A ship remote control system

Abstract

The present application relates to a remote control system for a ship, belonging to the field of remote control technology, wherein the method comprises: a joystick module, comprising a handle and a posture detection element, wherein the posture detection element is used to feed back the posture data of the handle to the control module; a control module, which is used to generate a ship manipulation instruction for controlling the state of the ship based on the posture data of the handle, and transmit the ship manipulation instruction to the controlled ship, and is also used to generate a force feedback instruction based on the ship state information of the controlled ship, and transmit the force feedback instruction to the force feedback module; a force feedback module, which comprises a damper and an adjustment component, wherein the damper is used to provide a damping force for the handle, and the adjustment component is used to adjust the damping force according to the force feedback instruction. The present application provides a corresponding damping force to the handle according to the change in the resistance encountered by the ship through the force feedback module, thereby realizing tactile feedback of the damping force, and effectively improving the interaction between the remote control system and the damping force of the controlled ship.

Description

Technical Field

[0001] The present application relates to the field of remote control technology, and in particular to a remote control system for ships. 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, there is an urgent need to propose new control methods to meet the needs of the development of intelligent transportation.

[0003] In the existing technology, remote driving systems used in ships mostly use large Stewart platforms. This type of feedback platform usually copies the traditional large pan-tilt head, with a seat and control devices arranged on the pan-tilt head. The driver sits in the seat and moves with the pan-tilt head, and controls the remote ship at sea from the shore through the control devices.

[0004] During actual navigation, the helmsman or captain controls the ship's direction and speed using joysticks and steering wheels in the ship's control room. Complex situations arise, such as changes in water resistance at different stages of ship speed change, which in turn causes changes in the damping force applied to the joystick. However, 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. This leads to poor interactivity and makes it 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 remote control system for a ship to solve the problem in the prior art that the interaction of the damping force is ignored and the interactivity is poor.

[0006] In order to solve the above problems, the present application provides a ship remote control system, comprising:

[0007] A joystick module, comprising a handle and a posture detection element, wherein the posture detection element is used to feed back the posture data of the handle to the control module;

[0008] a control module, configured to generate a ship manipulation instruction for controlling the state of a ship based on the posture data of the handle, and transmit the ship manipulation instruction to the controlled ship; and further configured to generate a force feedback instruction based on the ship state information of the controlled ship, and transmit the force feedback instruction to the force feedback module;

[0009] The force feedback module includes a damper and an adjustment component, wherein the damper is used to provide a damping force for the handle, and the adjustment component is used to adjust the damping force according to the force feedback instruction.

[0010] 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 provided on the handle, the damper is a cylinder, the cylinder is provided on the operating table, and multiple cylinders are evenly distributed circumferentially 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.

[0011] 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 is connected to the handle.

[0012] In some possible implementations, a mounting hole with a hole diameter the same as the outer diameter of the cross-section of the resistance plate is provided on the operating table, a columnar mounting shell with an open upper end 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 in the first position of the handle, the outer wall of the resistance plate abuts against the inner wall of the mounting hole, and when the ball joint slides to the second position of the handle, the resistance plate disengages from the inner wall of the mounting hole and abuts against the piston rod of the cylinder.

[0013] 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.

[0014] In some possible implementations, the joystick module further includes a switching unit, configured to feed back the first switching signal or the second switching signal to the control module;

[0015] 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.

[0016] In some possible implementations, the system further includes a steering wheel module, comprising a remote steering wheel and a drive member, wherein the rotation output shaft of the drive 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 a steering wheel manipulation instruction. The steering wheel manipulation instruction is 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.

[0017] 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 manipulation instruction for controlling the rudder angle of the controlled ship based on the rotation angle data of the controlled steering wheel.

[0018] In some possible implementations, 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.

[0019] In some possible implementations, the joystick module also includes a base, on which a number of driving servos are provided, and the driving servos are connected to the operating console through connecting rods. The driving servos are used to adjust the posture of the operating console according to the servo control instructions, and the servo control instructions are generated by the control module according to the posture data of the controlled ship.

[0020] 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 the 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, 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 situation in which the controlled ship is located. If the heading is in a dangerous direction, the cylinder pressure will increase and the force feedback will be strengthened to remind the driver, thereby improving the safety of remote control. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the structure of an embodiment of the ship remote control system provided in this application;

[0022] Figure 2 A schematic structural diagram of an embodiment of a joystick module and a force feedback module provided by this application;

[0023] Figure 3 A cross-sectional schematic diagram of an embodiment of a joystick module and a force feedback module provided by the present application;

[0024] Figure 4 A schematic structural diagram of an embodiment of the steering wheel module provided in this application;

[0025] 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-limiting spring; 140-mounting shell; 150-mounting column; 1510-return 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

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0027] 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 sequence, and steps that do not have a logical contextual relationship may be reversed in order or implemented simultaneously. In addition, those skilled in the art, guided by the contents of this application, may add one or more other operations to the flowcharts or remove one or more operations from the flowcharts. 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 in one or more hardware modules or integrated circuits, or in different networks and / or processor systems and / or microcontroller systems.

[0028] The descriptions of "first" and "second" in the embodiments of this application are only used to describe the implicit purpose and should not be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, technical features defined as "first" and "second" may explicitly or implicitly include at least one of such features. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0029] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0030] The present application provides a remote control system for ships, which is described below.

[0031] Figure 1 This is a schematic diagram of the structure of an embodiment of the ship remote control system provided by this application. Figure 2 This is a structural diagram of an embodiment of the joystick module and force feedback module provided by this application, as shown in FIG. Figure 1 and Figure 2 As shown, the ship remote control system 1 includes:

[0032] The joystick module 10 includes a handle 110 and a posture detection element, which is used to feed back posture data of the handle 110 to the control module 20;

[0033] The control module 20 is configured to generate a ship maneuvering instruction for controlling the state of the ship based on the posture data of the handle 110 and transmit the ship maneuvering instruction to the controlled ship. The control module 20 is also configured to generate a force feedback instruction based on the state information of the controlled ship and transmit the force feedback instruction to the force feedback module 30.

[0034] 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.

[0035] 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 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.

[0036] To improve interactivity, in some embodiments, such as Figure 2As shown, the joystick module 10 also includes a base 120 and an operating console 130. A plurality of driving servos 1210 are provided on the base 120. The driving servos 1210 are connected to the operating console 130 through a connecting rod 1220. The driving servos 1210 are used to adjust the posture of the operating console 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 console 130, and present 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.

[0037] To prevent accidental touch, Figure 2 and 3 As shown, a mounting hole 1310 is provided on the operating table 130. A mounting shell 140 with an open cylindrical structure is fixedly connected to the bottom wall around the mounting hole 1310 of the operating table 130. A mounting column 150 is fixedly connected to the inner bottom wall of the mounting shell 140. The handle 110 is spherically hinged to the top of the mounting column 150 through a ball hinge 160. The ball hinge 160 is slidably connected to the handle 110 along the length direction of the mounting column 150. A contact plate 170 with the same cross-sectional outer diameter as the diameter of 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 in 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 pushes the handle 110 to control the ship.

[0038] In addition, a return spring 1510 is also sleeved on the mounting column 150, one end of the return spring 1510 is fixedly connected to the operating platform 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 automatically reset under the elastic force of the return 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.

[0039] 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.

[0040] 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, which includes a switching button 1110 . When the driver presses the switching button 1110 , the first switching signal or the second switching signal can be fed back to the control module 20 .

[0041] 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 achieve control of 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 achieve control of the rudder angle and acceleration of the ship. The rudder angle and acceleration control are more sensitive and more suitable for complex situations.

[0042] Therefore, two control modes, normal driving mode and accelerated driving mode, are designed. The first switching signal and the first ship manipulation instruction correspond to the normal driving mode, and the second switching unit and the second ship manipulation 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. 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.

[0043] The corresponding operating principles of 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 realize 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 at the same time, two physical quantities, namely length and angle, will be generated. 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. Pushing the handle to different points corresponds to different speeds. 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. For every 1° inclination away from the origin, the corresponding projection point increases by one knot of speed. 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.

[0044] 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 from 0 to 360°. When pushing the joystick, the first thing to do is to determine the landing 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, the pushing distance, that is, the swing angle, is determined. The larger the angle, the greater the acceleration and deceleration. At this time, the corresponding amplitude determines the input of the incremental value, and they correspond one to one. Finally, the rotation direction of the handle is determined. 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 steering angle. A counterclockwise rotation of 180° corresponds to full left rudder. The 35° steering angle is divided into 180 parts, and 1° counterclockwise corresponds to one part. The clockwise pin corresponds to right rudder, and the setting method is the same as the left rudder.

[0045] 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, hindering the downward movement of the piston. At this time, since the front 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 pushing 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, and the pressure of the rearward 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 in 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 positioning is completed to disengage from control.

[0046] 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-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. The driver releases the handle 110, and the handle 110 will return to the initial position under the action of the return spring 1510.

[0047] 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, which 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 component, the driving component 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.

[0048] 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 the controlled steering wheel on the controlled ship through 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 handle movement through the driver's familiarity with the steering wheel movement, so that the entire control scheme has high feedback and strong interpretability.

[0049] 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 is rotated, 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 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. 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 rotated accordingly, thereby realizing the synchronization of the rotation control of the remote steering wheel 410 when using the handle 110 for control.

[0050] 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.

[0051] Therefore, when the remote steering wheel 410 is used as the active component to control the ship, the driver rotates 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.

[0052] 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 can achieve corresponding rotation. During the rotation of the rudder blade, when the rudder blade deflects by an angle, the water flows on both sides are no longer symmetrical. The side of the rudder blade that is deflected is the water-facing side, and its back is the water-receiving side. When the water flows around the rudder blade again, the flow path on the water-receiving side will be longer than that on the water-facing side, and the flow rate on the water-receiving side will also be faster. Therefore, based on the characteristic that the seawater flow rates on both sides are inconsistent after the rudder blade is rotated, a water flow rate sensor can be used to compare 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, single-chip microcomputer, and PLC. The comparison signal is transmitted through the signal amplification circuit and 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 outputs 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.

[0053] The water flow velocity sensor features accurate flow control, cyclically settable operating flow, water flow display, and flow accumulation calculation. Like air flow velocity, water flow velocity can also be measured using an orifice plate. The water flow rotor assembly of the water flow velocity sensor primarily consists of a turbine switch housing, a magnetic rotor, and a brake ring. Using a flow switch, its performance outperforms that of a mechanical pressure differential disc structure, while significantly reducing its size. When water flows through the turbine switch housing, it rotates the magnetic rotor. When different magnetic poles approach the Hall element, the Hall element conducts; when they depart, the Hall element disconnects, allowing the rotor speed to be measured. Based on the curves of the measured water flow, rotor speed, and output signal (voltage), the starting water pressure corresponds to the starting water flow and rotor speed. The Hall switch in the water flow sensor detects water flow. When water flows through the sensor, eddy currents in the water affect the magnetic field within the sensor, causing the Hall switch to generate a signal output. This signal can be read by a processor or controller to determine the state and flow rate of the water flow. In addition, to resist seawater corrosion, pressure and temperature changes, the water flow rate sensor on the rudder blade has a waterproof design to have good environmental adaptability and ensure long-term stable performance.

[0054] 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; among them, 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 in 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.

[0055] To achieve synchronized rotation of the handle 110 and the remote steering wheel 410, maritime wireless communication technology based on FBMC / OQAM is employed. This technology supports a variety of modulation and coding schemes to adapt to different application scenarios and requirements, including varying data rates, coverage, and transmission quality. Multiple subcarriers are used, and the data on each subcarrier is modulated. Data modulation using OQAM reduces power leakage. FBMC / OQAM technology is highly robust to multipath propagation and channel attenuation, reducing multipath interference and improving communication reliability and coverage. The modulated data is assigned to different subcarriers for frequency distribution, and a filter combination is used to process each subcarrier. This filter combination eliminates interference between adjacent subcarriers, thereby increasing signal reliability and adapting to varying spectrum and data rate requirements. This allows for low-latency synchronization between the rotation of the handle 110 and the rotation of the remote steering wheel 410, significantly improving the operability of remote control and providing better feedback on the vessel's true navigation status, enabling the operator in the remote control room to better control the vessel.

[0056] Finally, based on the above system, a visual ship status feedback platform was 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.

[0057] 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 and core idea of ​​the present application; at the same time, for technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

[0058] The above is only a preferred specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed in this application should be covered by the scope of protection 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 the posture data of the handle to the control module; a control module, configured to generate a ship manipulation instruction for controlling the state of a ship based on the posture data of the handle, and transmit the ship manipulation instruction to the controlled ship; and further configured to generate a force feedback instruction based on the ship state information of the controlled ship, and transmit the force feedback instruction to the force feedback module; a force feedback module, comprising a damper and an adjustment component, wherein the damper is used to provide a damping force for the handle, and the adjustment component is used to adjust the damping force according to the force feedback instruction; The steering wheel module includes 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 instruction. The steering wheel control instruction is 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.

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 contact plate is provided on the handle. The damper is a cylinder. The cylinder is arranged on the operating table and multiple cylinders are evenly distributed circumferentially around the mounting column. The top of the piston rod of the cylinder is used to abut the bottom of the contact plate. 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 reset spring is sleeved on the mounting column, one end of the reset 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: A mounting hole with the same diameter as the outer diameter of the cross-section of the resistance plate is provided on the operating table, 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, when the ball joint is located at the first position of the handle, the outer wall of the resistance plate abuts against the inner wall of the mounting hole, and when the ball joint slides to the second position of the handle, the resistance plate disengages 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 limiting spring is further provided at the top of the inner wall of the mounting hole, one end of the limiting 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.

6. The ship remote control system according to claim 1, characterized in that: The joystick module further includes a switching unit, the switching unit being configured 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 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. The control module 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.

8. The ship remote control system according to claim 7, 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. The angle sensor is used to feed back the rotation angle data of the remote steering wheel to the control module.

9. The ship remote control system according to claim 1, characterized in that: The joystick module also includes a base, on which a number of driving servos are provided. The driving servos are connected to the operating console via connecting rods. The driving servos are used to adjust the posture of the operating console according to the 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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