includes a touch position;

[0031] Determine a touch type according to the touch signal, where the touch type includes sliding and clicking;

[0032] If the touch type is sliding, determining the instruction corresponding to the functional area where the touch position is located when the sliding stops as the touch screen instruction;

[0033] If the touch type is click, the instruction corresponding to the functional area where the touch position of the click is located is determined as the touch screen instruction.

[0034] In a second aspect, an embodiment of the present invention provides a ship control device, which is applied to a controller, wherein the controller is respectively connected to a touch screen terminal and a power device for communication; the ship control device comprises:

[0035] A touch screen instruction receiving unit, used to receive a touch screen instruction sent by a user based on the touch screen terminal, wherein the touch screen instruction includes a target control mode and a control parameter corresponding to the target control mode;

[0036] A target control instruction generating unit, configured to generate a target control instruction based on the target control mode and the control parameters;

[0037] A power unit control unit is used to control the power unit according to the target control instruction.

[0038] In a third aspect, an embodiment of the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above methods when executing the program.

[0039] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a computer program, and when the computer program is executed, the server where the computer-readable storage medium is located is controlled to implement the steps of any one of the above methods.

[0040] The beneficial effects of the embodiments of the present invention include, for example:

[0041] By setting a touch screen terminal, the touch screen terminal is connected to the controller for communication, and the controller is connected to the power unit for communication. When the power unit needs to be controlled, the user can directly operate on the touch screen terminal to issue instructions. After receiving the touch screen instructions, the controller generates target control instructions according to the target control mode and control parameters in the touch screen instructions to control the power unit. This avoids the control method of operating a mechanical or hydraulic control device to control the ship, making it easier and more convenient to operate the ship, and can reduce problems caused by improper operation to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention 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 creative work.

[0043] Figure 1 A block diagram of an electronic device provided by an embodiment of the present invention;

[0044] Figure 2 A flow chart of the steps of a ship control method provided by an embodiment of the present invention;

[0045] Figure 3 A display interface diagram of a touch screen terminal provided by an embodiment of the present invention;

[0046] Figure 4 An architectural diagram of a ship control device provided in an embodiment of the present invention.

[0047] Icons: 100 - electronic device; 110 - memory; 120 - processor; 130 - communication module; 300 - ship control device; 301 - touch screen instruction receiving unit; 302 - target control instruction generating unit; 303 - power unit control unit. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0049] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0051] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0052] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0053] In traditional ship propulsion control systems, the operation of propellers and other power units usually relies on mechanical or hydraulic control devices, which transmit the operator's instructions to the power unit through physical connections. Although this method has shortcomings such as complex operation, slow response, and low control accuracy. Especially when precise adjustment or stepless speed change is required, the limitations of traditional control systems are more obvious.

[0054] Existing electronically controlled ship propulsion systems have been gradually applied to modern ships. These systems use electronic signals to replace mechanical connections to achieve control of power units. However, most of these electronic control systems still rely on independent physical control devices (such as joysticks, buttons or knobs). The interfaces of these control devices are relatively traditional, lacking flexibility and intuitiveness, and cannot adapt well to the complex and changing ship operation requirements. In addition, existing electronically controlled propulsion systems are often limited to propulsion control in a single direction, and cannot simultaneously achieve multi-functional control such as left and right thrust, side thrust and stepless shifting.

[0055] Although there are some touch screen controlled ship systems on the market, the main function of these touch screens is to provide navigation and other auxiliary functions for the ship.

[0056] Based on the above situation, the embodiments of the present invention provide a ship control method, device, electronic device and storage medium, which can effectively alleviate the above technical problems.

[0057] Please refer to Figure 1, is a block diagram of an electronic device 100 provided by the present application. The electronic device 100 may be a device capable of performing data processing, which is not limited in this embodiment. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120, and the communication module 130. Each component is electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines.

[0058] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0059] The processor 120 is used to read / write data or programs stored in the memory and execute corresponding functions.

[0060] The communication module 130 is used to establish a communication connection between the server and other communication terminals through the network, and to send and receive data through the network.

[0061] It should be understood that Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown. Figure 1 The components shown in the figure can be implemented by hardware, software or a combination thereof. The electronic device 100 can be arranged in other devices or as an independent device.

[0062] An embodiment of the present invention provides a ship control method, which is applied to a controller, wherein the controller is respectively connected to a touch screen terminal and a power device for communication. The method includes: Figure 2 The following steps are shown:

[0063] Step S110: receiving a touch screen instruction sent by a user based on the touch screen terminal, wherein the touch screen instruction includes a target control mode and a control parameter corresponding to the target control mode.

[0064] Step S120: Generate a target control instruction based on the target control mode and the control parameters.

[0065] Step S130: Control the power device according to the target control instruction.

[0066] In step S110, a touch screen instruction sent by a user based on the touch screen terminal is received, and the touch screen instruction includes a target control mode and a control parameter corresponding to the target control mode.

[0067] The touch screen terminal can be a device for enabling a user to interact with a controller. When a user needs to control a power unit in a ship, a touch screen instruction is sent to the controller through interaction with the touch screen terminal. A program for controlling the power unit can be built into the touch screen terminal. After the program is opened, multiple functional modules will be displayed on the display interface of the touch screen terminal. When the user slides or clicks on a functional module on the touch screen terminal interface, a touch screen instruction corresponding to the functional module can be sent to the controller. The touch screen instruction can include a target control mode, such as a ship engine control mode, which means that the touch screen instruction is used to control the ship engine. The touch screen instruction can also include a control parameter, that is, the size of the control parameter corresponding to the target control mode. For example, if the target control mode is a ship engine control mode, the control parameter is the power size of the engine.

[0068] Optionally, the receiving a touch screen instruction sent by the user based on the touch screen terminal includes:

[0069] A touch signal generated by a user touching the touch screen terminal is detected, where the touch signal includes a touch position.

[0070] A touch type is determined according to the touch signal, where the touch type includes sliding and clicking.

[0071] If the touch type is sliding, the instruction corresponding to the functional area where the touch position is located when the sliding stops is determined as the touch screen instruction.

[0072] If the touch type is click, the instruction corresponding to the functional area where the touch position of the click is located is determined as the touch screen instruction.

[0073] In an optional embodiment, the touch screen signal can be obtained in the following manner: the controller monitors in real time the touch signal generated by the user touching the screen of the touch screen terminal through fingers, stylus, etc., for example, by detecting the position where the user's finger contacts the screen through capacitive touch sensing technology. Since there are multiple functional areas on the screen, when the user clicks or slides on the screen, the corresponding function will be activated. In order to avoid errors in the received touch screen instructions, it can be determined whether the user is sliding or clicking on the screen based on the detected touch signal. If the touch type is sliding, the instruction corresponding to the functional area where the touch position when the user stops sliding is determined as the received touch screen instruction; if the touch type is clicking, the instruction corresponding to the functional area where the touch position clicked by the user is located is determined as the received touch screen instruction.

[0074] It should be noted that the controller in the embodiment of the present invention may be a controller integrating touch screen terminal control and power device control, or may be a controller including a touch screen terminal sub-controller and a power device sub-controller. The user may set it according to the actual situation, and the embodiment of the present invention does not specifically limit this.

[0075] by Figure 3 For example, if the user slides the CVT acceleration slider to the top in the forward direction in the right push function area, when the user's finger or stylus leaves the screen, the instruction corresponding to the CVT acceleration slider at the top in the forward direction is determined as the touch screen instruction.

[0076] In step S120 , a target control instruction is generated based on the target control mode and the control parameters.

[0077] Under different target control modes, the corresponding control parameters are also different, and accordingly, the target control instructions generated by the controller are also different.

[0078] For example, if the target control mode is the ship engine control mode, it only involves the start and stop of the engine, not the control parameters, so the control parameters can be empty, and the target control instruction generated by the controller is to start the ship engine or shut down the ship engine. If the target control mode is the ship propeller control mode, the control parameters can include the thrust size and thrust direction, and the target control instruction generated by the controller is to control a certain propeller according to the thrust direction and thrust size in the control parameters.

[0079] Optionally, the target control mode includes a propeller control mode, the control parameter includes a thrust percentage, and the power device includes a propeller. Generating a target control instruction based on the target control mode and the control parameter includes:

[0080] Call the thruster motor performance curve table corresponding to the thruster.

[0081] Based on the thrust percentage, a target motor speed corresponding to the thrust percentage is determined in the thruster motor performance curve table.

[0082] The target control instruction is generated according to the thruster control mode and the target motor speed.

[0083] In an optional embodiment, the target control mode may be a propeller control mode, the control parameter may be a thrust percentage, and the power device is a propeller selected by the user according to the touch screen terminal. When it is determined that the target control mode is the propeller control mode, the controller may call out a preset propeller motor performance curve table from a database or storage area, and the propeller motor performance curve table records the propeller motor speeds corresponding to each thrust percentage. The controller finds the target motor speed corresponding to the thrust percentage in the propeller motor performance curve table, and may generate a corresponding target control instruction according to the propeller control mode and the target motor speed.

[0084] For example, if the target control mode is the thruster control mode, the control parameter in the touch screen command is 60% thrust, and the controller determines through the thruster motor performance curve table that the target motor speed corresponding to 60% thrust is 3000RPM, then a target control command is generated to control the thruster motor to adjust to 3000RPM.

[0085] Optionally, the control parameter further includes thrust direction, and the propeller includes a steering propeller and a lateral propeller. The generating of the target control instruction based on the target control mode and the control parameter further includes:

[0086] A target thruster is determined from among the steering thruster and the lateral thruster according to the thrust direction.

[0087] If the target thruster is the steering thruster, the thrust direction is converted into the thruster propeller angle value.

[0088] The target control instruction is generated based on the propeller angle value of the propeller, the propeller control mode and the target motor speed.

[0089] When the ship needs to turn left or right, it needs to be achieved by changing the direction and angle of the steering propeller blades. When the ship needs to move laterally (such as leaving the port or docking), it needs to be achieved by controlling the lateral thrusters.

[0090] Therefore, when the target control mode is the propeller control mode, the thrust direction may also be included in the control parameters. The controller may determine whether the target propeller to be controlled is a steering propeller or a lateral propeller from various propellers according to the thrust direction. If it is a steering propeller, the thrust direction is converted to the propeller propeller angle value, and the propeller angle value, the propeller control mode, and the target motor speed are integrated to generate the target control instruction.

[0091] If the target thruster is a lateral thruster, the target motor speed of the lateral thruster can be determined according to the thrust percentage in the control parameter, and then the target control instruction is generated.

[0092] For example, if the user clicks Figure 3 60% of the forward direction in the middle left propulsion area indicates that the ship needs to be controlled to turn left. The controller determines that the target thruster is the steering thruster, and determines the thruster propeller angle adjustment value based on the thrust direction of left steering, and determines the target motor speed of the steering thruster based on the thrust size of 60%, and then generates corresponding target control instructions based on these data.

[0093] In step S130, the power device is controlled according to the target control instruction.

[0094] The power device can be a device that can provide power for the operation of the ship, such as a ship engine, a motor of a new energy ship, the steering thruster mentioned above, a lateral thruster, etc. When the controller generates a target control instruction, the corresponding power device can be controlled through cables, etc.

[0095] Optionally, controlling the power device according to the target control instruction includes:

[0096] The current motor speed of the propeller is obtained. The speed difference between the current motor speed and the target motor speed is calculated.

[0097] At least one speed adjustment interval value and a corresponding speed adjustment duration are determined according to the speed difference.

[0098] According to the speed adjustment interval value and the speed adjustment duration, the propeller motor is controlled to gradually adjust from the current motor speed to the target motor speed.

[0099] Specifically, when the target control mode is the thruster control mode, the controller can first obtain the current motor speed of the thruster to be controlled, calculate the speed difference between the current motor speed and the target motor speed, and then determine one or more speed adjustment interval values ​​according to the size of the speed difference, as well as the speed adjustment time required to adjust the motor speed from each speed adjustment interval value to the next speed adjustment interval value. After determination, the controller controls the motor speed of the thruster motor to start from the current motor speed, and gradually adjusts it to the target motor speed according to the speed adjustment interval value and the speed adjustment time. In this way, the motor speed change is continuously controlled within a certain range, and the stepless shifting of the thruster can be achieved.

[0100] For example, the current motor speed of the propeller to be controlled is 1000PRM, the target motor speed is 4500PRM, and the speed difference is 2500PRM. The controller can determine three speed adjustment intervals based on the speed difference, which are 2000PRM, 3000PRM, and 4000PRM, and the corresponding speed adjustment durations are 10s, 10s, 10s, and 5s. After determining the speed adjustment interval and speed adjustment duration, the controller controls the propeller to increase the motor speed from 1000PRM to 2000PRM within 10s, and then controls the propeller to increase the motor speed from 2000PRM to 3000PRM within 10s... until the motor speed is adjusted to 4500PRM.

[0101] Optionally, the target control mode includes a neutral mode, and the method further includes:

[0102] If the target control mode is the neutral control mode, the power transmission to the power device is disconnected.

[0103] like Figure 3 As shown, if the user clicks on the neutral position on the touch screen terminal interface, the controller will recognize that the target control mode is the neutral mode after receiving the touch screen command, that is, the thruster is not required to generate thrust. Therefore, the controller will set the motor speed of the thruster to 0RPM, and at the same time, the current output is also set to the minimum value or the current output is turned off to prevent the motor from running meaninglessly or generating excess power consumption. In this mode, the duty cycle of the PWM signal is adjusted to 0%, the voltage is set to 0V, and the current control is set to 0A to disconnect the power transmission with the power unit.

[0104] At the same time, even if the control parameters received by the controller at this time contain a thrust size percentage, it will be ignored.

[0105] Optionally, after disconnecting the power transmission with the power device, the method further comprises:

[0106] The power signal fed back by the power device is monitored in real time. If the power signal is detected to be not zero, an alarm signal is generated and sent to the touch screen terminal, and timing starts from the sending of the alarm signal.

[0107] If the timing duration reaches the preset duration, the power device is controlled to shut down.

[0108] In order to ensure the stability of the neutral state, when the target control mode is the neutral mode, the controller can also monitor the power signal fed back by the power unit in real time. If the power signal is zero, it means that the power unit is in a state of no power output. If the power signal is not zero, it is considered that an abnormal situation has occurred. At this time, the controller will generate a corresponding alarm signal and send it to the touch screen terminal to remind the user that an abnormality has occurred. In order to prevent accidents caused by users not observing the alarm signal in time, the controller starts timing from the time the alarm signal is sent. If the timing reaches the preset time set by the user, the controller will automatically control the power unit to shut down.

[0109] Based on the same inventive concept, Figure 4 As shown, the embodiment of the present invention provides a ship control device 300, which is applied to a controller, and the controller is respectively connected to the touch screen terminal and the power device for communication. The ship control device 300 includes:

[0110] The touch screen instruction receiving unit 301 is used to receive a touch screen instruction sent by a user based on the touch screen terminal, where the touch screen instruction includes a target control mode and a control parameter corresponding to the target control mode.

[0111] The target control instruction generating unit 302 is used to generate a target control instruction based on the target control mode and the control parameters.

[0112] The power device control unit 303 is used to control the power device according to the target control instruction.

[0113] Regarding the above-mentioned ship control device 300, the specific functions of each unit therein have been described in detail in the embodiment of the ship control method provided in this specification, and will not be elaborated here.

[0114] Based on the same inventive concept, an embodiment of the present invention specification provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of any method of the above-mentioned ship control method are implemented.

[0115] The present invention has at least the following beneficial effects:

[0116] 1. By setting up a touch screen terminal, the touch screen terminal is connected to the controller for communication, and the controller is connected to the power unit for communication. When the power unit needs to be controlled, the user can directly operate on the touch screen terminal to issue instructions. After receiving the touch screen instructions, the controller generates target control instructions according to the target control mode and control parameters in the touch screen instructions to control the power unit. This avoids the control method of operating a mechanical or hydraulic control device to control the ship, making it easier and more convenient to operate the ship, and can reduce problems caused by improper operation to a certain extent.

[0117] 2. Integrate the control functions of the power unit into a touch screen terminal, which is more intuitive and saves operating space.

[0118] 3. The propeller is controlled by stepless shifting, making the ship smoother when accelerating or decelerating.

[0119] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0120] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0121] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0122] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A ship control method, characterized in that: Applied to a controller, the controller is respectively connected to a touch screen terminal and a power device for communication; the method comprises: Receiving a touch screen instruction sent by a user based on the touch screen terminal, the touch screen instruction including a target control mode and a control parameter corresponding to the target control mode; Based on the target control mode and the control parameters, generating a target control instruction; The power device is controlled according to the target control instruction.

2. The ship control method according to claim 1, characterized in that: The target control mode includes a propeller control mode, the control parameter includes a thrust percentage, and the power device includes a propeller; and generating a target control instruction based on the target control mode and the control parameter includes: Call the thruster motor performance curve table corresponding to the thruster; Based on the thrust percentage, determining a target motor speed corresponding to the thrust percentage in the thruster motor performance curve table; The target control instruction is generated according to the thruster control mode and the target motor speed.

3. The ship control method according to claim 2, characterized in that: The control parameters also include thrust direction, and the propeller includes a steering propeller and a lateral propeller; and generating a target control instruction based on the target control mode and the control parameters also includes: determining a target thruster from among the steering thruster and the lateral thruster according to the thrust direction; If the target thruster is the steering thruster, converting the thrust direction into the propeller angle value of the thruster; The target control instruction is generated based on the propeller angle value of the propeller, the propeller control mode and the target motor speed.

4. The ship control method according to claim 2, characterized in that: The controlling the power device according to the target control instruction comprises: Obtaining the current motor speed of the propeller; Calculating a speed difference between the current motor speed and the target motor speed; Determining at least one speed adjustment interval value and a corresponding speed adjustment duration according to the speed difference; According to the speed adjustment interval value and the speed adjustment duration, the propeller motor is controlled to gradually adjust from the current motor speed to the target motor speed.

5. The ship control method according to claim 1, characterized in that: The target control mode includes a neutral mode, and the method further includes: If the target control mode is the neutral control mode, the power transmission to the power device is disconnected.

6. The ship control method according to claim 5, characterized in that: After disconnecting the power transmission with the power device, the method further includes: Real-time monitoring of the power signal fed back by the power device; If it is detected that the power signal is not zero, an alarm signal is generated and sent to the touch screen terminal, and timing starts from the sending of the alarm signal; If the timing duration reaches the preset duration, the power device is controlled to shut down.

7. The ship control method according to claim 1, characterized in that: The receiving a touch screen instruction sent by the user based on the touch screen terminal includes: Detecting a touch signal generated by a user touching the touch screen terminal, wherein the touch signal includes a touch position; Determine a touch type according to the touch signal, where the touch type includes sliding and clicking; If the touch type is sliding, determining the instruction corresponding to the functional area where the touch position is located when the sliding stops as the touch screen instruction; If the touch type is click, the instruction corresponding to the functional area where the touch position of the click is located is determined as the touch screen instruction.

8. A ship control device, characterized in that: Applied to a controller, the controller is respectively connected to a touch screen terminal and a power device for communication; the ship control device comprises: A touch screen instruction receiving unit, used to receive a touch screen instruction sent by a user based on the touch screen terminal, wherein the touch screen instruction includes a target control mode and a control parameter corresponding to the target control mode; A target control instruction generating unit, configured to generate a target control instruction based on the target control mode and the control parameters; A power unit control unit is used to control the power unit according to the target control instruction.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 7 when executing the program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a computer program, and when the computer program is executed, the server where the computer-readable storage medium is located is controlled to implement the steps of the method according to any one of claims 1 to 7.

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