An intelligent emergency control system for laying ship rudder propeller

Abstract

The present invention discloses an intelligent emergency control system for a laying ship rudder propeller, and belongs to the technical field of laying ship rudder propeller control. An intelligent emergency control system for a laying ship rudder propeller, comprising a main control module, a rudder propeller driving module and a rudder propeller control module. The present invention solves the problem in the prior art that when the main steering system fails, it is easy to cause the ship to lose control, collide or other safety accidents. The present invention utilizes the rudder propeller driving module to drive the laying ship rudder propeller in an emergency mode, and monitors the status of the laying ship rudder propeller in real time. When there are potential problems and failure trends in the laying ship rudder propeller, the control instructions of the laying ship rudder propeller are adjusted to ensure the safe operation of the laying ship rudder propeller. It can quickly respond and start the emergency mode in an emergency situation, effectively avoiding the occurrence of dangerous situations such as loss of control of the ship, and can also realize remote monitoring and management, improve the safety and management efficiency of the ship, and effectively ensure the safe driving of the ship.

Description

Technical Field

[0001] The invention relates to the technical field of rudder and propeller control of a laying ship, and in particular to an intelligent emergency control system for a rudder and propeller of a laying ship. Background Art

[0002] The main function of the rudder propeller of a laying ship is to control the direction and stability of the ship. The rudder propeller changes the sailing direction of the ship by rotating to ensure that the ship can accurately follow the preset course during navigation. For example, the rudder propeller can be raised in shallow water to avoid collision and damage; the rudder propeller can be lowered in deep water to obtain better propulsion and control effects.

[0003] The Chinese patent with publication number CN119176238A discloses a steering propeller control system, control method and ship, which belongs to the field of ship equipment technology. The steering propeller control system includes a lifting component, a locking component and a control component. Among them, the lifting component includes a hydraulic motor, a lifting screw and a reducer. The hydraulic motor has two output shafts arranged relatively. The reducer is used to transmit the rotational motion of the output shaft to the lifting screw. The screw sleeve installed in conjunction with the lifting screw converts the rotational motion into linear motion to drive the steering propeller to rise or fall; the locking component includes a locking cylinder and a telescopic rod. The telescopic rod is connected to the locking cylinder. The locking cylinder can drive the telescopic rod to extend and retract to lock or loosen the steering propeller, realize the stable operation of the lifting and locking action of the steering propeller, and improve the safety and control accuracy of the steering propeller control process.

[0004] In the actual use of the above patent, when the main steering system fails, the ship's controllability will be greatly reduced, which may easily lead to loss of control, collision or other safety accidents; therefore, it does not meet the existing needs. We have proposed an intelligent emergency control system for laying rudder propellers. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent emergency control system for a laying ship's rudder propeller, which can ensure the safe operation of the laying ship's rudder propeller, can quickly respond and start the emergency mode in an emergency, effectively avoid the occurrence of dangerous situations such as loss of control of the ship, and can also realize remote monitoring and management, improve the safety and management efficiency of the ship, and can effectively ensure the safe driving of the ship, solving the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent emergency control system for a rudder propeller of a laying ship, comprising:

[0007] The main control module is used to collect and process the signals of the rudder propeller of the laying ship, and judge the status of the rudder propeller of the laying ship, and issue corresponding control instructions according to the judgment results, including:

[0008] Firstly, the rules and conditions for the laying ship's rudder propeller to start the emergency mode are preset, and the rules and conditions for the emergency mode to start include steering gear failure or malfunction and laying ship power grid overload;

[0009] Then, the real-time status of the rudder propeller and the quality of power grid electricity are determined based on the processed data;

[0010] Finally, the real-time status of the rudder propeller and the power quality of the power grid will be matched with the preset rules and conditions to determine whether the start-up conditions of the emergency mode are met;

[0011] The steering propeller driving module is used to drive the steering propeller according to the instructions issued by the main control module;

[0012] The rudder propeller control module is used to monitor the status of the rudder propeller in real time after receiving the command from the main control module, and take corresponding control measures according to the monitoring results.

[0013] Preferably, the main control module includes:

[0014] Real-time data acquisition unit, used to collect the rudder angle, propeller speed, ship heading and speed data of the rudder propeller system of the laying ship, generator and power grid data in real time;

[0015] A data processing unit, used to clean the collected data, remove noise and outliers, and calibrate the data;

[0016] The judgment unit is used to judge the real-time status of the rudder propeller of the laying ship and the power quality of the power grid according to the processed data. The power quality of the power grid includes the power factor, power grid voltage and power grid frequency of the power grid.

[0017] Preferably, the data processing unit pre-processes the collected rudder angle, propeller speed, ship heading and speed data of the rudder propeller system of the laying ship, including:

[0018] an abnormality processing unit, used for obtaining data standard features of the rudder angle, propeller speed, ship heading and speed data of the rudder propeller system, performing data abnormality detection on the rudder angle, propeller speed, ship heading and speed data based on the data standard features, removing the abnormal data, and obtaining abnormality processing data;

[0019] a missing processing unit, configured to perform data missing detection on the abnormal processing data to obtain a missing data sequence, and determine a data interpolation method to supplement the abnormal processing data based on sequence characteristics of the missing data sequence and a data type of the missing data sequence to obtain supplementary processing data;

[0020] A denoising processing unit, used for performing low-pass filtering on the supplementary processed data to obtain denoised processed data;

[0021] an association determination unit, for creating a rate of change of heading angle, a rate of change of heading, a propulsion efficiency between a propeller speed and a ship speed as new features, performing feature engineering processing on the denoised processed data, and obtaining data association characteristics of the supplementary processed data;

[0022] A time alignment unit, configured to determine a lag time feature of the denoised data based on the data association characteristics and in combination with the sampling frequencies of different sensors, and determine a secondary interpolation method for the denoised data based on the lag time feature to perform time alignment to obtain initial processed data;

[0023] The data verification unit is used to obtain the pre-processing curve and post-processing curve of the rudder angle, propeller speed, ship heading and speed data and the initial processing data respectively, and compare them to obtain noise processing information and abnormal value processing information, obtain the pre-processing variance and post-processing variance of the rudder angle, propeller speed, ship heading and speed data and the initial processing data respectively, determine the degree of noise reduction, pre-process and verify the initial processing data based on the noise processing information, abnormal value processing information and the degree of noise reduction, and obtain target processing data according to the verification results.

[0024] Preferably, issuing corresponding control instructions according to the judgment result specifically includes:

[0025] If the result of the judgment is that the main steering system of the rudder propeller of the laying ship fails or is not working properly, a control command to start the emergency steering mode is issued;

[0026] If the result of the judgment is that the power grid is overloaded, a rapid load reduction command is sent to the rudder propeller inverter of the laying ship;

[0027] The frequency converter of the rudder propeller of the laying ship immediately reduces the power of the rudder propeller of the laying ship and issues a control instruction to reduce the load of the rudder propeller of the laying ship;

[0028] When it is determined that the fault has been eliminated, a control command to exit the emergency mode is issued.

[0029] Preferably, the rudder propeller driving module specifically includes:

[0030] Receive the control command sent by the main control module and parse the received control command. When the control command is to switch the emergency mode, the steering system of the rudder propeller of the laying ship is switched to the emergency mode;

[0031] When the emergency mode is activated, the navigation system of the laying vessel is monitored in real time. If the navigation system cannot operate normally, the backup navigation system is immediately activated and the management personnel are notified to check and repair it;

[0032] At the same time, according to the operation requirements of the emergency mode, adjust the output of the power system of the laying ship to control the speed and course of the laying ship;

[0033] When the control command is to exit the emergency mode, switch back to the steering system of the rudder propeller of the laying ship, and gradually restore the main steering system while restoring the corresponding load setting value of the rudder propeller of the laying ship.

[0034] Preferably, the rudder propeller control module comprises:

[0035] A remote monitoring unit, used to monitor the status of the rudder propeller of the laying ship in real time and display the current status of the rudder propeller of the laying ship;

[0036] The command adjustment unit is used to adjust the control commands of the laying ship's rudder propeller according to potential problems and failure trends of the laying ship's rudder propeller.

[0037] Preferably, the specific process of the rudder propeller control module includes:

[0038] Use the monitoring center to monitor the status of the laying ship's rudder propeller in real time and obtain the historical data of the laying ship's rudder propeller;

[0039] When the current state of the laying ship rudder propeller is abnormal or faulty, the abnormal or faulty data is displayed;

[0040] Process and analyze the received abnormal or faulty data of the laying ship's rudder propeller, and identify the potential problems and fault trends of the laying ship's rudder propeller in combination with the historical data of the laying ship's rudder propeller;

[0041] The control instructions of the rudder propeller of the laying ship are adjusted according to the recognition result, and the rudder propeller of the laying ship is adjusted accordingly according to the control instructions.

[0042] Preferably, the control instruction for adjusting the rudder propeller according to the recognition result specifically includes:

[0043] Determine the specific angle required to lay the rudder paddle, which can be any value between 0° and 180°;

[0044] According to the specifications and control requirements of the rudder steering gear, the corresponding high level width of the pulse width modulation signal is calculated;

[0045] Setting the duty cycle in the microcontroller to control the rotation angle of the servo generates the required pulse width modulation signal;

[0046] The pulse width modulation signal is uploaded to the microcontroller, and the rotation of the rudder propeller of the laying boat is observed, and the pulse width modulation signal is adjusted according to the rotation of the rudder propeller of the laying boat.

[0047] Preferably, the remote monitoring unit comprises:

[0048] Use the ground monitoring center to monitor the status of the laying ship rudder propeller in real time and display the current status of the laying ship rudder propeller;

[0049] When the rudder propeller of the laying ship has an abnormality or fault, such as too fast rotation speed, angle deviating from the preset range, etc., an alarm signal will be automatically issued and the abnormality or fault data will be displayed;

[0050] When the real-time monitoring data exceeds the preset range, an early warning is automatically triggered to alert managers to intervene.

[0051] The specific process of processing and analyzing the received abnormal or faulty data of the laying ship rudder propeller and identifying the potential problems and fault trends of the laying ship rudder propeller in combination with the historical data of the laying ship rudder propeller includes:

[0052] Determine potential problems with the laying ship's rudder propeller based on the data type of the laying ship's rudder propeller abnormality or failure data;

[0053] Obtain a standard data set of the rudder propeller of the laying ship, and determine the weight of each data type based on the degree of influence of the data type on the rudder propeller failure of the laying ship;

[0054] Based on the difference between the abnormal or faulty data of the rudder propeller of the laying ship and the standard data set, combined with the weight of the data type, the displayed abnormal value is calculated according to the following formula;

[0055] ;

[0056] in, Indicates that outliers are displayed, n indicates the number of data types in the standard data set, Represents the weight of the i-th data type, with a value of (0, 1). Indicates the data abnormal value of the i-th data type in the abnormal or faulty data of the laying ship rudder propeller, Represents the standard value of the data type of the i-th standard data set, It represents the reference difference between the data abnormal value and the data standard value of the i-th data type, and e represents the natural constant, which is 2.72;

[0057] Based on the difference between the historical data of laying rudder propellers and the standard data set, combined with the weight of the data type, the potential outliers are calculated according to the following formula;

[0058] ;

[0059] in, represents a potential outlier, Represents the data outlier of the i-th data type in the historical data;

[0060] Based on the displayed abnormal values ​​and potential abnormal values, the failure tendency coefficient of the rudder propeller of the laying ship is calculated according to the following formula;

[0061]

[0062] Where K represents the failure tendency coefficient of the rudder propeller of the laying ship, Indicates the length of time for laying out abnormal or faulty data of the rudder propeller. Indicates the time length of historical data, The reference time length for laying out abnormal or faulty data of rudder propeller, Indicates the reference time length of historical data;

[0063] Based on the failure tendency coefficient, combined with the potential problems of laying the rudder propeller, the failure tendency is determined.

[0064] Compared with the prior art, the present invention has the following beneficial effects:

[0065] The present invention determines whether it is necessary to activate the emergency mode according to preset rules and conditions, and uses the rudder propeller driving module to perform corresponding driving operations on the laying ship rudder propeller, and uses the rudder propeller control module to monitor the status of the laying ship rudder propeller in real time. When there are potential problems and failure trends in the laying ship rudder propeller, the control instructions of the laying ship rudder propeller are adjusted to ensure the safe operation of the laying ship rudder propeller. It can quickly respond and activate the emergency mode in an emergency situation, and effectively avoid the occurrence of dangerous situations such as loss of control of the ship. In addition, through the integration with the system of the laying ship rudder propeller, remote monitoring and management can also be achieved to improve the safety and management efficiency of the ship. The intelligent emergency control system of the present invention has the characteristics of fast response speed, high control accuracy and high reliability, and can effectively ensure the safe driving of the ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a schematic diagram of the intelligent emergency control system module of the laying ship rudder propeller of the present invention;

[0067] Figure 2 The figure is a flow chart of the intelligent emergency control system for the rudder propeller of the laying ship of the present invention. DETAILED DESCRIPTION

[0068] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0069] In order to solve the problem that when the main steering system of the existing propeller control system fails, the ship's control ability will be greatly reduced, which may easily lead to loss of control, collision or other safety accidents, please refer to Figure 1-Figure 2 , this embodiment provides the following technical solutions:

[0070] An intelligent emergency control system for laying a rudder propeller, comprising:

[0071] The main control module is used to collect and process the signals of the rudder propeller of the laying ship, and judge the status of the rudder propeller of the laying ship, and issue corresponding control instructions according to the judgment results, including:

[0072] Firstly, the rules and conditions for the laying ship's rudder propeller to start the emergency mode are preset, and the rules and conditions for the emergency mode to start include steering gear failure or malfunction and laying ship power grid overload;

[0073] Then, the real-time status of the rudder propeller and the quality of power grid electricity are determined based on the processed data;

[0074] Finally, the real-time status of the rudder propeller and the power quality of the power grid will be matched with the preset rules and conditions to determine whether the start-up conditions of the emergency mode are met;

[0075] The steering propeller driving module is used to drive the steering propeller according to the instructions issued by the main control module;

[0076] The rudder propeller control module is used to monitor the status of the rudder propeller in real time after receiving the command from the main control module, and take corresponding control measures according to the monitoring results.

[0077] Main control module, including:

[0078] Real-time data acquisition unit, used to collect the rudder angle, propeller speed, ship heading and speed data of the rudder propeller system of the laying ship, generator and power grid data in real time;

[0079] The data processing unit is used to clean the collected data, remove noise and outliers, and calibrate the data to ensure the accuracy and reliability of the data. For example, the rudder angle data is calibrated to eliminate the deviation and error caused by the sensor installation position and method.

[0080] The judgment unit is used to judge the real-time status of the rudder propeller of the laying ship and the power quality of the power grid according to the processed data. The power quality of the power grid includes the power factor, power grid voltage and power grid frequency of the power grid.

[0081] In one embodiment, the data processing unit pre-processes the collected rudder angle, propeller speed, ship heading and speed data of the rudder propeller system of the laying ship, including:

[0082] an abnormality processing unit, used for obtaining data standard features of the rudder angle, propeller speed, ship heading and speed data of the rudder propeller system, performing data abnormality detection on the rudder angle, propeller speed, ship heading and speed data based on the data standard features, removing the abnormal data, and obtaining abnormality processing data;

[0083] a missing processing unit, configured to perform data missing detection on the abnormal processing data to obtain a missing data sequence, and determine a data interpolation method to supplement the abnormal processing data based on sequence characteristics of the missing data sequence and a data type of the missing data sequence to obtain supplementary processing data;

[0084] A denoising processing unit, used for performing low-pass filtering on the supplementary processed data to obtain denoised processed data;

[0085] an association determination unit, for creating a rate of change of heading angle, a rate of change of heading, a propulsion efficiency between a propeller speed and a ship speed as new features, performing feature engineering processing on the denoised processed data, and obtaining data association characteristics of the supplementary processed data;

[0086] A time alignment unit, configured to determine a lag time feature of the denoised data based on the data association characteristics and in combination with the sampling frequencies of different sensors, and determine a secondary interpolation method for the denoised data based on the lag time feature to perform time alignment to obtain initial processed data;

[0087] The data verification unit is used to obtain the pre-processing curve and post-processing curve of the rudder angle, propeller speed, ship heading and speed data and the initial processing data respectively, and compare them to obtain noise processing information and abnormal value processing information, obtain the pre-processing variance and post-processing variance of the rudder angle, propeller speed, ship heading and speed data and the initial processing data respectively, determine the degree of noise reduction, pre-process and verify the initial processing data based on the noise processing information, abnormal value processing information and the degree of noise reduction, and obtain target processing data according to the verification results.

[0088] In this embodiment, the data standard features include, for example, the rudder angle, propeller speed, ship heading, and data range and fluctuation amplitude of the speed data.

[0089] In this embodiment, data loss may occur due to sensor abnormality.

[0090] In this embodiment, the data interpolation method is, for example, forward and backward interpolation, linear interpolation, and time series prediction, which can be reasonably selected according to different situations.

[0091] In this embodiment, since the propagation response is slow, high-frequency noise may not represent real data, and low-pass filtering is performed to remove noise.

[0092] In this embodiment, the data association characteristics are, for example, the relationship between shouting and heading change, the relationship between the paddle speed and the ship speed, etc., in which the hysteresis should be considered.

[0093] In this embodiment, obtaining the target processed data according to the verification result specifically means that the initial processed data is used as the target processed data after passing the verification, and the initial processed data is pre-processed again if it fails the verification.

[0094] In this embodiment, different sensors have different sampling frequencies and delays, and the sampling frequencies and data association characteristics are analyzed and interpolated to achieve time alignment.

[0095] The beneficial effects of the above design scheme are: by considering the specific characteristics of the rudder and propeller system from multiple aspects such as data anomaly processing, missing processing, denoising and time alignment, such as sensor conditions, data association conditions, etc., to pre-process the data, and finally verify the data processing according to the noise conditions and outlier conditions, and finally obtain the target processed data, effectively improve the data quality, and provide a high-quality data foundation for the subsequent algorithm analysis and task prediction of the rudder and propeller system data.

[0096] According to the judgment result, corresponding control instructions are issued, including:

[0097] If the result of the judgment is that the main steering system of the rudder propeller of the laying ship fails or is not working properly, a control command to start the emergency steering mode is issued;

[0098] If the result of the judgment is that the power grid is overloaded, a rapid load reduction command is sent to the rudder propeller inverter of the laying ship;

[0099] The frequency converter of the rudder propeller of the laying ship immediately reduces the power of the rudder propeller of the laying ship and issues a control instruction to reduce the load of the rudder propeller of the laying ship;

[0100] When it is determined that the fault has been eliminated, a control command to exit the emergency mode is issued.

[0101] The propeller drive module includes:

[0102] Receive the control command sent by the main control module and parse the received control command. When the control command is to switch the emergency mode, the steering system of the rudder propeller of the laying ship is switched to the emergency mode;

[0103] When the emergency mode is activated, the navigation system of the laying ship is monitored in real time to accurately determine the position and heading of the laying ship. If the navigation system cannot operate normally, the backup navigation system is immediately activated and the management personnel are notified to check and repair it;

[0104] At the same time, according to the operation requirements of the emergency mode, adjust the output of the power system of the laying ship to control the speed and course of the laying ship;

[0105] When the control command is to exit the emergency mode, switch back to the steering system of the rudder propeller of the laying ship, and gradually restore the main steering system while restoring the corresponding load setting value of the rudder propeller of the laying ship.

[0106] In emergency situations, the control system of rapid switching of the rudder propellers can ensure that the ship can respond to instructions quickly and adjust the direction of sailing, which is crucial for avoiding collisions and leaving dangerous areas. At the same time, the intervention of the control navigation system can ensure that the ship can still accurately position itself in an emergency and avoid getting lost. In addition, the coordinated control of the power system ensures that the ship has sufficient power support during emergency maneuvers, ensuring that the ship can sail stably in the predetermined direction.

[0107] The propeller control module includes:

[0108] A remote monitoring unit, used to monitor the status of the rudder propeller of the laying ship in real time and display the current status of the rudder propeller of the laying ship;

[0109] The command adjustment unit is used to adjust the control commands of the laying ship's rudder propeller according to potential problems and failure trends of the laying ship's rudder propeller.

[0110] The specific process of the rudder propeller control module includes:

[0111] Use the monitoring center to monitor the status of the laying ship's rudder propeller in real time and obtain the historical data of the laying ship's rudder propeller;

[0112] When the current state of the laying ship rudder propeller is abnormal or faulty, the abnormal or faulty data is displayed;

[0113] Process and analyze the received abnormal or faulty data of the laying ship's rudder propeller, and identify the potential problems and fault trends of the laying ship's rudder propeller in combination with the historical data of the laying ship's rudder propeller;

[0114] The control instructions of the rudder propeller of the laying ship are adjusted according to the identification results, and the rudder propeller of the laying ship is adjusted accordingly according to the control instructions to ensure the navigation safety and stability of the ship.

[0115] By identifying potential problems and failure trends of the rudder propellers of the laying ship, preventive maintenance can be performed on the rudder propeller system of the laying ship, reducing downtime and maintenance costs caused by failures. By adjusting the control parameters in advance, certain failure conditions can be avoided and the service life of the equipment can be extended. Adjusting the control instructions according to the failure trends can ensure that the rudder propeller system can respond accurately at critical moments and improve the ship's maneuverability and collision avoidance capabilities. The optimized rudder propeller control instructions can make the ship more energy-efficient and efficient during navigation. By reducing unnecessary rudder angle changes and thruster power adjustments, fuel consumption can be reduced, emissions can be reduced, and overall navigation efficiency can be improved.

[0116] According to the recognition results, the control instructions of the rudder propeller are adjusted, including:

[0117] Determine the specific angle required to lay the rudder paddle, which can be any value between 0° and 180°;

[0118] According to the specifications and control requirements of the rudder steering gear, the corresponding high level width of the pulse width modulation signal is calculated;

[0119] Setting the duty cycle in the microcontroller to control the rotation angle of the servo generates the required pulse width modulation signal;

[0120] The pulse width modulation signal is uploaded to the microcontroller, and the rotation of the rudder propeller of the laying ship is observed. The pulse width modulation signal is adjusted according to the rotation of the rudder propeller of the laying ship to achieve the purpose of accurately controlling the rudder propeller.

[0121] Remote monitoring unit, including:

[0122] Use the ground monitoring center to monitor the status of the laying ship rudder propeller in real time and display the current status of the laying ship rudder propeller;

[0123] Real-time monitoring can detect abnormal conditions of the pavement ship's rudder propellers, such as excessive wear, overheating or performance degradation, so that alarms can be issued in time to avoid safety accidents caused by failures. In emergency situations, such as encountering bad weather or sudden failures, the real-time monitoring system can help ship managers quickly understand the status of the pavement ship's rudder propellers, make correct decisions, and ensure the safety of the ship and personnel.

[0124] When the rudder propeller of the laying ship has an abnormality or fault, such as too fast rotation speed, angle deviating from the preset range, etc., an alarm signal will be automatically issued to remind the operator to pay attention, and the abnormality or fault data will be displayed so that the management personnel can take prompt measures;

[0125] When the real-time monitoring data exceeds the preset range, an early warning is automatically triggered to remind management personnel to intervene;

[0126] Through remote monitoring, managers can obtain the operating status of the rudder propeller in real time, including key information such as speed and direction, so as to respond and make decisions quickly. Real-time data support enables managers to more accurately evaluate ship performance and needs, optimize navigation plans and resource allocation. Remote monitoring can reduce dependence on on-site personnel and reduce labor costs. Real-time monitoring of the rudder propeller status helps to detect potential faults in a timely manner and prevent accidents. In an emergency, the remote management system can quickly coordinate rescue and emergency operations to ensure the safety of the ship and personnel and improve the navigation efficiency and safety of the ship.

[0127] In one embodiment, the specific process of processing and analyzing the received abnormal or faulty data of the laying ship rudder propeller and identifying the potential problems and fault trends of the laying ship rudder propeller in combination with the historical data of the laying ship rudder propeller includes:

[0128] Determine potential problems with the laying ship's rudder propeller based on the data type of the laying ship's rudder propeller abnormality or failure data;

[0129] Obtain a standard data set of the rudder propeller of the laying ship, and determine the weight of each data type based on the degree of influence of the data type on the rudder propeller failure of the laying ship;

[0130] Based on the difference between the abnormal or faulty data of the rudder propeller of the laying ship and the standard data set, combined with the weight of the data type, the displayed abnormal value is calculated according to the following formula;

[0131] ;

[0132] in, Indicates that outliers are displayed, n indicates the number of data types in the standard data set, Represents the weight of the i-th data type, with a value of (0, 1). Indicates the data abnormal value of the i-th data type in the abnormal or faulty data of the laying ship rudder propeller, Represents the standard value of the data type of the i-th standard data set, It represents the reference difference between the data abnormal value and the data standard value of the i-th data type, and e represents the natural constant, which is 2.72;

[0133] Based on the difference between the historical data of laying rudder propellers and the standard data set, combined with the weight of the data type, the potential outliers are calculated according to the following formula;

[0134] ;

[0135] in, represents a potential outlier, Represents the data outlier of the i-th data type in the historical data;

[0136] Based on the displayed abnormal values ​​and potential abnormal values, the failure tendency coefficient of the rudder propeller of the laying ship is calculated according to the following formula;

[0137] ;

[0138] Where K represents the failure tendency coefficient of the rudder propeller of the laying ship, Indicates the length of time for laying out abnormal or faulty data of the rudder propeller. Indicates the time length of historical data, The reference time length for laying out abnormal or faulty data of rudder propeller, Indicates the reference time length of historical data;

[0139] Based on the failure tendency coefficient, combined with the potential problems of laying the rudder propeller, the failure tendency is determined.

[0140] In this embodiment, the data types include speed, heading, etc.

[0141] In this embodiment, data outliers of a data type are all subjected to data standardization, thereby eliminating numerical differences caused by the data type.

[0142] In this embodiment, the reference time length of the abnormal or fault data of the rudder propeller is laid out, and the reference time length of the historical data is preset based on historical experience or human experience.

[0143] In this embodiment, the displayed abnormal value is used to indicate the abnormal degree of the laying ship's rudder propeller, and the potential abnormal value is used to indicate the potential abnormal degree of the laying ship's rudder propeller.

[0144] The beneficial effect of the above design scheme is: by processing and analyzing the received abnormal or fault data of the laid-up ship rudder propeller, considering the difference between the abnormal or fault data of the laid-up ship rudder propeller and the standard data set, and the difference between the historical data of the laid-up ship rudder propeller and the standard data set, to determine the degree of abnormality of the laid-up ship rudder propeller and the potential degree of abnormality of the laid-up ship rudder propeller, and finally determine the failure trend coefficient of the laid-up ship rudder propeller, based on the failure trend coefficient, combined with the potential problems of the laid-up ship rudder propeller, determine the failure trend, ensure the accuracy of the obtained failure trend, and provide a basis for preventive maintenance of the laid-up ship rudder propeller system.

[0145] Working principle: When using the intelligent emergency control system of the laying boat rudder propeller of the present invention, according to Figure 1 and Figure 2 , including the following steps:

[0146] Step 1: Real-time collection of the rudder angle, propeller speed, ship heading and speed data of the rudder propeller system of the laying ship, generator and power grid data, and processing;

[0147] Step 2: Determine the real-time status of the rudder propeller and the power quality of the power grid based on the processed data, and issue corresponding control instructions based on the judgment results;

[0148] Step 3: receiving the control command sent by the main control module, parsing the received control command, and switching the steering system of the rudder propeller of the laying ship to the emergency mode according to the parsed control command;

[0149] Step 4: When the emergency mode is activated, the navigation system of the laying ship is monitored in real time, and the output of the laying ship's power system is adjusted according to the operation requirements of the emergency mode to control the speed and course of the laying ship;

[0150] Step 5: When the control command is to exit the emergency mode, switch back to the steering system of the rudder propeller of the laying ship, and gradually restore the main steering system while restoring the corresponding load setting value of the rudder propeller of the laying ship;

[0151] Step 6: The ground monitoring center monitors the status of the laying ship rudder propeller in real time and displays the current status of the laying ship rudder propeller. When an abnormality or failure occurs, an alarm signal is automatically issued and abnormality or failure data is displayed;

[0152] Step 7: Process and analyze the received abnormal or faulty data of the laying ship rudder propeller, identify potential problems and fault trends of the laying ship rudder propeller in combination with the historical data of the laying ship rudder propeller, and adjust the control instructions of the laying ship rudder propeller according to the identification results.

[0153] In summary, the signal of the laying ship rudder propeller is collected and processed by the main control module, and it is determined whether the emergency mode needs to be started according to the preset rules and conditions. The rudder propeller driving module is used to drive the rudder propeller accordingly, and the rudder propeller control module is used to monitor the status of the laying ship rudder propeller in real time. The ship's attitude can be quickly adjusted in an emergency to avoid the expansion of the accident. The system may also integrate intelligent diagnosis and maintenance functions, which can detect potential faults in advance, reduce unplanned docking, and improve the timeliness and effectiveness of emergency response. When there are potential problems and failure trends in the laying ship rudder propeller, the control instructions of the laying ship rudder propeller are adjusted to ensure the safe operation of the laying ship rudder propeller. The system can respond quickly and start the emergency mode in an emergency, effectively avoiding the occurrence of dangerous situations such as loss of control of the ship. In addition, through integration with the laying ship rudder propeller system, remote monitoring and management can also be achieved to improve the safety and management efficiency of the ship. The intelligent emergency control system of the present invention has the characteristics of fast response speed, high control accuracy and high reliability, and can effectively ensure the safe driving of the ship.

[0154] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants 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.

[0155] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. An intelligent emergency control system for laying rudder propellers, characterized in that: include: The main control module is used to collect and process the signals of the rudder propeller of the laying ship, and judge the status of the rudder propeller of the laying ship, and issue corresponding control instructions according to the judgment results, including: The rules and conditions for the laying vessel's rudder propeller to activate the emergency mode are preset, and the rules and conditions for the activation of the emergency mode include steering gear failure or malfunction and laying vessel power grid overload; Determine the real-time status of the rudder propeller and the power quality of the power grid based on the processed data; The real-time status of the rudder propeller and the power quality of the power grid will be matched with the preset rules and conditions to determine whether the start-up conditions of the emergency mode are met; The steering propeller driving module is used to drive the steering propeller according to the instructions issued by the main control module; The rudder propeller control module is used to monitor the status of the rudder propeller in real time after receiving the command from the main control module, and take corresponding control measures according to the monitoring results, including: A remote monitoring unit, used to monitor the status of the rudder propeller of the laying ship in real time and display the current status of the rudder propeller of the laying ship; The command adjustment unit is used to adjust the control commands of the laying ship's rudder propeller according to potential problems and failure trends of the laying ship's rudder propeller.

2. The intelligent emergency control system for the rudder propeller of a laying ship according to claim 1 is characterized by: The main control module comprises: Real-time data acquisition unit, used to collect the rudder angle, propeller speed, ship heading and speed data of the rudder propeller system of the laying ship, generator and power grid data in real time; A data processing unit, used to clean the collected data, remove noise and outliers, and calibrate the data; The judgment unit is used to judge the real-time status of the rudder propeller of the laying ship and the power quality of the power grid according to the processed data. The power quality of the power grid includes the power factor, power grid voltage and power grid frequency of the power grid.

3. The intelligent emergency control system for the rudder propeller of a laying ship according to claim 2 is characterized by: The data processing unit pre-processes the collected data of the rudder angle, propeller speed, ship heading and speed of the rudder propeller system of the laying ship, including: an abnormality processing unit, used for obtaining data standard features of the rudder angle, propeller speed, ship heading and speed data of the rudder propeller system, performing data abnormality detection on the rudder angle, propeller speed, ship heading and speed data based on the data standard features, removing the abnormal data, and obtaining abnormality processing data; a missing processing unit, configured to perform data missing detection on the abnormal processing data to obtain a missing data sequence, and determine a data interpolation method to supplement the abnormal processing data based on sequence characteristics of the missing data sequence and a data type of the missing data sequence to obtain supplementary processing data; A denoising processing unit, used for performing low-pass filtering on the supplementary processed data to obtain denoised processed data; an association determination unit, for creating a rate of change of heading angle, a rate of change of heading, a propulsion efficiency between a propeller speed and a ship speed as new features, performing feature engineering processing on the denoised processed data, and obtaining data association characteristics of the supplementary processed data; A time alignment unit, configured to determine a lag time feature of the denoised data based on the data association characteristics and in combination with the sampling frequencies of different sensors, and determine a secondary interpolation method for the denoised data based on the lag time feature to perform time alignment to obtain initial processed data; The data verification unit is used to obtain the pre-processing curve and post-processing curve of the rudder angle, propeller speed, ship heading and speed data and the initial processing data respectively, and compare them to obtain noise processing information and abnormal value processing information, obtain the pre-processing variance and post-processing variance of the rudder angle, propeller speed, ship heading and speed data and the initial processing data respectively, determine the degree of noise reduction, pre-process and verify the initial processing data based on the noise processing information, abnormal value processing information and the degree of noise reduction, and obtain target processing data according to the verification results.

4. The intelligent emergency control system for the rudder propeller of a laying ship according to claim 2 is characterized by: The issuing of corresponding control instructions according to the judgment result specifically includes: If the result of the judgment is that the main steering system of the rudder propeller of the laying ship fails or is not working properly, a control command to start the emergency steering mode is issued; If the result of the judgment is that the power grid is overloaded, a rapid load reduction command is sent to the rudder propeller inverter of the laying ship; The frequency converter of the rudder propeller of the laying ship immediately reduces the power of the rudder propeller of the laying ship and issues a control instruction to reduce the load of the rudder propeller of the laying ship; When it is determined that the fault has been eliminated, a control command to exit the emergency mode is issued.

5. The intelligent emergency control system for the rudder propeller of a laying ship according to claim 1 is characterized by: The rudder propeller driving module specifically includes: Receive the control command sent by the main control module and parse the received control command. When the control command is to switch the emergency mode, the steering system of the rudder propeller of the laying ship is switched to the emergency mode; When the emergency mode is activated, the navigation system of the laying vessel is monitored in real time. If the navigation system cannot operate normally, the backup navigation system is immediately activated and the management personnel are notified to check and repair it; At the same time, according to the operation requirements of the emergency mode, adjust the output of the power system of the laying ship to control the speed and course of the laying ship; When the control command is to exit the emergency mode, switch back to the steering system of the rudder propeller of the laying ship, and gradually restore the main steering system while restoring the corresponding load setting value of the rudder propeller of the laying ship.

6. The intelligent emergency control system for the rudder propeller of a laying ship according to claim 1 is characterized by: The specific process of the rudder propeller control module includes: Use the monitoring center to monitor the status of the laying ship's rudder propeller in real time and obtain the historical data of the laying ship's rudder propeller; When the current state of the laying ship rudder propeller is abnormal or faulty, the abnormal or faulty data is displayed; Process and analyze the received abnormal or faulty data of the laying ship's rudder propeller, and identify the potential problems and fault trends of the laying ship's rudder propeller in combination with the historical data of the laying ship's rudder propeller; The control instructions of the rudder propeller of the laying ship are adjusted according to the recognition result, and the rudder propeller of the laying ship is adjusted accordingly according to the control instructions.

7. The intelligent emergency control system for the rudder propeller of a laying ship according to claim 6 is characterized by: The control instructions for adjusting the arrangement of the rudder propeller according to the recognition result specifically include: Determine the specific angle required to lay the rudder paddle, which can be any value between 0° and 180°; According to the specifications and control requirements of the rudder steering gear, the corresponding high level width of the pulse width modulation signal is calculated; Setting the duty cycle in the microcontroller to control the rotation angle of the servo generates the required pulse width modulation signal; The pulse width modulation signal is uploaded to the microcontroller, and the rotation of the rudder propeller of the laying boat is observed, and the pulse width modulation signal is adjusted according to the rotation of the rudder propeller of the laying boat.

8. The intelligent emergency control system for the rudder propeller of a laying ship according to claim 1 is characterized by: The remote monitoring unit comprises: Use the ground monitoring center to monitor the status of the laying ship rudder propeller in real time and display the current status of the laying ship rudder propeller; When the rudder propeller of the laying ship is abnormal or fails, an alarm signal will be automatically issued and the abnormal or fault data will be displayed; When the real-time monitoring data exceeds the preset range, an early warning is automatically triggered to alert managers to intervene.

9. The intelligent emergency control system for the rudder propeller of a laying ship according to claim 1, characterized in that: The specific process of processing and analyzing the received abnormal or faulty data of the laying ship rudder propeller and identifying the potential problems and fault trends of the laying ship rudder propeller in combination with the historical data of the laying ship rudder propeller includes: Determine potential problems with the laying ship's rudder propeller based on the data type of the laying ship's rudder propeller abnormality or failure data; Obtain a standard data set of the rudder propeller of the laying ship, and determine the weight of each data type based on the degree of influence of the data type on the rudder propeller failure of the laying ship; Based on the difference between the abnormal or faulty data of the rudder propeller of the laying ship and the standard data set, combined with the weight of the data type, the displayed abnormal value is calculated according to the following formula; ； in, P x Indicates that outliers are displayed, n indicates the number of data types in the standard data set, β i Represents the weight of the i-th data type, with a value of (0, 1). δ i Indicates the data abnormal value of the i-th data type in the abnormal or faulty data of the laying ship rudder propeller, δ 0i Represents the standard value of the data type of the i-th standard data set, represents the reference difference between the data abnormal value and the data standard value of the i-th data type, e represents the natural constant, and its value is 2.72; Based on the difference between the historical data of laying rudder propellers and the standard data set, combined with the weight of the data type, the potential outliers are calculated according to the following formula; ； Among them, P q represents potential outliers, σ i Represents the data outlier of the i-th data type in the historical data; Based on the displayed abnormal values ​​and potential abnormal values, the failure tendency coefficient of the rudder propeller of the laying ship is calculated according to the following formula; ； Where, K represents the failure tendency coefficient of the rudder propeller of the laying ship, T sx Indicates the length of time for laying out abnormal or faulty data of the rudder propeller, T sq Indicates the time length of historical data, T 0x The reference time length for laying out abnormal or faulty data of rudder propeller, T 0q Indicates the reference time length of historical data; Based on the failure tendency coefficient, combined with the potential problems of laying the rudder propeller, the failure tendency is determined.

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