Ship control method, device, equipment and medium

Abstract

The embodiment of the invention provides a ship control method, device and equipment and a medium, and relates to the technical field of control, the method is applied to the ship control equipment, and the method comprises the steps that in the ship navigation process, the obstacle height of a height-limited object to be passed within a set distance range is detected, and under the condition that the passing height of a ship is larger than the obstacle height, the ship is controlled to pass through the height-limited object; and determining the target water level of the ballast water tank cabin required by the ship to pass through the height limiting object. And controlling the ballast water system to supplement water to the ballast water tank, so that the water level of the ballast water tank reaches the target water level, and the passing height re-determined based on the target water level is smaller than the obstacle height, thereby ensuring the operation reliability of the ship.

Description

Technical Field

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

[0002] A ship is a means of transport that can sail or anchor in waters for transportation or operations. The reliable operation of ships in various environments is one of the key factors to ensure transportation safety. Among them, the ship's ballast water system is an important water storage system in ships, mainly used to adjust the changes in the ship's waterline during port loading and unloading, and the impact of surges when the ship is sailing.

[0003] In the related technology, when a ship is operating in certain navigation areas, such as Class B navigation areas, there are frequent needs to cross bridges, change batteries, load and unload cargo, etc., because the navigation area crosses a large number of height-restricted objects, which greatly increases the frequency of use of the ballast water system. This makes it a problem that needs attention to ensure the reliability of ship control to ensure transportation safety. Summary of the invention

[0004] One of the purposes of the present invention includes, for example, providing a ship control method, device, equipment and medium to at least partially improve the reliability of ship control to ensure transportation safety.

[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 control device of a ship, wherein the control device is communicatively connected to a ballast water system of the ship, and the method comprises:

[0007] During the navigation process of the ship, detecting the height of obstacles of height-limited objects to be passed within a set distance range;

[0008] Determining the relationship between the passage height of the ship and the height of the obstacle;

[0009] In the case where the passage height of the ship is greater than the obstacle height, determining a target water level of the ballast water tank required for the ship to pass through the height-restricted object;

[0010] The ballast water system is controlled to replenish the ballast water tank so that the water level in the ballast water tank chamber reaches the target water level, and the passage height re-determined based on the target water level is less than the obstacle height.

[0011] In an optional embodiment, the determining the target water level of the ballast water tank required for the ship to pass through the height-limited object includes:

[0012] Based on the passage height and the obstacle height, combined with the current situation information of the ship, calculate the required increased depth of the ship, and the amount of ballast water required to be inhaled by the ballast water tank compartment to increase the depth;

[0013] A target water level of the ballast water tank is calculated based on the ballast water amount.

[0014] In an optional embodiment, after the water level in the ballast water tank chamber reaches the target water level, the method further includes:

[0015] Return to the step of detecting the height of an obstacle to be passed through a height-restricted object within a set distance range to determine the magnitude relationship between the passing height of the ship and the height of the obstacle;

[0016] In the case where the passage height of the ship is still greater than the obstacle height, re-determining the target water level of the ballast water tank required for the ship to pass through the height-restricted object;

[0017] controlling the ballast water system to replenish the ballast water tank again so that the water level in the ballast water tank reaches the re-determined target water level;

[0018] Until the passage height of the ship is less than the obstacle height.

[0019] In an optional embodiment, controlling the ballast water system to replenish the ballast water tank so that the water level in the ballast water tank chamber reaches the target water level includes:

[0020] Calculating a target volume for replenishing the ballast water tank based on the current water level of the ballast water tank compartment, the target water level, and the tank bottom area;

[0021] The ballast water system is controlled to replenish the ballast water tank with water so that the replenishment amount reaches the target volume.

[0022] In an optional embodiment, controlling the ballast water system to replenish the ballast water tank so that the water level in the ballast water tank chamber reaches the target water level includes:

[0023] Controlling the ballast water system to replenish the ballast water tank;

[0024] The water level of the ballast water tank compartment is obtained in real time, and when the water level of the ballast water tank compartment reaches the target water level, the ballast water system is controlled to stop replenishing water to the ballast water tank.

[0025] In an optional embodiment, controlling the ballast water system to replenish the ballast water tank includes:

[0026] Based on the distance between the ship and the height-limited object, the current speed of the ship, and the water level to be adjusted, the water replenishment power required for the water level in the ballast water tank to reach the target water level before the ship reaches the height-limited object is calculated;

[0027] The ballast water system is controlled to replenish the ballast water tank based on the water replenishment power.

[0028] In an optional embodiment, controlling the ballast water system to replenish the ballast water tank based on the water replenishment power includes:

[0029] Determining whether the water replenishment power is within a power range of a water pump in the ballast water system;

[0030] When the water replenishment power is within the power range of the water pump in the ballast water system, controlling the water pump of the ballast water system to replenish the ballast water tank according to the water replenishment power;

[0031] When the water replenishment power is greater than the maximum value of the water pump power interval in the ballast water system, the water pump of the ballast water system is controlled to replenish the ballast water tank according to the maximum value of the power interval, and based on the time required for replenishing the ballast water tank according to the maximum value so that the water level in the ballast water tank reaches the target water level, and the current distance between the ship and the height-limited object, the target speed of the ship is calculated, and the speed of the ship is reduced to the target speed;

[0032] When the water replenishment power is less than the minimum value of the water pump power interval in the ballast water system, the water pump of the ballast water system is controlled to replenish the ballast water tank according to the minimum value of the power interval.

[0033] In a second aspect, an embodiment of the present invention provides a ship control device, which is applied to a control device of a ship, wherein the control device is communicatively connected to a ballast water system of the ship, and the ship control device comprises:

[0034] An information acquisition module is used to detect the height of obstacles to be passed through the height-limited object within a set distance range during the navigation of the ship;

[0035] An information processing module is used to determine the relationship between the passage height of the ship and the obstacle height; when the passage height of the ship is greater than the obstacle height, determine the target water level of the ballast water tank chamber required for the ship to pass through the height-restricted object; control the ballast water system to replenish the ballast water tank so that the water level of the ballast water tank chamber reaches the target water level, and the passage height re-determined based on the target water level is less than the obstacle height.

[0036] 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 when the processor executes the program, the ship control method described in any one of the aforementioned implementations is implemented.

[0037] 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 electronic device where the computer-readable storage medium is located is controlled to execute the ship control method described in any one of the aforementioned embodiments.

[0038] The beneficial effects of the embodiments of the present invention include, for example: determining whether the passage height is met by automatically detecting the obstacle height of the height-restricted object, and if the passage height is not met, controlling the ballast water system to replenish the ballast water tank based on the target water level, so that the passage height re-determined based on the target water level is less than the obstacle height, thereby ensuring the reliability of ship operation and ensuring the safety of ship transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] 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.

[0040] Figure 1 A schematic diagram of an application scenario provided by an embodiment of the present invention is shown.

[0041] Figure 2 A schematic flow chart of a ship control method provided by an embodiment of the present invention is shown.

[0042] Figure 3 Another schematic flow chart of a ship control method provided by an embodiment of the present invention is shown.

[0043] Figure 4 An exemplary structural block diagram of a ship control device provided by an embodiment of the present invention is shown.

[0044] Icon: 100 - electronic device; 110 - memory; 120 - processor; 130 - communication module; 140 - ship control device; 141 - information acquisition module; 142 - information processing module. DETAILED DESCRIPTION

[0045] In related technologies, when ships such as inland vessels operate in certain navigation areas, such as Class B navigation areas, they cross a large number of height-restricted objects in the navigation area, and there are frequent bridge crossings, power changes, loading and unloading, etc. during navigation, which greatly increases the frequency of use of the ballast water system. Therefore, it is very important to ensure the reliability of ship control to ensure transportation safety.

[0046] In order to adapt the ship's waterline to various scenarios, a valve remote control system can be used, where the operator switches pumps and valves, such as switching pumps and valves based on an industrial computer, to adjust the water inlet and outlet of the ship's ballast water system, thereby adjusting the ship's waterline. However, under this control method, the operator is unable to accurately obtain the amount of water inlet and outlet adjustment, and needs to provide more subjective strategies, which makes the control reliability need to be improved and may also cause energy loss.

[0047] Based on the above research, an embodiment of the present invention provides a ship control solution, which realizes the detection of the scene in which the ship is located based on the ingenious combination of various components and equipment, and realizes automatic control of the inflow and outflow of the ship's ballast water in combination with the set strategy. The actual needs of the ship are obtained based on the detection, and the ballast water is adjusted in time to change the ship's waterline, thereby ensuring navigation safety and reducing unnecessary energy loss.

[0048] The defects existing in the above solutions are the results obtained by the inventors after practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed in the embodiments of the present invention for the above problems below should all be the contributions made by the inventors in the invention process.

[0049] 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.

[0050] 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.

[0051] It should be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0052] 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.

[0053] 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.

[0054] Please refer to Figure 1 , is a block diagram of an electronic device 100 provided in this embodiment. The electronic device 100 in this embodiment may be a server, a processing device, a processing platform, etc. capable of data interaction and processing. For example, the electronic device 100 may be a control device of a ship such as an industrial computer. 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 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses or signal lines.

[0055] 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.

[0056] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions.

[0057] The communication module 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through the network, and to send and receive data through the network.

[0058] 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 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0059] Please refer to Figure 2 , which is a flow chart of a ship control method provided by an embodiment of the present invention, can be Figure 1 The electronic device 100 is executed by, for example, a control device of a ship, and can be executed by a processor 120 in the electronic device 100. The control device is in communication connection with a ballast water system of the ship. The ship control method includes S110, S120, S130 and S140.

[0060] S110, during the navigation process of the ship, detecting the height of obstacles of height-limited objects to be passed within a set distance range.

[0061] S120, determining the relationship between the passing height of the ship and the height of the obstacle.

[0062] S130: When the passing height of the ship is greater than the obstacle height, determine the target water level of the ballast water tank required for the ship to pass through the height-restricted object.

[0063] S140, controlling the ballast water system to replenish the ballast water tank so that the water level in the ballast water tank reaches the target water level, and the passage height re-determined based on the target water level is less than the obstacle height.

[0064] Through detection and analysis of the ship's navigation conditions, when the obstacle height of the height-restricted object does not meet the passage height, the ballast water system is automatically controlled to replenish the ballast water tank to reach the target water level that meets the passage requirements, thereby achieving precise control of the ballast water system, ensuring the reliability of ship operation, and ensuring the safety of ship transportation.

[0065] In S110, the height-restricted objects may be of various types, for example, they may be bridges, caves, cables and pipelines, ship locks, etc. in navigable waters.

[0066] The method of detecting the obstacle height of the height-restricted object within the set distance range can be flexibly selected. For example, in order to improve the timeliness of discovering the height-restricted object and reserve sufficient control time, a long-distance altimeter, such as a long-distance laser altimeter, can be used to detect the obstacle height of the height-restricted object to be passed within the set distance range.

[0067] For example, a long-distance altimeter can be mounted on the compass deck of a ship to calibrate the height-restricted object and measure its height based on the long-distance altimeter. The obstacle height measured by the long-distance altimeter is the height from the height-restricted object to the compass deck. The passage height of the ship is the distance from the highest point of the ship to the compass deck.

[0068] In the case where the obstacle height is obtained based on S110, in S120, the relationship between the ship's pass height and the obstacle height can be determined by determining whether the obstacle height minus the pass height is a positive number. If it is a positive number, it indicates that the ship's pass height is less than the obstacle height and can safely pass through the height-restricted object. If it is a negative number, it indicates that the ship's pass height is greater than the obstacle height and cannot pass through the height-restricted object based on the current state. The water level needs to be adjusted through the ballast water tank to make the ship's pass height less than the obstacle height.

[0069] After the magnitude relationship between the passing height and the obstacle height is determined based on S120, if the passing height is less than the obstacle height, the ship can pass directly.

[0070] In the case where the passage height of the ship is greater than the obstacle height, in S130, the target water level of the ballast water tank required for the ship to pass through the height-restricted object can be flexibly obtained. For example, based on the passage height and the obstacle height, combined with the current situation information of the ship, the depth required for the ship to pass through the height-restricted object and the amount of ballast water required to be inhaled by the ballast water tank of the corresponding depth can be calculated, so as to calculate the target water level of the ballast water tank based on the ballast water amount.

[0071] Exemplarily, the difference between the ship's passing height and the obstacle height at the current water level in the ballast water tank compartment can be made, and based on the difference (through the excess height of the height-limited object) and the current ship situation, the depth of the ship's waterline that is at least increased by the corresponding difference and the amount of ballast water (weight) that the ballast water tank compartment needs to absorb can be calculated, thereby calculating the volume of ballast water that needs to be replenished based on the ballast water quantity, and calculating the target water level of the ballast water tank compartment based on the ballast water volume.

[0072] Exemplarily, when the amount of ballast water M that the ballast water tank compartment needs to inhale is obtained, the volume of ballast water V that the ballast water tank compartment needs to inhale can be calculated by the formula M=ρv.

[0073] Where M is the amount of ballast water required to be inhaled; ρ is the water density, which is 1; and V is the volume of water inhaled.

[0074] The target water level h2 can be calculated based on the required ballast water volume V. Taking a rectangular ballast water tank as an example, based on V = (h2-h1)*S, the target water level h2 of the ballast water tank chamber that needs to be reached before passing through the height-restricted object can be obtained.

[0075] Wherein, h1 is the current water level of the ballast water tank compartment, and S is the bottom area of ​​the rectangular ballast water tank.

[0076] The above method for determining the target water level is only an example, and the target water level can also be flexibly determined based on the actual configuration of each ship. For example, while controlling the ballast water system to replenish the ballast water tank, the relationship between the latest passage height of the ship and the obstacle height can be detected, and the water level of the ballast water tank compartment when the latest passage height of the ship is less than the obstacle height can be used as the target water level.

[0077] After the target water level is determined based on S130, in S140, the ballast water system is controlled to replenish the ballast water tank with water so that the water level in the ballast water tank compartment can reach the target water level in a flexible manner.

[0078] For example, the target volume of water to be replenished in the ballast water tank can be calculated based on the current water level of the ballast water tank, the target water level, and the tank bottom area, and the ballast water system is controlled to replenish the ballast water tank so that the replenishment volume reaches the target volume.

[0079] The volume of water replenished in the ballast water tank can be obtained based on the liquid level measurement function, and can also be flexibly calculated based on the shape and volume of the ballast water tanks of different ships.

[0080] For another example, the ballast water system can be controlled to replenish the ballast water tank, and the water level of the ballast water tank chamber can be obtained in real time. When the water level of the ballast water tank chamber reaches the target water level, the ballast water system can be controlled to stop replenishing the ballast water tank.

[0081] For example, when the ship's clearance height is greater than the obstacle height and the section where the height-restricted object is located cannot be passed, the volume of ballast water that needs to be inhaled can be calculated based on the height of the ship exceeding the height-restricted object and the current situation of the ship, and the water level of the ballast water tank needs to be controlled by calculating the volume of the ballast water tank space, so as to issue a water replenishment instruction, so that the pump and the valves on the relevant pipelines are opened to replenish the ballast water tank. The water level in the ballast water tank is collected based on liquid level telemetry, and when the water level (target water level) is reached, an instruction is issued, and the valves and pumps stop working, ensuring that based on the target water level, the ship's clearance height is less than the obstacle height and can pass the height-restricted object smoothly.

[0082] Through more accurate water level calculation and control, unnecessary energy loss is avoided while ensuring the safety of ship navigation.

[0083] Given that the status of each ship before passing through the height-restricted object is different, the water level and water replenishment power required for each ship to successfully pass through the height-restricted object are different. In order to further ensure the reliability of ship passage, when controlling the ballast water system to replenish the ballast water tank, the control strategy can be determined based on the actual situation, combined with the water replenishment power, the ship's sailing speed, and the distance from the height-restricted object.

[0084] Please refer to Figure 3 , the water replenishment control logic can be implemented through S210 and S220.

[0085] S210, based on the distance between the ship and the height-limited object, the current speed of the ship, and the water level that needs to be adjusted, calculate the water replenishment power required for the water level in the ballast water tank compartment to reach the target water level before the ship reaches the height-limited object.

[0086] S220: Controlling the ballast water system to replenish the ballast water tank based on the water replenishment power.

[0087] In view of the differences in the power ranges supported by various ships, in the process of controlling the ballast water system to replenish the ballast water tank based on the replenishment power, it can be further determined whether the replenishment power is within the power range of the water pump in the ballast water system.

[0088] When the water replenishment power is within the power range of the water pump in the ballast water system, the water pump of the ballast water system is controlled to replenish the ballast water tank according to the water replenishment power.

[0089] When the water replenishment power is greater than the maximum value of the water pump power interval in the ballast water system, the water pump of the ballast water system is controlled to replenish the ballast water tank according to the maximum value of the power interval, and the speed of the ship is reduced. For example, based on the time required for replenishing the ballast water tank according to the maximum value so that the water level in the ballast water tank reaches the target water level and the current distance between the ship and the height-limited object, the target speed of the ship is calculated, and the speed of the ship is reduced to the target speed.

[0090] When the water replenishment power is less than the minimum value of the water pump power interval in the ballast water system, the water pump of the ballast water system is controlled to replenish the ballast water tank according to the minimum value of the power interval.

[0091] Based on the above process, through automatic analysis and control, it is possible to automatically and accurately control the ballast water system to replenish the ship's ballast water tank when the ship's passing height is greater than the obstacle height of the height-restricted object, so that the ship can pass the height-restricted object smoothly.

[0092] In order to further ensure the reliability of the passage of ships, after the water level in the ballast water tank chamber reaches the target water level, it is also possible to return to the step of detecting the obstacle height of the height-limited object to be passed within the set distance range to determine the size relationship between the passage height of the ship and the obstacle height. If the latest passage height of the ship is less than the obstacle height, it indicates that the ship can pass smoothly and no further control is required. In the case where the passage height of the ship is still greater than the obstacle height, it indicates that the ship still cannot pass smoothly, then the target water level of the ballast water tank chamber required for the ship to pass the height-limited object is re-determined, and the ballast water system is controlled again to replenish the ballast water tank, so that the water level of the ballast water tank chamber reaches the re-determined target water level until the passage height of the ship is less than the obstacle height.

[0093] In order to ensure the accuracy of multiple height measurements, altimeters of various distances can be loaded on the ship. For example, while a long-distance altimeter is used to detect the height of obstacles to be passed through the height-restricted object within the set distance range to improve the timeliness of discovering the height-restricted object and reserve sufficient control time, a short-distance altimeter can also be loaded on the ship, so that after the ship's waterline is controlled through "primary control", it can also be based on the short-distance altimeter to confirm whether the ship's passing height meets the passing conditions compared to the obstacle height of the height-restricted object. If it does not meet the conditions, it will be adjusted again and an alarm will be sounded so that the crew can confirm automatic water replenishment and manual water replenishment to strengthen navigation security and ensure navigation safety.

[0094] After the ship successfully passes the height-restricted object, the automatic water replenishment control command can be released, and the crew can also use the control box to adjust the navigation status by themselves. This embodiment does not limit this.

[0095] In order to execute the corresponding steps in the above embodiments and various possible methods, a method for implementing a ship control device is given below. Figure 4 , Figure 4 A functional module diagram of a ship control device 140 provided in an embodiment of the present invention, the ship control device 140 can be applied to Figure 1The electronic device 100 is a control device of a ship, and the control device is connected to the ballast water system of the ship. It should be noted that the basic principle and technical effect of the ship control device 140 provided in this embodiment are the same as those of the above embodiment. For the sake of brief description, the parts not mentioned in this embodiment can refer to the corresponding contents in the above embodiment. The ship control device 140 includes an information acquisition module 141 and an information processing module 142.

[0096] The information acquisition module 141 is used to detect the height of obstacles of height-limited objects to be passed within a set distance range during the navigation of the ship.

[0097] The information processing module 142 is used to determine the relationship between the passage height of the ship and the obstacle height; when the passage height of the ship is greater than the obstacle height, determine the target water level of the ballast water tank chamber required for the ship to pass through the height-restricted object; control the ballast water system to replenish the ballast water tank so that the water level of the ballast water tank chamber reaches the target water level, and the passage height re-determined based on the target water level is less than the obstacle height.

[0098] On the basis of the above, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium includes a computer program, and when the computer program is executed, the electronic device where the computer-readable storage medium is located is controlled to execute the above-mentioned ship control method.

[0099] By adopting the above scheme in the embodiment of the present invention, the ship can be controlled to adaptively pass through height-restricted objects, such as bridges, with high reliability, and can reduce unnecessary energy loss, reduce manual operations, and avoid repetitive work.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A ship control method, characterized in that: A control device applied to a ship, the control device being communicatively connected to a ballast water system of the ship, the method comprising: During the navigation process of the ship, detecting the height of obstacles of height-limited objects to be passed within a set distance range; Determining the relationship between the passage height of the ship and the height of the obstacle; In the case where the passage height of the ship is greater than the obstacle height, determining a target water level of the ballast water tank required for the ship to pass through the height-restricted object; The ballast water system is controlled to replenish the ballast water tank so that the water level in the ballast water tank chamber reaches the target water level, and the passage height re-determined based on the target water level is less than the obstacle height.

2. The ship control method according to claim 1, characterized in that: The step of determining a target water level of a ballast water tank required for the ship to pass through the height-limited object comprises: Based on the passage height and the obstacle height, combined with the current situation information of the ship, calculate the required increased depth of the ship, and the amount of ballast water required to be inhaled by the ballast water tank compartment to increase the depth; A target water level of the ballast water tank is calculated based on the ballast water amount.

3. The ship control method according to claim 1, characterized in that: After the water level in the ballast water tank reaches the target water level, the method further includes: Return to the step of detecting the height of an obstacle to be passed through a height-restricted object within a set distance range to determine the magnitude relationship between the passing height of the ship and the height of the obstacle; In the case where the passage height of the ship is still greater than the obstacle height, re-determining the target water level of the ballast water tank required for the ship to pass through the height-restricted object; controlling the ballast water system to replenish the ballast water tank again so that the water level in the ballast water tank reaches the re-determined target water level; Until the passage height of the ship is less than the obstacle height.

4. The ship control method according to claim 1, characterized in that: The controlling the ballast water system to replenish the ballast water tank with water so that the water level in the ballast water tank reaches the target water level includes: Calculating a target volume for replenishing the ballast water tank based on the current water level of the ballast water tank compartment, the target water level, and the tank bottom area; The ballast water system is controlled to replenish the ballast water tank with water so that the replenishment amount reaches the target volume.

5. The ship control method according to claim 1, characterized in that: The controlling the ballast water system to replenish the ballast water tank with water so that the water level in the ballast water tank reaches the target water level includes: Controlling the ballast water system to replenish the ballast water tank; The water level of the ballast water tank compartment is obtained in real time, and when the water level of the ballast water tank compartment reaches the target water level, the ballast water system is controlled to stop replenishing water to the ballast water tank.

6. The ship control method according to any one of claims 1 to 5, characterized in that: The controlling the ballast water system to replenish the ballast water tank includes: Based on the distance between the ship and the height-limited object, the current speed of the ship, and the water level to be adjusted, the water replenishment power required for the water level in the ballast water tank to reach the target water level before the ship reaches the height-limited object is calculated; The ballast water system is controlled to replenish the ballast water tank based on the water replenishment power.

7. The ship control method according to claim 6, characterized in that: The controlling the ballast water system to replenish the ballast water tank with water based on the water replenishment power includes: Determining whether the water replenishment power is within a power range of a water pump in the ballast water system; When the water replenishment power is within the power range of the water pump in the ballast water system, controlling the water pump of the ballast water system to replenish the ballast water tank according to the water replenishment power; When the water replenishment power is greater than the maximum value of the water pump power interval in the ballast water system, the water pump of the ballast water system is controlled to replenish the ballast water tank according to the maximum value of the power interval, and based on the time required for replenishing the ballast water tank according to the maximum value so that the water level in the ballast water tank reaches the target water level, and the current distance between the ship and the height-limited object, the target speed of the ship is calculated, and the speed of the ship is reduced to the target speed; When the water replenishment power is less than the minimum value of the water pump power interval in the ballast water system, the water pump of the ballast water system is controlled to replenish the ballast water tank according to the minimum value of the power interval.

8. A ship control device, characterized in that: A control device applied to a ship, wherein the control device is communicatively connected to a ballast water system of the ship, and the ship control device comprises: An information acquisition module is used to detect the height of obstacles to be passed through the height-limited object within a set distance range during the navigation of the ship; An information processing module is used to determine the relationship between the passage height of the ship and the obstacle height; when the passage height of the ship is greater than the obstacle height, determine the target water level of the ballast water tank chamber required for the ship to pass through the height-restricted object; control the ballast water system to replenish the ballast water tank so that the water level of the ballast water tank chamber reaches the target water level, and the passage height re-determined based on the target water level is less than the obstacle height.

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 ship control 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 comprises a computer program, and when the computer program is executed, the electronic device where the computer-readable storage medium is located is controlled to execute the ship control method according to any one of claims 1 to 7.

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