Ship remote driving-oriented control instruction receiving and distributing method

Abstract

The invention relates to a control instruction receiving and distributing method for ship remote driving, and belongs to the technical field of ship remote driving. The method comprises the steps that an instruction receiving and sending system of a ship determines a first instruction queue based on sending timestamps of received control instructions sent by a shore base; the instruction receiving and transmitting system determines the comprehensive priority of each control instruction based on the environmental factor priority, the state factor priority and the type factor priority of each control instruction; the instruction transceiving system reorders the first instruction queue based on the comprehensive priority to obtain a second instruction queue; and the instruction receiving and transmitting system sequentially distributes the control instructions of the second instruction queue to the ship parts corresponding to the control instructions. According to the method, the problem of instruction disorder caused by network jitter is solved, the instruction distribution sequence can be adjusted according to the urgency and importance of the task, priority execution of the key task is guaranteed, and the safety and reliability of remote ship operation are ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of ship remote driving, and in particular relates to a control instruction receiving and distributing method for ship remote driving. Background Art

[0002] In recent years, with the widespread application of intelligent and networked technologies in the shipping field, remote driving and automatic berthing and unberthing for coastal and inland ships have become an important development direction.

[0003] Remote driving requires executing a variety of instructions to the ship, including heading adjustment, speed control, and berthing operations. The correct execution of these instructions is highly dependent on the consistency of their timing and logical correctness. However, due to the instability of network transmission, the complexity of command queue management, and the priority conflicts of multi-task operations in remote scenarios, problems such as command disorder, command conflict, and command execution lag are prone to occur, resulting in network delays or packet loss in remote-controlled ships, resulting in disordered execution of control instructions, imperfect command execution confirmation and feedback mechanisms, and affecting the overall real-time performance of the system.

[0004] However, the existing technology mainly relies on simple sequential execution and timeout retransmission strategies, which cannot adapt to complex dynamic environments, especially the reception and distribution of commands in emergency situations. It is easy to cause task execution delays due to command blocking, causing safety problems in ship driving. Summary of the invention

[0005] In view of the above analysis, the present invention aims to provide a control command receiving and distributing method for remote driving of ships, which adjusts the timing of out-of-order control commands according to the sending timestamps of each control command sent by the shore base received by the ship, and determines the comprehensive priority of each control command according to the current environmental factors, etc., and finally determines the distribution order of each control command based on the correct timing sequence and comprehensive priority, and gives priority to distributing control commands with high comprehensive priority to ensure the safety of ship driving.

[0006] The method of the present invention specifically comprises the following steps:

[0007] A method for receiving and distributing control instructions for remote ship driving, characterized in that it comprises the following steps:

[0008] The command transceiver system of the ship determines the first command queue based on the sending timestamp of each control command received from the shore base;

[0009] The instruction transceiver system determines the corresponding comprehensive priority based on the environment factor priority, state factor priority and type factor priority of each control instruction of the first instruction queue;

[0010] The instruction transceiver system reorders the first instruction queue based on the comprehensive priority to obtain a second instruction queue;

[0011] The instruction transceiver system sequentially distributes the control instructions of the second instruction queue to the corresponding ship components for executing the control instructions.

[0012] Furthermore, the instruction transceiver system determines the corresponding comprehensive priority based on the type factor priority, environment factor priority and state factor priority of each control instruction of the first instruction queue, including:

[0013] Determine the type factor priority based on the basic type priority of each control instruction and the type dynamic tuning factor;

[0014] Determine the priority of environmental factors based on environmental dynamic tuning factors, obstacle risk factors, weather risk factors and waterway risk factors;

[0015] Determine the priority of state factors based on state dynamic tuning factor, normalized ship speed, power system state, rudder effect, draft and load;

[0016] The comprehensive priority of each control instruction is determined based on the type factor priority, the environment factor priority and the state factor priority.

[0017] Furthermore, the instruction transceiver system calculates the comprehensive priority using the following formula:

[0018] P(c i )=w env ×P env (c i )+w status ×P status (c i )+w type ×P type (c i );

[0019] Among them, P(c i ) is the control instruction c i The overall priority of P env (c i ), P status (c i ), P type (c i ) are respectively instructions c i The priority of environmental factors, status factors and type factors; env 、w status 、w type are the corresponding weights respectively.

[0020] Furthermore, the calculation method of the type factor priority, the environment factor priority, and the state factor priority is as follows:

[0021]

[0022] Among them, P type,base (c i ) is the control instruction c i The basic type priority of λ type , env , status They are type dynamic tuning factor, environment dynamic tuning factor, and state dynamic tuning factor respectively; O(c i )、W(c i )、T(c i ) are obstacle risk factor, weather condition factor, and waterway traffic factor, respectively, and their value ranges are [0,1]; α obstacle , α weather , α traffic They are obstacle impact weight, weather impact weight, and waterway traffic impact weight; S power (c i )、R(c i )、D(c i )、M(c i ) are respectively the normalized ship speed, power system status, rudder effect, draft, and load; β speed , β power , β rudder , β draft , β mass They respectively represent the influence weight of ship speed, the influence weight of power system status, the influence weight of rudder effect, the influence weight of draft depth and the influence weight of load.

[0023] Furthermore, the instruction sending and receiving system monitors environmental factors in real time, and when it is determined that the environmental factors have changed, adjusts the environmental dynamic tuning factor based on the changed environmental factors; updates the comprehensive priority of each control instruction based on the adjusted environmental dynamic tuning factor, and updates the second instruction queue in real time based on the updated comprehensive priority.

[0024] Furthermore, when the ship approaches an obstacle, it is determined that the environmental factors have changed; the type of dynamic tuning factor is dynamically adjusted based on the following formula:

[0025]

[0026] Among them, λ' env Dynamic tuning factor value for the adjusted type; d crit and d obs They are respectively the preset safety distance threshold and obstacle distance of the ship.

[0027] Further, the command transceiver system of the ship determines that the first command queue includes:

[0028] The instruction transceiver system constructs a receiving instruction queue based on each control instruction received in sequence;

[0029] For all control instructions, the following is executed: based on the time difference between each control instruction and the adjacent control instruction when it is received, determine whether the control instruction is an out-of-order instruction; if not, keep the control instruction in the receiving instruction queue; if so, based on the sending timestamp and sending sequence number of the control instruction, re-determine the correct position of the control instruction in the receiving instruction queue and insert the control instruction;

[0030] Get the first instruction queue.

[0031] Further, the instruction transceiver system reorders the first instruction queue based on the comprehensive priority to obtain the second instruction queue, including:

[0032] The first instruction queue is reordered to obtain the second instruction queue by taking the comprehensive priority of each control instruction as the first sorting basis, the sending timestamp as the second sorting basis, and the sending sequence number as the third sorting basis.

[0033] Furthermore, after the instruction transceiver system distributes each control instruction of the second instruction queue to each ship component corresponding to executing each control instruction, it also performs exception processing based on the execution feedback of each control instruction.

[0034] Further, the execution feedback includes each control instruction and a corresponding execution result, and the execution result includes: execution success, execution failure, and execution timeout; the instruction transceiver system performs exception processing based on the execution feedback of each control instruction, including:

[0035] Detect whether there are duplicate commands in each control command, and if so, send a duplicate command alarm to the shore base;

[0036] Detect whether the control command that fails to execute or times out is an invalid command. If so, send an invalid command alarm to the shore base and request to resend a valid control command;

[0037] Check whether the parameters and comprehensive priority of each control command are legal. If not, send an illegal command alarm to the shore base.

[0038] The present invention can achieve at least one of the following beneficial effects:

[0039] By adjusting the timing of out-of-order control instructions according to the sending timestamps of each control instruction sent by the shore base received by the ship, and determining the comprehensive priority of each control instruction according to the current environmental factors, the distribution order of each control instruction is finally determined based on the correct timing sequence and comprehensive priority, which effectively solves the problem of disordered instruction order caused by network jitter, and guarantees the priority execution of key tasks by giving priority to the distribution of control instructions with high comprehensive priority, avoiding safety hazards caused by instruction blocking. Through the instruction status feedback mechanism, the execution results of the instructions are confirmed in real time, and retry and recovery strategies are provided for unconfirmed or failed instructions, further ensuring the safe driving of the ship.

[0040] By performing exception handling based on the execution feedback of each control instruction, it is possible to quickly identify repeated, missing or invalid instructions and trigger corresponding emergency handling measures to ensure the safety and reliability of system operation.

[0041] Through the pair.

[0042] Other features and advantages of the present invention will be described in the following description, and some advantages may become apparent from the description, or may be understood by practicing the present invention. The purpose and other advantages of the present invention may be realized and obtained through the contents particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components;

[0044] Figure 1 The figure is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0045] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0046] A specific embodiment of the present invention discloses a control instruction receiving and distributing method for remote driving of a ship, which specifically includes steps S01 to S04.

[0047] Step S01: The ship's command transceiver system determines a first command queue based on the sending timestamps of each control command received from a shore-based system.

[0048] Specifically, the shore-based control center sends various control instructions for the remote-controlled ship, and the control instructions include a sending timestamp, a sequence number, an instruction type, and instruction content.

[0049] Specifically, since the control instructions are designed to involve ship operation, navigation, power system control, etc., the correct reception and execution order of the instructions directly affect the safety and navigation efficiency of the ship. If the order of control instructions is disrupted, it may cause ship operation errors and increase navigation risks. Therefore, when the shore-based control center sends instructions, each control instruction is marked with a timestamp and serial number and provided to the ship's instruction receiving and sending system.

[0050] The sending timestamp is the precise time when the shore-based control instruction is sent, and UTC time is used as an example.

[0051] The serial number is generally globally unique and monotonically increasing within a specified time period (eg, a mission cycle, or the life cycle of ship operation).

[0052] The control instruction types and contents exemplarily include:

[0053] Speed ​​control instructions: such as "reduce the ship speed from 10 knots to 8 knots", "maintain the current speed", etc.

[0054] Course adjustment instructions: such as "turn right 5°", "maintain current course", etc.

[0055] Berthing operation instructions: such as "start berthing procedure", "adjust the transverse shifter to dock with the dock", etc.

[0056] Avoidance instructions: such as "Emergency full left rudder to avoid obstacles ahead" etc.

[0057] Power system control instructions: such as "switch main engine output power mode", "start auxiliary thrusters", etc.;

[0058] Status query and report commands: such as "query engine temperature", "query remaining fuel", "report ship position", etc.;

[0059] Auxiliary navigation instructions: such as "activate sonar scanning", "update electronic chart information", etc.

[0060] Specifically, the ship's command transceiver system sorts each control instruction based on the sending timestamp of each control instruction sent by the shore base, and determines the first instruction queue sorted based on the sending time. Including s11-s13:

[0061] s11. The ship's command transceiver system receives each control command sent by the shore and generates a unique identification ID (c i )=Hash(sending timestamp+sequence number+instruction type), and build a receiving instruction queue based on each control instruction received in sequence; where c i Indicates control instructions;

[0062] s12. Execute each control instruction in the instruction queue:

[0063] Based on the time difference between each control instruction and the adjacent control instruction when receiving, determine whether the control instruction is an out-of-order instruction. If not, keep the control instruction in the receiving instruction queue. If yes, re-determine the correct position of the control instruction in the receiving instruction queue based on the sending timestamp and sending sequence number of the control instruction and insert the control instruction.

[0064] s13. Get the first instruction queue.

[0065] Furthermore, since the shore-based control center does not send control instructions to the ship continuously, the common scenario is: after a certain time interval, a series of control instructions are sent to command the ship to perform one or more tasks, and the series of control instructions are sent continuously and sequentially. Therefore, s12 determines whether a control instruction is an out-of-order instruction for the series of control instructions.

[0066] Set the maximum time interval T MAX , when the time difference between adjacent control instructions is less than T MAX When the adjacent control instructions are from the same series, T MAX Determined based on the maximum time it takes to send a series of instructions in a typical scenario.

[0067] For the same series of control instructions, determine whether a control instruction is an out-of-order instruction and use the following formula to calculate the time difference:

[0068] Δt=|t(c i )-t(c i-1 )|;

[0069] Where Δt is the time difference between adjacent control instructions. If Δt>T 阈值 , then c i Marked as out-of-order commands, the time threshold is determined based on the time interval between the shore-based control commands and the maximum network delay.

[0070] Furthermore, in s12, the out-of-order instructions are stored in the cache queue W, and the out-of-order instructions are sorted using the sending timestamp of each out-of-order instruction as the first sorting basis and the sequence number as the second sorting basis to obtain the control instructions with adjusted order; and the control instructions with adjusted order are reinserted into the receiving instruction queue based on the sending timestamp and the sending sequence number.

[0071] It should be noted that in the process of adjusting out-of-sequence instructions, the time delay between the sending timestamp of each out-of-sequence instruction and the corresponding receiving time is judged. If the time delay is greater than the set threshold, a delay alarm is sent to the shore-based control center, prompting the shore-based control center to resend the control instruction.

[0072] It should be noted that, when implementing step S01, the shore-based control center sends control instructions and the ship's instruction transceiver system receives control instructions, both of which can use multi-threaded processing.

[0073] Step S02, the instruction transceiver system determines the corresponding comprehensive priority based on the type factor priority, environment factor priority and state factor priority of each control instruction in the first instruction queue, specifically including steps s21-s24.

[0074] s21. The instruction sending and receiving system determines the type factor priority based on the basic type priority and type dynamic tuning factor of each control instruction.

[0075] Specifically, the basic types of priority include urgent, important, and normal.

[0076] Exemplary instructions with a basic priority of urgent are:

[0077] Emergency avoidance instructions: such as "immediately turn left to avoid the obstacle ahead";

[0078] Emergency fault handling instructions: such as "emergency shut down the host to prevent equipment damage";

[0079] Collision avoidance alarm response instructions: such as "immediately change course by 2° and slow down to avoid collision."

[0080] The above emergency instructions are related to safety and avoiding major risks, so they are defined as emergency tasks.

[0081] Exemplary instructions with important base type priority are:

[0082] Course fine-tuning instructions: such as "turn the bow 1° to the right to align with the predetermined course";

[0083] Preparation instructions for berthing: such as "reduce speed to 8 knots to prepare for berthing with tugboat assistance";

[0084] Power system mode switching: such as "switch to low fuel consumption mode for continuous cruising".

[0085] The above important instructions have a great impact on the success and efficiency of the mission, but they do not constitute an immediate security threat, so they are important tasks.

[0086] For example, the basic type priority of the normal instruction is:

[0087] Status query command: such as "query current engine temperature";

[0088] Information reporting instructions: such as "report the current remaining fuel amount";

[0089] Auxiliary function instructions: such as "activate the electronic chart marking function".

[0090] The above common instructions do not directly affect the safety and mission core execution time requirements and have a lower priority.

[0091] Specifically, the type dynamic tuning factor λ type It is used to dynamically adjust the priority weight of the instruction type according to the current task scenario. When urgent tasks need to be emphasized, λ can be increased. type When the task is not urgent and the impact of task types needs to be balanced, λ can be appropriately reduced. type Get the value.

[0092] Specifically, the calculation formula for determining the type factor priority based on the basic type priority of each control instruction and the type dynamic tuning factor is:

[0093] P type (c i )=λ type ·P type,base (c i );

[0094] Among them, P type (c i ) is the instruction c i Type factor priority; P type,base (c i ) is the control instruction c i The basic type priority of λ type Dynamic tuning factor for the type.

[0095] Exemplarily, the values ​​of urgent, important and ordinary in the basic type priority are 1.0, 0.5 and 0.1 respectively.

[0096] s22. Determine the priority of environmental factors based on environmental dynamic tuning factors, obstacle risk factors, weather risk factors and waterway risk factors.

[0097] Specifically, the calculation formula for the priority of environmental factors is:

[0098] P env (c i )=λ env (α obstacle O(c i )+α weather W(c i )+α traffic T(c i ));

[0099] Among them, P env (c i ) is the instruction c i Priority of environmental factors;

[0100] λenv It is a dynamic environmental tuning factor, which is used to dynamically increase or decrease the influence of environmental factors in priority calculation according to changes in the external environment (such as obstacle density, weather severity, and traffic complexity);

[0101] α obstacle The weight of the obstacle impact;

[0102] α weather Weight for weather impact;

[0103] α traffic The obstacle impact weight is the waterway traffic impact weight;

[0104] O(c i )、W(c i )、T(c i ) are obstacle risk factor, weather condition factor, and waterway traffic factor, respectively. Their values ​​are in the range of [0,1] and are determined based on empirical values. The more obstacles there are and the denser they are, the higher the value of O(c i ) is closer to 1; the worse the weather is (the severity is determined by wind speed and wave height). i ) is closer to 1; when there are many ships around and the channel is congested, T(c i )The closer the value is to 1.

[0105] s23. Determine the priority of state factors based on the state dynamic tuning factor, normalized ship speed, power system state, rudder effect, draft depth and load.

[0106] The calculation method is:

[0107]

[0108] Among them, P status (c i ) is the instruction c i Priority of environmental factors;

[0109] λ status It is the state dynamic tuning factor, which is used to adjust the priority of state factors according to the ship's own state (speed, power system state, rudder effect, draft, load). When the ship's state risk increases (such as high speed or power failure), λ can be increased. status Takes value to prioritize state-related instructions;

[0110] S power (c i )、R(c i )、D(c i )、M(c i) are respectively normalized ship speed, power system status, rudder effect, draft, and load;

[0111] β speed , β power , β rudder , β draft , β mass They respectively represent the influence weight of ship speed, the influence weight of power system status, the influence weight of rudder effect, the influence weight of draft depth and the influence weight of load.

[0112] s24. Determine the comprehensive priority of each control instruction based on the type factor priority, environment factor priority and status factor priority.

[0113] The comprehensive priority is calculated using the following formula:

[0114] P(c i )=w env ×P env (c i )+w status ×P status (c i )+w type ×P type (c i );

[0115] Among them, P(c i ) is the control instruction c i The overall priority of P env (c i ), P status (c i ), P type (c i ) are respectively instructions c i The priority of environmental factors, status factors and type factors; env 、w status 、w type are the corresponding weights respectively.

[0116] It should be noted that steps s21-s23 are not limited in sequence and can also be executed simultaneously.

[0117] It should be noted that in step S02, λ type , env , status When all values ​​are 1, it indicates the initial weight distribution; when the environment or status changes, the priority distribution is adjusted in real time through the tuning factor.

[0118] During implementation, the ship's command receiving and sending system monitors environmental factors in real time. When it is determined that the environmental factors have changed, the environmental dynamic tuning factors are adjusted based on the changed environmental factors; the comprehensive priority of each control command is updated based on the adjusted environmental dynamic tuning factors.

[0119] Exemplarily, when the ship approaches an obstacle, it is determined that the environmental factors have changed; the type of dynamic tuning factor is dynamically adjusted based on the following formula:

[0120]

[0121] Among them, λ' env Dynamic tuning factor value for the adjusted type; d crit and d obs They are respectively the preset safety distance threshold and obstacle distance of the ship.

[0122] Step S03: The instruction transceiver system reorders the first instruction queue based on the comprehensive priority to obtain a second instruction queue.

[0123] Specifically, the comprehensive priority of each control instruction in the first instruction queue is used as the first sorting basis, and the control instruction with a high priority is placed at the front;

[0124] The sending timestamp is used as the second sorting basis. Under the same priority, the order of the instructions is determined according to the sending timestamp order;

[0125] The sending sequence number is used as the third sorting basis, that is, in the case of the same timestamp, the order of the instructions is determined according to the sending sequence number;

[0126] The first instruction queue is reordered to obtain a second instruction queue.

[0127] It should be noted that step S03 is determined based on step S02. Since the ship's command transceiver system monitors environmental factors in real time, when it determines that the environmental factors have changed, it will update the comprehensive priority of each control command in real time. Therefore, the command transceiver system updates the second command queue in real time based on the updated comprehensive priority.

[0128] Step S04: the instruction transceiver system sequentially distributes the control instructions in the second instruction queue to the corresponding ship components for executing the control instructions.

[0129] Specifically, the control instructions of the second instruction queue are distributed sequentially to the corresponding ship components for executing the control instructions to ensure that the instructions with high comprehensive priority are distributed first to respond to emergencies during the ship's navigation and ensure the safety of the ship's navigation.

[0130] Further, in step S04, after distributing the control instructions, the instruction transceiver system receives execution feedback of each control instruction executed by each component of the ship, and the execution feedback includes each control instruction and the corresponding execution result, and the execution result includes: execution success, execution failure, and execution timeout.

[0131] Specifically, for a control instruction that fails to execute, within a preset maximum number of retries, the corresponding component automatically triggers a retry control instruction and feeds back the retry execution result to the instruction transceiver system until the preset maximum number of retries is reached.

[0132] This embodiment discloses a control command receiving and distributing method for remote ship driving. By adjusting the timing of out-of-order control commands according to the sending timestamps of each control command sent by the shore base received by the ship, and determining the comprehensive priority of each control command according to the current environmental factors, the distribution order of each control command is finally determined based on the correct timing sequence and comprehensive priority, which effectively solves the command sequence disorder problem caused by network jitter, and guarantees the priority execution of key tasks by giving priority to the distribution of control commands with high comprehensive priority, avoiding safety hazards caused by command blocking. Through the command status feedback mechanism, the execution result of the command is confirmed in real time, and a retry and recovery strategy is provided for unconfirmed or failed commands, further ensuring the safe driving of the ship.

[0133] In one embodiment, the control instruction receiving and distributing method of the present invention further includes the following steps:

[0134] Step S05: After the instruction transceiver system distributes each control instruction in the second instruction queue to each ship component corresponding to executing each control instruction, it also performs exception processing based on the execution feedback of each control instruction.

[0135] The instruction receiving and sending system performs exception processing based on the execution feedback of each control instruction, including:

[0136] Detect whether there are duplicate commands in each control command, and if so, send a duplicate command alarm to the shore base;

[0137] Detect whether the control command that fails to execute or times out is an invalid command. If so, send an invalid command alarm to the shore base and request to resend a valid control command;

[0138] Check whether the parameters and comprehensive priority of each control command are legal. If not, send an illegal command alarm to the shore base.

[0139] It should be noted that the instruction sending and receiving system records corresponding logs based on the execution feedback of each control instruction.

[0140] The present embodiment discloses a control command receiving and distributing method for remote driving of ships. By performing exception processing based on the execution feedback of each control command, it is possible to quickly identify repeated, lost or invalid commands and trigger corresponding emergency handling measures to ensure the safety and reliability of system operation.

[0141] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention 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 by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for receiving and distributing control instructions for remote ship driving, characterized in that: The steps include: The command transceiver system of the ship determines the first command queue based on the sending timestamp of each control command received from the shore base; The instruction transceiver system determines the corresponding comprehensive priority based on the environment factor priority, state factor priority and type factor priority of each control instruction of the first instruction queue; The instruction transceiver system reorders the first instruction queue based on the comprehensive priority to obtain a second instruction queue; The instruction transceiver system sequentially distributes the control instructions of the second instruction queue to the corresponding ship components for executing the control instructions.

2. The control instruction receiving and distributing method according to claim 1, characterized in that: The instruction transceiver system determines the corresponding comprehensive priority based on the type factor priority, environment factor priority and state factor priority of each control instruction of the first instruction queue, including: Determine the type factor priority based on the basic type priority of each control instruction and the type dynamic tuning factor; Determine the priority of environmental factors based on environmental dynamic tuning factors, obstacle risk factors, weather risk factors and waterway risk factors; Determine the priority of state factors based on state dynamic tuning factor, normalized ship speed, power system state, rudder effect, draft and load; The comprehensive priority of each control instruction is determined based on the type factor priority, the environment factor priority and the state factor priority.

3. The control instruction receiving and distributing method according to claim 2, characterized in that: The instruction transceiver system uses the following formula to calculate the comprehensive priority: P(c i )=w env ×P env (c i )+w status ×P status (c i )+w type ×P type (c i ); Among them, P(c i ) is the control instruction c i The overall priority of P env (ci), P status (c i ), P type (c i ) are respectively instructions c i The priority of environmental factors, state factors and type factors; env 、w status 、w type are the corresponding weights respectively.

4. The control instruction receiving and distributing method according to claim 3, characterized in that: The calculation method of the type factor priority, environment factor priority, and state factor priority is as follows: Among them, P type,base (c i ) is the control instruction c i The basic type priority of λ type , env , status They are type dynamic tuning factor, environment dynamic tuning factor, and state dynamic tuning factor respectively; O(c i )、W(c i )、T(c i ) are obstacle risk factor, weather condition factor, and waterway traffic factor, respectively, and their value ranges are [0,1]; α obstacle , α weather , α traffic They are obstacle impact weight, weather impact weight, and waterway traffic impact weight; S power (c i )、R(c i )、D(c i )、M(c i ) are respectively the normalized ship speed, power system status, rudder effect, draft, and load; β speed , β power , β rudder , β draft , β mass They respectively represent the influence weight of ship speed, the influence weight of power system status, the influence weight of rudder effect, the influence weight of draft depth and the influence weight of load.

5. The control instruction receiving and distributing method according to claim 4, characterized in that: Also includes: The instruction transceiver system monitors environmental factors in real time, and when it is determined that the environmental factors have changed, adjusts the environmental dynamic tuning factor based on the changed environmental factors; The comprehensive priority of each control instruction is updated based on the adjusted environment dynamic tuning factor, and the second instruction queue is updated in real time based on the updated comprehensive priority.

6. The control instruction receiving and distributing method according to claim 5, characterized in that: When the ship approaches an obstacle, it is determined that the environmental factors have changed; the dynamic tuning factor of the type is dynamically adjusted based on the following formula: Among them, λ′ env Dynamic tuning factor value for the adjusted type; d crit and d obs They are respectively the preset safety distance threshold and obstacle distance of the ship.

7. The control instruction receiving and distributing method according to claim 1, characterized in that: The command transceiver system of the ship determines the first command queue based on the sending timestamp of each control command sent by the shore base, including: The instruction transceiver system constructs a receiving instruction queue based on each control instruction received in sequence; For all control instructions, the following is executed: based on the time difference between each control instruction and the adjacent control instruction when it is received, determine whether the control instruction is an out-of-order instruction; if not, keep the control instruction in the receiving instruction queue; if so, based on the sending timestamp and sending sequence number of the control instruction, re-determine the correct position of the control instruction in the receiving instruction queue and insert the control instruction; Get the first instruction queue.

8. The control instruction receiving and distributing method according to claim 1, characterized in that: The instruction transceiver system reorders the first instruction queue based on the comprehensive priority to obtain the second instruction queue, including: The first instruction queue is reordered to obtain the second instruction queue by taking the comprehensive priority of each control instruction as the first sorting basis, the sending timestamp as the second sorting basis, and the sending sequence number as the third sorting basis.

9. The control instruction receiving and distributing method according to claim 1, characterized in that: After the instruction transceiver system distributes each control instruction of the second instruction queue to each ship component corresponding to executing each control instruction, it also performs exception processing based on the execution feedback of each control instruction.

10. The control instruction receiving and distributing method according to claim 9, characterized in that: The execution feedback includes each control instruction and the corresponding execution result, and the execution result includes: execution success, execution failure, and execution timeout; the instruction transceiver system performs exception processing based on the execution feedback of each control instruction, including: Detect whether there are duplicate commands in each control command, and if so, send a duplicate command alarm to the shore base; Detect whether the control command that fails to execute or times out is an invalid command. If so, send an invalid command alarm to the shore base and request to resend a valid control command; Check whether the parameters and comprehensive priority of each control command are legal. If not, send an illegal command alarm to the shore base.

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