Ship remote driving control system

Abstract

The invention relates to a ship remote driving control system, and belongs to the technical field of remote driving control, and the system comprises a control rod module which comprises a handle and a posture detection element, and the posture detection element is used for feeding back the posture data of the handle to a control module; the control module is used for generating a ship control instruction for controlling the ship state according to the attitude data of the handle, transmitting the ship control instruction to a controlled ship, generating a force feedback instruction according to the ship state information of the controlled ship, and transmitting the force feedback instruction to the force feedback module; the force feedback module comprises a damper and an adjusting assembly, the damper is used for providing damping force for the handle, and the adjusting assembly is used for adjusting the damping force according to the force feedback instruction. The corresponding damping force is provided for the handle through the force feedback module according to the change of the resistance borne by the ship during running, tactile feedback of the damping force is achieved, and interaction between the remote driving and control system and the damping force of the controlled ship is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of remote driving and control technology, and in particular to a ship remote driving and control system. Background Art

[0002] With the development of big data, cloud computing, and artificial intelligence, the demand for remote control of ships has been increasing in recent years. Therefore, it is urgent to propose new control methods to meet the needs of the development of intelligent transportation.

[0003] In the prior art, remote driving systems applied to ships mostly use large Stewart platforms. Such feedback platforms usually copy traditional large gimbals, on which seats and operating devices are arranged. The driver sits on the seat and moves with the gimbal, and controls the remote ship at sea from the shore through the operating device.

[0004] In actual navigation, the helmsman or captain in the ship's control room controls the ship's direction and speed through joysticks and steering wheels. Faced with complex situations, such as the ship's speed change at different stages, the ship's resistance will change due to changes in water flow resistance, and the damping force applied when controlling the joystick will also change. This type of feedback platform only considers the interaction of the ship's posture, and ignores the interaction of the damping force applied to the handle. The interactivity is poor and it is difficult to reflect the actual complex situation of the ship. Summary of the invention

[0005] In view of this, it is necessary to provide a ship remote control system to solve the problem of ignoring the interaction of damping force and poor interactivity in the prior art.

[0006] In order to solve the above problems, the present application provides a ship remote control system, comprising: A joystick module, comprising a handle and a posture detection element, wherein the posture detection element is used to feed back posture data of the handle to the control module; A control module, used to generate a ship maneuvering instruction for controlling the state of a ship according to the posture data of the handle, and transmit the ship maneuvering instruction to the controlled ship, and also used to generate a force feedback instruction according to the ship state information of the controlled ship, and transmit the force feedback instruction to the force feedback module; The force feedback module comprises a damper and an adjusting component, wherein the damper is used to provide a damping force for the handle, and the adjusting component is used to adjust the damping force according to the force feedback instruction.

[0007] In some possible implementations, the joystick module also includes an operating table and a mounting column arranged on the operating table, the top of the mounting column is ball-hinged with the bottom of the handle, a contact plate is arranged on the handle, the damper is a cylinder, the cylinder is arranged on the operating table, and multiple cylinders are evenly distributed along the circumference around the mounting column, the top of the piston rod of the cylinder is used to abut the bottom of the contact plate, and the adjustment component is connected to the air inlet of the cylinder, and is used to adjust the amount of gas entering the cylinder according to the force feedback instruction.

[0008] In some possible implementations, a return spring is sleeved on the mounting column, one end of the return spring is connected to the operating table, and the other end of the return spring is connected to the handle.

[0009] In some possible implementations, a mounting hole with a hole diameter the same as the outer diameter of the cross-section of the contact plate is provided on the operating table, a columnar mounting shell with an upper end open is provided on the bottom wall around the mounting hole, the mounting column is provided on the inner bottom wall of the mounting shell, the mounting column and the handle are connected by a ball joint, the ball joint is slidably connected to the handle along the length direction of the mounting column, when the ball joint is located at the first position of the handle, the outer wall of the contact plate abuts against the inner wall of the mounting hole, when the ball joint slides to the second position of the handle, the contact plate is disengaged from the inner wall of the mounting hole, and abuts against the piston rod of the cylinder.

[0010] In some possible implementations, a limit spring is further provided at the top of the inner wall of the mounting hole, one end of the limit spring is connected to the inner wall of the mounting hole, and the other end is used to abut against the upper wall of the contact plate.

[0011] In some possible implementations, the joystick module further includes a switching unit, and the switching unit is used to feed back the first switching signal or the second switching signal to the control module; The ship maneuvering instructions include a first ship maneuvering instruction for controlling the heading and speed of the controlled ship and a second ship maneuvering instruction for controlling the rudder angle and acceleration of the controlled ship. The first ship maneuvering instruction is generated by the control module based on the posture data of the handle when the first switching signal is received, and the second ship maneuvering instruction is generated by the control module based on the posture data of the handle when the second switching signal is received.

[0012] In some possible implementations, the system also includes a steering wheel module, including a remote steering wheel and a driving member, wherein the rotation output shaft of the driving member is coaxially connected to the shaft of the remote steering wheel, and is used to drive the remote steering wheel to rotate according to the steering wheel control instructions. The steering wheel control instructions are generated by the control module according to the rotation angle data of the steering wheel on the controlled ship when the control module receives the posture data of the handle.

[0013] In some possible implementations, the steering wheel module also includes an angle monitoring component, which is used to feed back the rotation angle data of the remote steering wheel to the control module, and the control module is used to generate a third ship steering instruction for controlling the rudder angle of the controlled ship based on the rotation angle data of the controlled steering wheel.

[0014] In some possible implementations, the angle monitoring component includes a driving gear coaxially arranged on the shaft of the remote steering wheel, a driven gear meshing with the driving gear, and an angle sensor arranged on the driven gear, wherein the angle sensor is used to feed back the rotation angle data of the remote steering wheel to the control module.

[0015] In some possible implementations, the joystick module also includes a base, on which a plurality of driving servos are arranged, and the driving servos are connected to the operating table via connecting rods, and the driving servos are used to adjust the posture of the operating table according to servo control instructions, and the servo control instructions are generated by the control module according to the posture data of the controlled ship.

[0016] The beneficial effects of the present application are as follows: in the ship remote control system provided by the present application, when remotely controlling the ship through a joystick, the control module provides the handle with corresponding damping force through the force feedback module according to the change in the resistance encountered by the ship's travel, thereby realizing tactile feedback of the damping force, effectively improving the interaction between the remote control system and the damping force of the controlled ship, and better reflecting the actual complex situation of the ship; at the same time, the heading corresponding to the handle posture data can also be used for comprehensive analysis of the sea conditions in which the controlled ship is located. If the heading is in a dangerous direction, the cylinder pressure increases and the force feedback is strengthened to remind the driver, thereby improving the safety of remote control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of an embodiment of a remote ship control system provided in this application; Figure 2 A schematic diagram of the structure of an embodiment of a joystick module and a force feedback module provided by the present application; Figure 3 A cross-sectional schematic diagram of an embodiment of a joystick module and a force feedback module provided by the present application; Figure 4 A schematic diagram of the structure of an embodiment of the steering wheel module provided in this application; Figure numerals: 1-ship remote control system; 10-joystick module; 110-handle; 1110-switch button; 120-base; 1210-drive servo; 1220-connecting rod; 130-operating table; 1310-mounting hole; 1320-limit spring; 140-mounting shell; 150-mounting column; 1510-reset spring; 160-ball joint; 170-contact plate; 20-control module; 30-force feedback module; 310-cylinder; 40-steering wheel module; 410-remote steering wheel; 420-stepping motor. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0019] It should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts may be implemented out of order, and steps without logical contextual relationships may be reversed in order or implemented simultaneously. In addition, those skilled in the art may add one or more other operations to the flowcharts, or may remove one or more operations from the flowcharts, under the guidance of the content of this application. Some of the block diagrams shown in the accompanying drawings are functional entities, and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor systems and / or microcontroller systems.

[0020] The descriptions of "first", "second", etc. involved in the embodiments of the present application are only used to describe the implicit purpose, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the technical features defined as "first" and "second" may explicitly or implicitly include at least one of the features. "And / or" describes the association relationship of the associated objects, indicating that three relationships may exist, for example: A and / or B, which can represent: A exists alone, A and B exist at the same time, and B exists alone.

[0021] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0022] The present application provides a ship remote control system, which is described below.

[0023] Figure 1 This is a schematic diagram of the structure of an embodiment of the ship remote control system provided in this application. Figure 2 A schematic diagram of the structure of an embodiment of a joystick module and a force feedback module provided in the present application is shown in FIG. Figure 1 and Figure 2 As shown, the ship remote control system 1 includes: The joystick module 10 includes a handle 110 and a posture detection element, and is used to feed back posture data of the handle 110 to the control module 20; The control module 20 is used to generate a ship maneuvering instruction for controlling the ship state according to the posture data of the handle 110, and transmit the ship maneuvering instruction to the controlled ship, and is also used to generate a force feedback instruction according to the ship state information of the controlled ship, and transmit the force feedback instruction to the force feedback module 30; The force feedback module 30 includes a damper and an adjustment component. The damper is used to provide a damping force for the handle 110 , and the adjustment component is used to adjust the damping force according to the force feedback instruction.

[0024] Compared with the prior art, in the present application, when remotely controlling a ship through a handle, the control module 20 provides the handle 110 with corresponding damping force through the force feedback module 30 according to the change in the resistance encountered by the ship during the operation, thereby realizing tactile feedback of the damping force, effectively improving the interaction between the remote control system and the damping force of the controlled ship, and better reflecting the actual complex situation of the ship; at the same time, the heading corresponding to the posture data of the handle 110 can also be used for comprehensive analysis of the sea situation in which the controlled ship is located. If the heading is in a dangerous direction, the air pressure in the cylinder 310 increases, and the force feedback is strengthened to remind the driver, thereby improving the safety of remote control.

[0025] To improve interactivity, in some embodiments, Figure 2As shown, the joystick module 10 also includes a base 120 and an operating table 130. A plurality of driving servos 1210 are arranged on the base 120. The driving servos 1210 are connected to the operating table 130 through a connecting rod 1220. The driving servos 1210 are used to adjust the posture of the operating table 130 according to the servo control instructions. The servo control instructions are generated by the control module 20 according to the posture data of the controlled ship; therefore, the control module 20 controls the rotation of the driving servos 1210 to drive the connecting rod 1220 mechanism according to the posture data of the ship, so as to realize the reproduction of the ship posture by the operating table 130, and display the ship posture in a visual manner, which has the characteristics of direct feedback and strong intuitiveness, so as to create a sense of presence and driving during remote driving.

[0026] To prevent accidental touches, Figure 2 and 3 As shown, a mounting hole 1310 is provided on the operating table 130, and a mounting shell 140 with a cylindrical structure having an upper end opening is fixedly connected to the bottom wall around the mounting hole 1310 of the operating table 130, and a mounting column 150 is fixedly connected to the inner bottom wall of the mounting shell 140. The handle 110 is ball-hinged to the top of the mounting column 150 through a ball joint 160, and the ball joint 160 is slidably connected to the handle 110 along the length direction of the mounting column 150, and a contact plate 170 with a cross-sectional outer diameter having the same hole diameter as the mounting hole 1310 is coaxially fixedly connected to the handle 110. The outer diameter of the cross-section of the contact plate 170 is smaller than the inner diameter of the cross-section of the mounting shell 140; therefore, when not in use, the ball joint 160 is located at the first position of the handle 110, the outer wall of the contact plate 170 abuts against the inner wall of the mounting hole 1310, and the handle 110 fixedly connected to the contact plate 170 cannot move to prevent accidental touch. When it needs to be used, the driver holds the handle 110 and presses it downward, so that the ball joint 160 slides to the second position of the handle 110, the contact plate 170 disengages from the inner wall of the mounting hole 1310, and the handle 110 is pushed to control the ship.

[0027] In addition, a reset spring 1510 is also sleeved on the mounting column 150, one end of the reset spring 1510 is fixedly connected to the operating table 130, and the other end is fixedly connected to the contact plate 170. Therefore, after the operation is completed, the driver releases the handle 110, and the handle 110 can be automatically reset under the elastic force of the reset spring 1510; correspondingly, a limiting spring 1320 is also provided on the top of the inner wall of the mounting hole 1310, one end of the limiting spring 1320 is connected to the inner wall of the mounting hole 1310, and the other end is used to abut against the upper wall of the contact plate 170. Therefore, when the handle 110 is reset, it can abut against the limiting spring 1320 for buffering.

[0028] In order to improve the feedback sensitivity, in some embodiments, such as Figure 2As shown, the damper is a cylinder 310, which is mounted on the inner bottom wall of the mounting shell 140 and is evenly distributed circumferentially around the mounting column 150. The top of the piston rod of the cylinder 310 is used to abut the bottom of the contact plate 170 through the contact point on the contact plate 170. The adjustment component is connected to the air inlet of the cylinder 310, and is used to adjust the amount of gas entering the cylinder 310 according to the force feedback instruction; therefore, the cylinder 310 can provide damping feedback for the handle 110, and can also be used to maintain the position of the handle 110.

[0029] In order to improve the control sensitivity of the system in complex situations, in some embodiments, such as Figure 2 As shown, the joystick module 10 further includes a switching unit, and the switching unit includes a switching button 1110 . The driver can feed back the first switching signal or the second switching signal to the control module 20 by pressing the switching button 1110 .

[0030] The ship maneuvering instructions include a first ship maneuvering instruction for controlling the heading and speed of the controlled ship and a second ship maneuvering instruction for controlling the rudder angle and acceleration of the controlled ship. The first ship maneuvering instruction is generated by the control module 20 based on the posture data of the handle 110 when the first switching signal is received. The control module 20 transmits the first ship maneuvering instruction to the controlled ship to control the heading and speed of the ship. The second ship maneuvering instruction is generated by the control module 20 based on the posture data of the handle 110 when the second switching signal is received. The control module 20 transmits the second ship maneuvering instruction to the controlled ship to control the rudder angle and acceleration of the ship. The rudder angle and acceleration control are more sensitive and more suitable for complex situations.

[0031] Therefore, two control modes, namely, normal driving mode and accelerated driving mode, are designed. The first switching signal and the first ship maneuvering instruction correspond to the normal driving mode, and the second switching unit and the second ship maneuvering instruction correspond to the accelerated driving mode. In the normal driving mode, the rotation angle and the action angle of the handle 110 (the posture data of the handle 110) are the real-time speed and heading of the ship, and in the accelerated driving mode, the rotation angle and the action angle of the handle 110 are the changed speed and changed heading of the ship.

[0032] The operating principles corresponding to the normal driving mode and the accelerated driving mode are as follows: the posture detection element is a Hall element, which is installed at the bottom of the handle 110 (not shown in the figure), and the control module 20 includes a single-chip microcomputer. In both modes, the signal generated by the Hall element when the handle 110 moves is used as the input of the single-chip microcomputer, and the input signal directly acts on the ship's main engine speed governor and the steering gear rudder to achieve control; in the normal driving mode, the driver pushes the handle 110 to drive the Hall element to move, which can be regarded as the movement of a point in the polar coordinate system, and two physical quantities, namely length and angle, will be generated at the same time. The length corresponds to the speed setting, and the angle corresponds to the heading; pushing the Hall element forward will result in a farthest point, and the farthest point The length to the origin is a fixed value. The maximum speed of the ship corresponds to the farthest point. When the handle 110 is pushed to different positions, the point corresponds to different speeds. When the handle is pushed to different points, the corresponding speeds are different. The specific design is that the swing angle of the handle forward, backward, left and right is 23° in one direction. When the one-way 3° dead zone is set, the remaining 20° corresponds to a speed of 20km for ordinary civilian ships. The projection point corresponding to each 1° inclination away from the origin increases the speed by one knot. At the same time, the angle input corresponds to the true heading, and the rotation angle of the Hall element is 360°. The positive direction of the Y axis of the Hall element angle is set to 0°, and one clockwise rotation is 0 to 360°, which is designed to correspond to the heading angle one by one.

[0033] In the acceleration driving mode, it also depends on the angle and length of the Hall element, but the encoding method is changed. First, the encoding sets the positive direction of the X-axis to 0°, and one counterclockwise rotation is 0 to 360°. When pushing the joystick, first determine the range of the projection point. If it falls within the range of 0 to 180°, it is set for acceleration, and 180 to 360° is set for deceleration. Secondly, determine the pushing distance, that is, the swing angle. The larger the angle, the greater the acceleration of the corresponding acceleration and deceleration. At this time, the corresponding amplitude determines the input of the incremental value, and they correspond one to one. Finally, determine the rotation direction of the handle. The handle is clockwise for right rudder and counterclockwise for left rudder. The rotation angle corresponds to the incremental value setting, and the rotation angle corresponds to the rudder angle. Counterclockwise rotation of 180° corresponds to left full rudder. Divide the 35° rudder angle into 180 parts, and counterclockwise 1° corresponds to one part. The clockwise hand corresponds to the right rudder, which is the same as the setting method for the left rudder.

[0034] The feedback process corresponding to the normal driving mode and the accelerated driving mode is as follows: in the normal driving mode, the driver pushes the handle 110 to set the speed. When the handle 110 is pushed forward, the forward cylinder 310 is inflated to the set value by the air compressor, and the air pressure is applied to the bottom surface of the piston of the cylinder 310 to hinder the downward movement of the piston. At this time, since the front end contact of the handle 110 acts on the upper part of the piston, the piston is subjected to resistance, and the supporting force fed back to the contact hinders the handle 110 from being pushed forward, giving the driver a damping effect of resistance. As the speed increases, the system continuously adjusts the pressure setting values ​​of the forward and rearward cylinders 310. The pressure of the rear cylinder 310 As the set value increases, the gas in the cylinder 310 pushes the piston of the cylinder 310 upward, and the pressure value of the forward cylinder 310 decreases, causing the feedback value received by the driver to continuously decrease; when the speed reaches the set value, the air pressure of the forward cylinder 310 and the rearward cylinder 310 remains unchanged, and the position of the piston of the cylinder 310 remains unchanged to ensure that the position of the handle 110 remains unchanged. At this time, the driver is out of control, and the handle 110 still maintains the state when the driver is out of control under the action of the piston of the cylinder 310; in this working mode, the driver only needs to push or pull the handle 110 to the set position to adjust the speed and heading settings again, wait for the damping to disappear, and the control can be disengaged after positioning is completed.

[0035] In the acceleration driving mode, the input of the turning angle and the pushing angle of the driver's control handle 110 are both incremental. At this time, the damping size is determined according to the set incremental value. The larger the turning angle and the front-to-back angle, the higher the pressure setting value in the steering direction. As the feedback speed and heading change are closer to the incremental setting value, the air pressure setting value in the forward cylinder 310 becomes lower. When the setting value is reached, the pressure values ​​of each cylinder 310 are the same, and the driver releases the handle 110, and the handle 110 returns to the initial position under the action of the return spring 1510.

[0036] Considering that using a steering wheel to control the movement of a ship is a common method, which achieves the direction control of the ship by changing the rudder angle of the ship, a single handle 110 controls the movement of the ship, and cannot feedback the actual movement status of the ship, and the driver is accustomed to using a steering wheel when driving in the field. Therefore, in some embodiments, the ship remote control system 1 also includes a steering wheel module 40, including a remote steering wheel 410 and a driving member, the driving member is a stepper motor 420, and the rotation output shaft of the stepper motor 420 is coaxially connected to the shaft of the remote steering wheel 410 through a coupling, and is used to drive the remote steering wheel 410 to rotate according to the steering wheel control command. The steering wheel control command is generated by the control module 20 according to the rotation angle data of the controlled steering wheel on the controlled ship when receiving the posture data of the handle 110.

[0037] Therefore, when the handle 110 is used as the active component to control the ship, the driver manipulates the handle 110 with one hand to rotate, thereby driving the controlled steering wheel on the controlled ship to rotate via radio transmission, and contacts the remote steering wheel 410 with the other hand. The control module 20 controls the remote steering wheel 410 to follow the handle 110 according to the rotation angle of the controlled steering wheel on the controlled ship, so as to achieve the purpose of interpreting the movement of the handle through the driver's familiarity with the movement of the steering wheel, so that the whole control scheme has high feedback and strong interpretability.

[0038] The specific process of the remote steering wheel 410 being driven by the rotation of the handle 110 is as follows: the handle 110 in the remote control room rotates, and the rotation of the steering gear on the controlled ship is controlled through the transmission of wireless signals to drive the change of the direction of the rudder blade. Under the action of the micro-adjustment device, the rotating tiller under the fan gear is driven through the buffer spring, so that the fan gear on the rotating tiller handle rotates to achieve the synchronization of the rotation angle of the rudder blade on the controlled ship and the rotation angle of the controlled steering wheel, and the signal is processed by the angle sensor connected to the controlled steering wheel on the controlled ship, and the rotation angle of the controlled steering wheel is transmitted to the remote control room through the transmission of wireless signals, so that the angle of the remote steering wheel 410 in the remote control room is also realized The corresponding rotation is achieved, thereby realizing the synchronization of the rotation control of the remote steering wheel 410 when the handle 110 is used for control.

[0039] Furthermore, in some embodiments, the steering wheel module 40 also includes an angle monitoring component, which includes a driving gear coaxially arranged on the shaft of the remote steering wheel 410, a driven gear meshing with the driving gear, and an angle sensor (not shown in the figure) arranged on the driven gear. The angle sensor is used to feed back the rotation angle data of the remote steering wheel 410 to the control module 20. The control module 20 is used to generate a third ship manipulation instruction for controlling the rudder angle of the controlled ship based on the rotation angle data of the remote steering wheel 410, and transmit the third ship manipulation instruction to the controlled ship to achieve control of the rudder angle of the controlled ship.

[0040] Therefore, when the remote steering wheel 410 is used as the active component to control the ship, the driver turns the remote steering wheel 410 to control the movement of the ship. At the same time, the angle sensor reads the rotation angle of the remote steering wheel 410 and converts it into an electrical signal to input the control module 20 to control the movement of the controlled ship. The control module 20 controls the cylinder 310 according to the rotation angle of the rudder blade on the controlled ship to adjust the position of the handle 110 so that the handle 110 is driven by the rotation of the remote steering wheel 410.

[0041] The specific process of the handle 110 being driven by the rotation of the remote steering wheel 410 is as follows: the remote control room rotates the remote steering wheel 410, and the signal of the rotation of the remote steering wheel 410 is transmitted wirelessly to the sensor on the steering gear of the controlled ship, so that the rudder blade realizes corresponding rotation. During the rotation of the rudder blade, when the rudder blade deflects an angle, the water flow on both sides is no longer symmetrical. The side of the rudder blade that is deflected is the water-facing side, and its back is the back side. When the water flows around the rudder blade again, the process of the back side is longer than that of the water-facing side, and the flow rate of the back side is also faster. Therefore, according to the characteristic that the seawater flow rate on both sides is inconsistent after the rudder blade is rotated, a water flow rate sensor can be used to symmetrically measure the water flow rate signals on both sides. By comparison, the corresponding rotation direction of the rudder blade can be deduced, and the corresponding seawater flow rate can be measured through the corresponding functional relationship. By comparing the flow rate signals on both sides, the rotation angle of the rudder blade can be deduced. The water flow sensor is mainly used in conjunction with the control chip, the single-chip microcomputer, and the PLC. The comparison signal is transmitted through the signal amplification circuit, and the signal is modulated. The signal is remotely transmitted to the single-chip microcomputer of the control handle 110 through the signal generator on the rudder blade. The processed seawater flow rate is used as the input signal, and the internal module of the chip is used to output the PWM signal. The position of the handle 110 and the rotation angle of the handle 110 are controlled by the feedback of the single-chip microcomputer, so as to achieve synchronization between the rotation of the remote steering wheel 410 and the rotation of the handle 110.

[0042] Among them, the water flow velocity sensor has the functions of accurate flow control, cyclic setting of action flow, water flow display and flow accumulation calculation; like air flow velocity, water flow velocity can also be measured through the orifice plate. The water flow rotor assembly of the water flow velocity sensor mainly includes a turbine switch shell, a magnetic rotor and a brake ring. When the water flow switch method is used, its performance is better than the mechanical pressure differential disc structure, and the size is significantly reduced. When the water flows through the turbine switch shell, it drives the magnetic rotor to rotate. When different magnetic poles are close to the Hall element, the Hall element is turned on, and when they leave, the Hall element is disconnected. Thus, the rotor speed can be measured; according to the measured water flow, rotor speed and output signal (voltage) curve, the starting water pressure corresponds to the starting water flow and the starting speed of the rotor; the Hall switch in the water flow sensor plays the role of detecting water flow. When the water flows through the sensor, the eddy current in the water flow will affect the magnetic field inside the sensor, so that the Hall switch generates a signal output. This signal can be read by a processor or controller to determine the state of the water flow and the flow rate. In addition, in order to resist seawater corrosion, pressure and temperature changes, the water flow velocity sensor on the rudder blade has a waterproof design to have good environmental adaptability and ensure long-term stable performance.

[0043] In summary, the handle 110 and the remote steering wheel 410 can be matched to independently control the movement of the ship. When one of them is the active component to control the ship, the other component will be the slave and will follow the active component. In this process, the active component, the slave component and the ship move synchronously; wherein, the remote steering wheel 410 is synchronously connected with the controlled steering wheel on the ship, and the rotation angle of the remote steering wheel 410 is synchronized with the rotation of the controlled steering wheel on the controlled ship, thereby realizing remote control of the ship's navigation, and during the actual ship's driving process, the rotation of the controlled steering wheel on the ship will also be promptly fed back to the remote steering wheel 410 in the remote control room, so that the remote control room can also understand the real movement status of the ship in real time.

[0044] In the process of realizing the synchronous rotation of the handle 110 and the remote steering wheel 410, it is necessary to adopt the FBMC / OQAM marine wireless communication technology, which supports a variety of different modulation and coding schemes, can adapt to different application scenarios and requirements, including different data rates, coverage and transmission quality, etc., use multiple subcarriers, and modulate the data on each subcarrier. The data is modulated by using OQAM, which has low power leakage. The FBMC / OQAM technology has strong robustness to multipath propagation and channel attenuation, can reduce multipath interference, and improve the reliability and coverage of communication. These modulated data are allocated to different subcarriers so that they can be distributed in the frequency domain, and filter combinations are used to process each subcarrier. The filter combination is used to eliminate interference between adjacent subcarriers, thereby increasing the reliability of the signal and adapting to different spectrum and data rate requirements. In order to achieve low-delay synchronization between the rotation of the handle 110 and the rotation of the remote steering wheel 410, the operability of remote control is greatly improved, and the feedback of the real navigation status of the ship is better realized, and the driver in the remote control room can better control the ship.

[0045] Finally, based on the above system, a visual ship status feedback platform is constructed. The platform is equipped with a screen that can display the sea conditions around the controlled ship and various ship parameters. The driving seat is placed on the platform, and the aforementioned tactile feedback joystick module and an interpretable interactive steering wheel module are installed on both sides of the driving seat.

[0046] The above is a detailed introduction to a ship remote control system provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

[0047] The above is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present application should be covered within the protection scope of the present application.

Claims

1. A ship remote control system, characterized in that: include: A joystick module, comprising a handle and a posture detection element, wherein the posture detection element is used to feed back posture data of the handle to the control module; A control module, used to generate a ship maneuvering instruction for controlling the state of a ship according to the posture data of the handle, and transmit the ship maneuvering instruction to the controlled ship, and also used to generate a force feedback instruction according to the ship state information of the controlled ship, and transmit the force feedback instruction to the force feedback module; The force feedback module comprises a damper and an adjusting component, wherein the damper is used to provide a damping force for the handle, and the adjusting component is used to adjust the damping force according to the force feedback instruction.

2. The ship remote control system according to claim 1, characterized in that: The joystick module also includes an operating table and a mounting column arranged on the operating table, the top of the mounting column is ball-hinged with the bottom of the handle, a resistance plate is arranged on the handle, the damper is a cylinder, the cylinder is arranged on the operating table, and a plurality of cylinders are evenly distributed along the circumference around the mounting column, the top of the piston rod of the cylinder is used to abut the bottom of the resistance plate, and the adjustment component is connected to the air inlet of the cylinder, and is used to adjust the amount of gas entering the cylinder according to the force feedback instruction.

3. The ship remote control system according to claim 2, characterized in that: A return spring is sleeved on the mounting column, one end of the return spring is connected to the operating table, and the other end is connected to the handle.

4. The ship remote control system according to claim 2, characterized in that: The operating table is provided with a mounting hole with a hole diameter the same as the outer diameter of the cross-section of the contact plate, and a columnar mounting shell with an upper end opening is provided on the bottom wall around the mounting hole, and the mounting column is provided on the inner bottom wall of the mounting shell, and the mounting column and the handle are connected by a ball joint, and the ball joint is slidably connected to the handle along the length direction of the mounting column, and when the ball joint is located at the first position of the handle, the outer wall of the contact plate abuts against the inner wall of the mounting hole, and when the ball joint slides to the second position of the handle, the contact plate is separated from the inner wall of the mounting hole and abuts against the piston rod of the cylinder.

5. The ship remote control system according to claim 4, characterized in that: A limit spring is also arranged on the top of the inner wall of the mounting hole, one end of the limit spring is connected to the inner wall of the mounting hole, and the other end is used to abut against the upper wall of the abutting plate.

6. The ship remote control system according to claim 1, characterized in that: The joystick module further includes a switching unit, and the switching unit is used to feed back a first switching signal or a second switching signal to the control module; The ship maneuvering instructions include a first ship maneuvering instruction for controlling the heading and speed of the controlled ship and a second ship maneuvering instruction for controlling the rudder angle and acceleration of the controlled ship. The first ship maneuvering instruction is generated by the control module based on the posture data of the handle when the first switching signal is received, and the second ship maneuvering instruction is generated by the control module based on the posture data of the handle when the second switching signal is received.

7. The ship remote control system according to claim 1, characterized in that: The system also includes a steering wheel module, including a remote steering wheel and a driving member, wherein the rotation output shaft of the driving member is coaxially connected to the shaft of the remote steering wheel, and is used to drive the remote steering wheel to rotate according to the steering wheel control instructions. The steering wheel control instructions are generated by the control module according to the rotation angle data of the steering wheel on the controlled ship when the control module receives the posture data of the handle.

8. The ship remote control system according to claim 7, characterized in that: The steering wheel module also includes an angle monitoring component, which is used to feed back the rotation angle data of the remote steering wheel to the control module, and the control module is used to generate a third ship steering instruction for controlling the rudder angle of the controlled ship based on the rotation angle data of the controlled steering wheel.

9. The ship remote control system according to claim 8, characterized in that: The angle monitoring assembly includes a driving gear coaxially arranged on the shaft of the remote steering wheel, a driven gear meshing with the driving gear, and an angle sensor arranged on the driven gear, wherein the angle sensor is used to feed back the rotation angle data of the remote steering wheel to the control module.

10. The ship remote control system according to claim 1, characterized in that: The joystick module also includes a base, on which a plurality of driving servos are arranged. The driving servos are connected to the operating platform via connecting rods. The driving servos are used to adjust the posture of the operating platform according to servo control instructions. The servo control instructions are generated by the control module according to the posture data of the controlled ship.

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