Rotary damping automatic control system for ship manipulator

Abstract

The invention discloses a rotation damping automatic control system for a ship manipulator, and relates to the field of rotation damping automatic control, the rotation damping automatic control system is connected with a server, and the server comprises a terminal calculation module, an image module, a determination module and an execution control module. According to the method, dynamic image information of an area where a ship is located is judged and analyzed to obtain a ship dynamic value, ship operation static analysis is carried out according to judgment and analysis of image information of the ship and an operator in a static state, and a ship operation static demand value is obtained; analyzing and processing the wave image information and the water flow image information and the wind speed information in the ship environment to obtain a ring motion abnormal value of the ship, analyzing to obtain a comprehensive abnormal state value of the ship, and analyzing and matching to obtain rotation damping force values corresponding to the comprehensive abnormal state values of different ships, so as to realize automatic control of rotation damping. The method can consider the static and dynamic states of the ship, the characteristics of the manipulator and the environmental information of ship shipping, and provides guarantee for the automatic control of the rotation damping of the ship.

Description

Technical Field

[0001] The invention relates to the field of automatic control of rotation damping, in particular to an automatic control system of rotation damping for a ship manipulator. Background Art

[0002] Early ship operations usually used relatively simple mechanical structures. Traditional ship manipulators relied too much on manual adjustments and lacked flexibility. They were also difficult to adapt to sea conditions with strong winds and rapids, and could not guarantee the safety of ship operations. Automatic control technology came into being.

[0003] When the rotation damping automatic control for ship manipulator is in operation, it will be affected by three factors: the static state of the ship manipulator, the changes in the ship's driving and the changes in the ship's driving environment. If these factors are not effectively monitored, analyzed and managed, it may cause the failure of the ship manipulator and increase the possibility of safety accidents, causing certain property losses. In order to solve the above problems, a rotation damping automatic control system for ship manipulator is introduced. Summary of the invention

[0004] In order to solve the technical problems raised by the above background technology, the present invention is proposed. An embodiment of the present invention provides a rotation damping automatic control system for a ship manipulator.

[0005] The purpose of the present invention can be achieved through the following technical solutions: A rotation damping automatic control system for a ship manipulator includes a server, and the server includes a terminal computing module, an image module, a measuring module and an execution control module.

[0006] The image module is used to obtain dynamic image information of the area where the ship is located, image information of the ship manipulator in static state, wave image information and water flow image information in the ship environment and transmit them to the terminal computing module; The determination module is used for the wind direction measuring instrument to measure the wind direction information of the area where the ship is located, the ultrasonic anemometer to measure the wind speed information of the area where the ship is located, and the temperature sensor to measure the water temperature information of the area where the ship is located, and transmit it to the terminal calculation module; The terminal calculation module analyzes and calculates the image information and the measurement information to obtain the comprehensive abnormal value of the ship; The execution control module is used to receive the calculation results of the terminal calculation module to perform automatic control of the rotation damping.

[0007] Furthermore, the method further comprises the following steps: Step 1: Ship dynamic analysis: the image module obtains the dynamic image information of the area where the ship is located in real time and transmits it to the terminal calculation module. The terminal calculation module performs ship shaking value and ship driving judgment analysis based on this to obtain the ship dynamic value; Step 2: Static analysis of ship manipulators: the image module obtains the image information of the ship and manipulator in real time and transmits it to the terminal calculation module, based on which the static analysis of ship maneuvers is performed to obtain the static required value of ship maneuvers; Step 3: Ship dynamics analysis: the image module obtains wave image information and water flow image information in the ship environment in real time and transmits it to the terminal calculation module. The measurement module measures the wind direction information in the area where the ship is located, and measures the wind speed information in the area where the ship is located and transmits it to the terminal calculation module. The terminal calculation module analyzes the ship's environmental status based on this information and obtains the ship's dynamics anomaly. Step 4: ship comprehensive judgment, receiving the ship dynamic value, ship maneuvering static value and ship environmental abnormal value, and performing comprehensive state judgment and analysis to obtain the ship's comprehensive abnormal state value; Step 5: Automatic damping control, the execution control module receives the analysis and matching of the ship's comprehensive abnormal value from the terminal calculation module, obtains the rotational damping force values ​​corresponding to the comprehensive abnormal values ​​of different ships, and realizes automatic control of the rotational damping.

[0008] Further, the dynamic value of the ship includes the following steps: Step 104: Convert the ship's sway value HY and the ship's moving speed v into lengths according to a certain ratio, construct a parallelogram using the ship's sway value HY and the ship's moving speed v as the height and side length of the parallelogram, extract the perimeter of the formed parallelogram, and mark it as the ship's dynamic value cd.

[0009] Further, the ship sway value, ship moving speed and ship dynamic value include the following steps: Step 101: The image module installs multiple sets of image sensors at the bow, stern and center of the cleat, transmits the collected images to the terminal computing module and inputs them into the edge detection algorithm, and separates the outline of the ship from the image through the contour extraction image processing operation to obtain the outline of the ship; Step 102: The terminal computing module extracts significant feature points from the ship contour images at different monitoring times, specifically the corner points of the ship hull and the ship chimney, and matches these feature points in the two ship contour images monitored before and after. The feature points of the adjacent front monitoring points (x n-1 ,y n-1 ), the image corresponding feature points of adjacent monitoring points are (x n ,y n ), n is the number of the monitoring point, n=1, 2, 3...N, according to the affine change formula: , where t xn and t yn are the translation amounts of the feature points in the x and y directions, a1 n 、a2 n 、a3 n and a4n are the parameters of the affine transformation matrix respectively. Based on the extracted pairs of feature points, multiple sets of equations are established and solved by the least squares method to obtain a1 n 、a2 n 、a3 n 、a4 n ,t xn and t yn The value of , get the affine transformation matrix of the monitoring time point , according to the formula θ n =arctan(a4 n / a1 n ), and obtain the rotation angle θ of the ship at the monitoring point n , according to the formula , get the offset T of the monitoring point n , according to the formula, the ship sway value HY is obtained; Step 103: Extract significant feature points from the ship profile images at different monitoring times, and obtain the displacement vectors of the feature points and the time intervals of the monitoring time, which are marked as Δx, Δy and Δt, respectively. Δx and Δy are the displacement vectors in the x and y directions, respectively. According to the formula , and obtain the ship moving speed v.

[0010] Further, the ship maneuvering requirements include the following steps: Step 204: Substitute the obtained fractal dimension FX of the manipulator and the required resistance value Cxz of the ship into the formula for calculation to obtain the required resistance value CJX of the ship.

[0011] Further, the fractal dimension of the manipulator and the required resistance of the ship include the following steps: Step 201: The image module acquires static image information of the manipulator in real time and transmits it to the terminal computing module. The terminal computing module analyzes the appearance features of the manipulator and matches them with the features in the database to obtain the type of the manipulator. Step 202: The terminal computing module receives the image information of the manipulator in a static state, and places the manipulator in a two-dimensional space model. It first covers the manipulator graphic with a small box with a side length of a1, counts the number of boxes S1 required to cover the manipulator graphic, and then gradually reduces the side length of the box to , the corresponding number of boxes is The side length of the box and the number of boxes are plotted on a double logarithmic coordinate system, with lnan as the horizontal coordinate and lnSn as the horizontal coordinate, n=1, 2, 3...N, where N is a positive integer. Coordinate points are plotted on the logarithmic coordinate system according to the corresponding values, and a linear regression analysis is performed on the coordinate points to obtain the slope of the straight line, which is marked as the fractal dimension FX of the manipulator; Step 203: The image module obtains the image information of the ship in a static state in real time and transmits it to the terminal calculation module. The terminal calculation module analyzes the image, obtains the bow tip value, draft depth and freeboard height, and calculates the required resistance value Cxz of the ship.

[0012] Furthermore, the process of calculating the anomaly value of the ship comprises the following steps: Step 304: The ship's wind speed change value, wave abnormal value and flow temperature abnormal value are processed and substituted into the formula for calculation to obtain the ship's environmental abnormal value HDY.

[0013] Further, the ship wind sudden change value, wave abnormal value and flow temperature abnormal value include the following steps: Step 301: The terminal calculation module receives wind direction information and wind speed information, selects the due north direction as the polar axis, and uses the polar angle to represent it. The wind direction and wind speed information within a period of time are classified into the polar coordinate system, and the polar coordinate diagram is divided into m angle intervals. The number of intervals with zero polar coordinate intervals is obtained, marked as ld, and the number percentage value of each polar coordinate interval is obtained. The maximum percentage value and the minimum percentage value of the interval are taken, and the difference is calculated to obtain the worst value zc. The number percentage value of wind speeds greater than z in the polar coordinates is obtained, and the formula is calculated to obtain the ship wind change value fj; Step 302: The image module acquires wave image information in the ship environment in real time and transmits it to the terminal calculation module, divides the time period for acquiring wave height monitoring into several sub-time periods, sorts the wave heights in the order of monitoring time, subtracts the wave heights in the previous order from the wave heights in the next order, records them as sub-wave differences, sums them up to obtain sub-total wave differences, counts and subtracts the wave height values ​​in the previous order that are greater than the wave height values ​​in the next order, obtains sub-high wave values, sums them up to obtain sub-high total wave values, analyzes the sub-total wave differences and the sub-high total wave values, and obtains the wave abnormality value by; Step 303: The image module acquires the water flow image information in the ship environment in real time and transmits it to the terminal calculation module. The terminal calculation module acquires the angle between the water flow direction and the ship heading, marked as θ1. The terminal calculation module receives the water temperature information and obtains the temperature value of the ship's driving area, marked as T1. According to the formula analysis, the flow temperature anomaly lyz is obtained.

[0014] Further, the comprehensive abnormal value of the ship includes the following steps: The ship's dynamic value, ship maneuvering static value and ship's environmental abnormal value are processed and analyzed according to the graphical construction to obtain the ship's comprehensive abnormal value.

[0015] Further, the rotation damping force values ​​corresponding to the different ship's comprehensive abnormal values ​​include the following steps: Set f rotational damping force values, each of which corresponds to a value range, Q1 (0, q1), Q2 (q1, q2), Q3 (q2, q3) ... Qf (qf-1, qf), and match the comprehensive abnormal value of the ship corresponding to each monitoring time point with the value range. If the set comprehensive abnormal value of the ship belongs to the value range, the rotational damping force value corresponding to the value range is marked as the adjusted rotational damping force value; the ship's rotational damping is operated according to the adjusted rotational damping force value.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention determines and analyzes the dynamic image information of the area where the ship is located to obtain the ship sway value, ship moving speed and ship dynamic value, and then analyzes the ship manipulator structure and the ship static form to obtain the fractal dimension of the manipulator, the ship required resistance value and the ship maneuvering required value. It can comprehensively consider the dynamic and static states of the ship, so that the dynamic and static states of the ship can be effectively monitored, analyzed and managed, and the accuracy of the rotational damping control can be guaranteed.

[0017] 2. The present invention determines and analyzes the wave image information, the water flow image information in the ship environment and the wind speed information in the area where the ship is located to obtain the ship wind sudden change value, the flow temperature abnormal value, the wave abnormal value and the ship's environmental abnormal value, and then comprehensively analyzes the ship's dynamic value, the ship's static operation requirement value and the ship's environmental abnormal value to obtain the ship's comprehensive abnormal state value, and matches the ship's comprehensive abnormal state value with the rotational damping force value to obtain the rotational damping force value corresponding to different ship comprehensive abnormal state values, and operates according to the corresponding damping force value, which can enable the ship to be monitored and evaluated in various environments, and comprehensively considers to make the automatic control of rotational damping more accurate, reduce the occurrence of ship manipulator failures, reduce the occurrence of safety accidents, and reduce property losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. The following drawings are not intentionally scaled according to the actual sizes, and the focus is on illustrating the main purpose of the present invention.

[0019] Figure 1 It is a system block diagram of the present invention. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work also fall within the scope of protection of the present invention.

[0021] like Figure 1 As shown, the present invention provides a technical solution: an automatic control system for rotation damping of a ship manipulator, connected to a server, the server comprising a terminal calculation module, an image module, a measurement module and an execution control module. The image module obtains image information of the area where the ship is located and transmits it to the terminal calculation module, the measurement module measures the wind direction information of the area where the ship is located through a wind direction measuring instrument, the ultrasonic anemometer measures the wind speed information of the area where the ship is located, the temperature sensor measures the water temperature information of the area where the ship is located, and transmits it to the terminal calculation module, the terminal calculation module analyzes and calculates the image information and the measurement information, and the execution control module receives the calculation results of the terminal calculation module to perform automatic control of rotation damping; The following steps are involved: Step 1: Ship dynamic analysis: the image module obtains the dynamic image information of the area where the ship is located in real time and transmits it to the terminal calculation module. The terminal calculation module performs ship shaking value and ship driving judgment analysis based on this to obtain the ship dynamic value; Step 2: Static analysis of ship manipulators: the image module obtains the image information of the ship and manipulator in real time and transmits it to the terminal calculation module, based on which the static analysis of ship maneuvers is performed to obtain the static required value of ship maneuvers; Step 3: Ship dynamics analysis: the image module obtains wave image information and water flow image information in the ship environment in real time and transmits it to the terminal calculation module. The measurement module measures the wind direction information in the area where the ship is located, and measures the wind speed information in the area where the ship is located and transmits it to the terminal calculation module. The terminal calculation module analyzes the ship's environmental status based on this information and obtains the ship's dynamics anomaly. Step 4: ship comprehensive judgment, receiving the ship dynamic value, ship maneuvering static value and ship environmental abnormal value, and performing comprehensive state judgment and analysis to obtain the ship's comprehensive abnormal state value; Step 5: Automatic damping control, the execution control module receives the analysis and matching of the ship's comprehensive abnormal state values ​​from the terminal calculation module, obtains the rotation damping force values ​​corresponding to the comprehensive abnormal state values ​​of different ships, and realizes automatic control of the rotation damping; Furthermore, the ship dynamic value specifically includes the following steps: Step 101: The image module installs multiple sets of image sensors at the bow, stern and center of the cleat, transmits the collected images to the terminal computing module and inputs them into the edge detection algorithm, obtains continuous lines that form a sharp contrast with the surrounding seawater background, and separates the outline of the ship from the image through contour extraction image processing operation to obtain the outline of the ship; Step 102: The terminal computing module extracts significant feature points from the ship contour images at different monitoring times, specifically the corner points of the ship hull and the ship chimney, and matches these feature points in the two ship contour images monitored before and after. The feature points of the adjacent front monitoring points (x n-1 ,y n-1 ), the image corresponding feature points of adjacent monitoring points are (x n ,y n ), n is the number of the monitoring point, n=1, 2, 3...N, according to the affine change formula: , where t xn and t yn are the translation amounts of the feature points in the x and y directions, a1 n 、a2 n 、a3 n and a4 n are the parameters of the affine transformation matrix respectively. Based on the extracted pairs of feature points, multiple sets of equations are established and solved by the least squares method to obtain a1 n 、a2 n 、a3 n 、a4 n ,t xn and t yn The value of , get the affine transformation matrix of the monitoring time point , according to the formula θ n =arctan(a4 n / a1 n ), and obtain the rotation angle θ of the ship at the monitoring point n , according to the formula , get the offset T of the monitoring point n , according to the set formula , the ship sway value HY is obtained, b1 and b2 are weight factors of the rotation angle of the ship monitoring point and the offset of the monitoring point respectively, and the specific values ​​are determined by professionals in the field; Step 103: Extract significant feature points from the ship profile images at different monitoring times, and obtain the displacement vectors of the feature points and the time intervals of the monitoring time, which are marked as Δx, Δy and Δt, respectively. Δx and Δy are the displacement vectors in the x and y directions, respectively. According to the formula , get the ship moving speed v; Step 104: converting the ship sway value HY and the ship moving speed v into length according to a certain ratio, constructing a parallelogram by dividing the ship sway value HY and the ship moving speed v into the height and side length of the parallelogram, extracting the perimeter of the formed parallelogram, and marking it as the ship dynamic value cd; Furthermore, the ship maneuvering static value requirement specifically includes the following steps: Step 201: The image module acquires the image information of the manipulator in a static state in real time and transmits it to the terminal computing module. The terminal computing module analyzes the appearance features of the manipulator and matches them with the features in the database to obtain the corresponding type of the manipulator. The specific types are electric manipulator, mechanical manipulator or hydraulic manipulator. It should be noted that the appearance features are specifically that the electric manipulator is identified by the shape of the motor, the mechanical manipulator is identified by various mechanical parts such as gears, belts and chains, and the hydraulic manipulator is identified by the hydraulic pipeline. It should also be noted that the demand of the manipulator for the damping force is that the electric manipulator is less than the mechanical manipulator and less than the hydraulic manipulator. Step 202: The terminal computing module receives the image information of the manipulator in a static state, and places the manipulator in a two-dimensional space model. It first covers the manipulator graphic with a small box with a side length of a1, counts the number of boxes S1 required to cover the manipulator graphic, and then gradually reduces the side length of the box to , the corresponding number of boxes is The side length of the box and the number of boxes are plotted on a double logarithmic coordinate system, with lnan as the horizontal coordinate and lnSn as the horizontal coordinate, n=1, 2, 3...N, and the value of N is a positive integer. Coordinate points are plotted on the logarithmic coordinate system according to the corresponding values, and linear regression analysis is performed on the coordinate points to obtain the slope of the straight line, which is marked as the fractal dimension FX of the manipulator. It should be noted that the larger the fractal dimension of the manipulator and the more irregular the manipulator, the greater the required damping force; Step 203: The image module obtains the image information of the ship in a static state in real time and transmits it to the terminal calculation module. The terminal calculation module analyzes the image, obtains the bow tip value, draft depth and freeboard height, and marks them as cj, cs and gg. The required resistance value Cxz of the ship is calculated, where UO1, UO2 and UO3 are the preset weight factors of the bow tip value, draft depth and freeboard height. is a preset correction factor; it should be noted that the bow tip value refers to the ratio of the maximum length and maximum width of the bow part divided by the angle between the bow and the mid-longitudinal section of the ship, and multiplied by the preset correction factor; Step 204: Normalize the obtained fractal dimension FX of the manipulator and the required resistance value Cxz of the ship and substitute them into the formula The ship maneuvering static value CJX is calculated, where LP1, LP2, LP3 and LP4 are all preset weight factors. is the preset correction factor, where LP1<LP3<LP4; Furthermore, the ship's environmental abnormal value specifically includes the following steps: Step 301: The terminal calculation module receives wind direction information and wind speed information, selects the north direction as the polar axis, and expresses it with the polar angle. The north direction is 0°, the clockwise direction is a positive angle, and the wind speed is expressed by the polar diameter. It should be noted that the greater the wind speed, the greater the polar diameter. The wind direction and wind speed information within a period of time are entered into the polar coordinate system, and the polar coordinate diagram is divided into m angle intervals, specifically m is 12, and the number of intervals with zero polar coordinate intervals is obtained, marked as ld, and each polar coordinate interval is obtained. The number ratio value, take the maximum ratio value and the minimum ratio value of the interval, and calculate the difference to get the worst value zc, obtain the number ratio value of the wind speed greater than z in the polar coordinates, specifically z is 15 meters / second, marked as fg, according to the set formula fj=d1 / ld+d2 / zc+d3×fg, get the ship wind change value fj, where d1, d2 and d3 are the preset weight factors of the number of intervals with zero number, the worst value of the interval and the ratio value of the wind speed greater than z, respectively. The specific value is determined by personnel in this field; Step 302: The image module acquires wave image information in the ship environment in real time and transmits it to the terminal calculation module, which analyzes the wave abnormal values ​​as follows: The time period for obtaining wave height monitoring is divided into several sub-time periods, and the wave heights are sorted in the order of monitoring time. The wave height in the front is subtracted from the wave height in the back, which is recorded as the sub-wave difference, and the sum is calculated to obtain the sub-total wave difference. The wave height values ​​in the front that are greater than the wave height values ​​in the back are counted and subtracted to obtain the sub-high wave value, which are summed to obtain the sub-high total wave value. The sub-total wave difference and the sub-high total wave value are weighted and multiplied by the corresponding weight factor to obtain the wave anomaly value by; Step 303: The image module obtains the water flow image information in the ship environment in real time and transmits it to the terminal calculation module. The terminal calculation module obtains the angle between the water flow direction and the ship's heading, marked as θ1. The terminal calculation module receives the water temperature information and obtains the temperature value of the ship's driving area, marked as T1. According to the set formula , get the flow temperature anomaly lyz, where h1 and h2 are the weight factors of the angle between the water flow direction and the ship's heading and the temperature value of the driving area, respectively, to improve the accuracy of the calculation. Its size is customized by the technicians based on actual use and experience accumulation. A1 is the reference temperature value of the ship's driving area. Step 304: Normalize the ship wind speed change value fj, wave abnormal value by and flow temperature abnormal value lyz and substitute them into the formula , we get the ship's ring dynamic difference HDY, where is the preset correction factor and The value is 0.376, and y1, y2 and y3 are the preset weight factors of the ship wind change value, wave abnormal value and flow temperature abnormal value respectively; Furthermore, the comprehensive abnormal value of the ship specifically includes the following steps: Convert the ship's dynamic value and the ship's static maneuvering value into length according to a certain ratio, and construct a cylinder with the length of the ship's dynamic value and the ship's static maneuvering value as the bottom circle radius and the height of the cylinder; convert the ship's annular dynamic abnormal value into length according to a certain ratio, and construct a regular triangle with the length of the ship's annular dynamic abnormal value as the side length of the regular triangle, wherein the center of the regular triangle coincides with the center of the circle of the lower surface of the cylinder, identify the volume formed by the regular triangle and the cylinder, and mark it as the ship's comprehensive abnormal value; Furthermore, the rotation damping force values ​​corresponding to the different ship's comprehensive abnormal values ​​specifically include the following steps: Set f rotational damping force values, each rotational damping force value corresponds to a value range, Q1 (0, q1), Q2 (q1, q2), Q3 (q2, q3) ... Qf (qf-1, qf), Q1, Q2, Q3 ... Qf respectively represent the segmented interval numbers of the rotational damping force values, q1, q2, q3 ... qf respectively represent the corresponding rotational damping force values, and match the comprehensive abnormal value of the ship corresponding to each monitoring time point with the value range. If the set comprehensive abnormal value of the ship belongs to the value range, the rotational damping force value corresponding to the value range is marked as the adjusted rotational damping force value; the ship's rotational damping is operated according to the adjusted rotational damping force value. It should be noted that the larger the comprehensive abnormal value of the ship is, the larger the required rotational damping force value is.

[0022] The above is an explanation of the present invention and should not be considered as a limitation thereof. Although several exemplary embodiments of the present invention have been described, it will be readily appreciated by those skilled in the art that many modifications may be made to the exemplary embodiments without departing from the novel teachings and advantages of the present invention. Therefore, all such modifications are intended to be included within the scope of the present invention as defined in the claims. It should be understood that the above is an explanation of the present invention and should not be considered as being limited to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The present invention is defined by the claims and their equivalents.

Claims

1. A rotation damping automatic control system for a ship manipulator, comprising a server, characterized in that: The server is connected with: An image module is used to obtain dynamic image information of the area where the ship is located, image information of the ship manipulator in static state, wave image information and water flow image information in the ship environment and transmit them to the terminal computing module; The determination module is used for the wind direction measuring instrument to measure the wind direction information of the area where the ship is located, the ultrasonic anemometer to measure the wind speed information of the area where the ship is located, and the temperature sensor to measure the water temperature information of the area where the ship is located, and transmit it to the terminal calculation module; The terminal calculation module analyzes and calculates the image information and the measurement information to obtain the comprehensive abnormal value of the ship; The execution control module is used to receive the calculation results of the terminal calculation module to perform automatic rotation damping control.

2. The automatic control system for rotational damping of a ship manipulator according to claim 1, characterized in that: The image module obtains the dynamic image information of the area where the ship is located in real time and transmits it to the terminal calculation module. The terminal calculation module performs ship shaking value and ship driving judgment analysis based on the information to obtain the ship dynamic value; The image module also acquires the image information of the ship and manipulator in static state in real time and transmits it to the terminal calculation module, based on which static analysis of ship operation is performed to obtain the static required value of ship operation; the image module also acquires the wave image information and the water flow image information in the ship environment in real time and transmits them to the terminal calculation module, the measurement module measures the wind direction information of the area where the ship is located, measures the wind speed information of the area where the ship is located and transmits it to the terminal calculation module, the terminal calculation module performs the ship environment status analysis based on this and obtains the ship's environmental abnormal value; receives the ship's dynamic value, the static required value of ship operation and the ship's environmental abnormal value, performs a comprehensive state judgment analysis on them, and obtains the ship's comprehensive abnormal state value; the execution control module receives the comprehensive abnormal state value analysis and matching of the ship from the terminal calculation module, and obtains the rotational damping force values ​​corresponding to different comprehensive abnormal state values ​​of the ship, so as to realize automatic control of the rotational damping.

3. The automatic control system for rotational damping of a ship manipulator according to claim 2, characterized in that: Obtaining the ship dynamic value specifically includes: converting the ship sway value HY and the ship moving speed v into length according to a certain ratio, constructing a parallelogram with the ship sway value HY and the ship moving speed v as the height and side length of the parallelogram, extracting the perimeter of the formed parallelogram, and marking it as the ship dynamic value cd.

4. The automatic control system for rotational damping of a ship manipulator according to claim 3, characterized in that: The ship sway value, ship moving speed and ship dynamic value include the following steps: Step 101: The image module installs multiple sets of image sensors at the bow, stern and center of the cleat, transmits the collected images to the terminal computing module and inputs them into the edge detection algorithm, and separates the outline of the ship from the image through the contour extraction image processing operation to obtain the outline of the ship; Step 102: The terminal computing module extracts significant feature points from the ship contour images at different monitoring times, specifically the corner points of the ship hull and the ship chimney, and matches these feature points in the two ship contour images monitored before and after. The feature points of the adjacent front monitoring points (x n-1 ,y n-1 ), the image corresponding feature points of adjacent monitoring points are (x n ,y n ), n is the number of the monitoring point, n=1, 2, 3...N, according to the affine change formula: , where t xn and t yn are the translation amounts of the feature points in the x and y directions, a1 n 、a2 n 、a3 n and a4 n are the parameters of the affine transformation matrix respectively. Based on the extracted pairs of feature points, multiple sets of equations are established and solved by the least squares method to obtain a1 n 、a2 n 、a3 n 、a4 n ,t xn and t yn The value of , get the affine transformation matrix of the monitoring time point , according to the formula θ n =arctan(a4 n / a1 n ), and obtain the rotation angle θ of the ship at the monitoring point n , according to the formula , get the offset T of the monitoring point n , according to the formula, the ship sway value HY is obtained; Step 103: Extract significant feature points from the ship profile images at different monitoring times, and obtain the displacement vectors of the feature points and the time intervals of the monitoring time, which are marked as Δx, Δy and Δt, respectively. Δx and Δy are the displacement vectors in the x and y directions, respectively. According to the formula , and obtain the ship moving speed v.

5. The automatic control system for rotation damping of a ship manipulator according to claim 2, characterized in that: The specific calculation process of the ship maneuvering static value is as follows: the obtained fractal dimension FX of the manipulator and the required resistance value Cxz of the ship are substituted into the formula for calculation to obtain the ship maneuvering static value CJX.

6. The automatic control system for rotational damping of a ship manipulator according to claim 5, characterized in that: The specific analysis of the fractal dimension of the manipulator and the required resistance value of the ship includes the following steps: Step 201: The image module acquires static image information of the manipulator in real time and transmits it to the terminal computing module. The terminal computing module analyzes the appearance features of the manipulator and matches them with the features in the database to obtain the type of the manipulator. Step 202: The terminal computing module receives the image information of the manipulator in a static state, and places the manipulator in a two-dimensional space model. It first covers the manipulator graphic with a small box with a side length of a1, counts the number of boxes S1 required to cover the manipulator graphic, and then gradually reduces the side length of the box to , the corresponding number of boxes is The side length of the box and the number of boxes are plotted on a double logarithmic coordinate system, with lnan as the horizontal coordinate and lnSn as the horizontal coordinate, n=1, 2, 3...N, where N is a positive integer. Coordinate points are plotted on the logarithmic coordinate system according to the corresponding values, and a linear regression analysis is performed on the coordinate points to obtain the slope of the straight line, which is marked as the fractal dimension FX of the manipulator; Step 203: The image module obtains the image information of the ship in a static state in real time and transmits it to the terminal calculation module. The terminal calculation module analyzes the image, obtains the bow tip value, draft depth and freeboard height, and calculates the required resistance value Cxz of the ship.

7. The automatic control system for rotational damping of a ship manipulator according to claim 2, characterized in that: The specific calculation process of the ship's environmental abnormal value is: the ship's wind surge value, wave abnormal value and flow temperature abnormal value are processed and substituted into the formula for calculation to obtain the ship's environmental abnormal value HDY.

8. The automatic control system for rotational damping of a ship manipulator according to claim 7, characterized in that: The ship wind change value, wave abnormal value and flow temperature abnormal value include the following steps: Step 301: The terminal calculation module receives wind direction information and wind speed information, selects the due north direction as the polar axis, and uses the polar angle to represent it. The wind direction and wind speed information within a period of time are classified into the polar coordinate system, and the polar coordinate diagram is divided into m angle intervals. The number of intervals with zero polar coordinate intervals is obtained, marked as ld, and the number percentage value of each polar coordinate interval is obtained. The maximum percentage value and the minimum percentage value of the interval are taken, and the difference is calculated to obtain the worst value zc. The number percentage value of wind speeds greater than z in the polar coordinates is obtained, and the formula is calculated to obtain the ship wind change value fj; Step 302: The image module acquires wave image information in the ship environment in real time and transmits it to the terminal calculation module, divides the time period for acquiring wave height monitoring into several sub-time periods, sorts the wave heights in the order of monitoring time, subtracts the wave heights in the previous order from the wave heights in the next order, records them as sub-wave differences, sums them up to obtain sub-total wave differences, counts and subtracts the wave height values ​​in the previous order that are greater than the wave height values ​​in the next order, obtains sub-high wave values, sums them up to obtain sub-high total wave values, analyzes the sub-total wave differences and the sub-high total wave values, and obtains the wave abnormality value by; Step 303: The image module acquires the water flow image information in the ship environment in real time and transmits it to the terminal calculation module. The terminal calculation module acquires the angle between the water flow direction and the ship heading, marked as θ1. The terminal calculation module receives the water temperature information and obtains the temperature value of the ship's driving area, marked as T1. According to the formula analysis, the flow temperature anomaly lyz is obtained.

9. The automatic control system for rotational damping of a ship manipulator according to claim 2, characterized in that: The specific calculation process of the comprehensive abnormal value of the ship is: the ship dynamic value, the ship maneuvering static value and the ship's environmental abnormal value are analyzed according to the graphical construction to obtain the comprehensive abnormal value of the ship.

10. The automatic control system for rotation damping of a ship manipulator according to claim 2, characterized in that: The rotation damping force values ​​corresponding to the different ship's comprehensive abnormal values ​​include the following steps: Set f rotational damping force values, each of which corresponds to a value range, Q1 (0, q1), Q2 (q1, q2), Q3 (q2, q3) ... Qf (qf-1, qf), and match the comprehensive abnormal value of the ship corresponding to each monitoring time point with the value range. If the set comprehensive abnormal value of the ship belongs to the value range, the rotational damping force value corresponding to the value range is marked as the adjusted rotational damping force value; the ship's rotational damping is operated according to the adjusted rotational damping force value.

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