An electric yacht safety control system based on big data

Abstract

The application discloses a kind of electric motor yacht safety control systems based on big data, it is related to yacht safety control technical field, including electric quantity interval calibration module, historical control data acquisition module, data analysis module and deviation adjustment module, it is solved that the influence of battery power change on motor performance is not fully considered, leading to in control signal sending time cannot be according to historical control data and real-time battery power accurate optimization technical problem, by deviation adjustment module can according to the real-time monitoring battery power, combined with the control deviation control table established in advance, corresponding deviation control duration is quickly inquired, and control signal sending time is accurately corrected, ensure that electric motor yacht under different power, each preset control point can quickly and accurately reach predetermined speed, improve the navigation safety and efficiency of electric motor yacht, reduce the risk of collision and other accidents when sailing in complex water area due to improper speed control.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of yacht safety control, and specifically relates to an electric yacht safety control system based on big data. BACKGROUND

[0002] With the enhancement of environmental awareness and the development of electric technology, electric yachts, as a clean and efficient water transportation tool, are gradually favored by the market. At the same time, with the popularization of electric yachts, their safety and operation efficiency have become the focus of attention.

[0003] In the existing electric yacht technology, during the sailing process of the electric yacht, the preset control points are set in advance based on the sailing experience of the yacht and the summary of common sailing scenes, and corresponding speed control is performed at each preset control point, so that the electric yacht can quickly and accurately reach the predetermined speed. For example, when entering and leaving the port, passing through the narrow channel or the specific beacon position, these positions are set as the preset control points. Generally, the yacht manufacturer sets the geographic coordinates or relative position information of these control points in the yacht control system according to the performance parameters and recommended sailing routes of different models of yachts, combined with the safety standards and operation specifications commonly used in the industry.

[0004] The patent with the patent publication number CN115963843A discloses a ship autonomous travel control system and a ship. The ship autonomous travel control system includes a data management module, a data transmission module and a control module. The data management module is used to obtain ship end motion information and load information, and store and call the motion information and load information. The data transmission module is used to transmit the motion information and load information to the data management module. The control module is used to determine the ship's sailing direction change value and sailing speed change value according to the running information and load information. The data transmission module is also used to send the sailing direction change value and sailing speed change value to the ship end. The patent realizes the real-time acquisition and storage of ship sailing data, and controls the ship sailing direction and speed through the control module.

[0005] However, when the electric yacht sails according to the recommended sailing route, the influence of battery power change on the performance of the electric motor is not fully considered. For example, as the battery power is consumed, the control signal sending time cannot be accurately optimized according to the historical control data and real-time battery power, so that the control time length of the electric yacht in reaching the predetermined speed is unstable, and the electric yacht cannot quickly and accurately reach the predetermined speed, which reduces the sailing efficiency and increases the risk of sailing in complex water areas. Therefore, an electric yacht safety control system based on big data is proposed. SUMMARY

[0006] The application aims to provide a big data-based electric yacht safety control system, and solve the technical problem that the influence of battery power change on motor performance is not fully considered when the electric yacht sails according to the recommended sailing route, resulting in that the control signal sending time cannot be accurately optimized according to historical control data and real-time battery power.

[0007] A big data-based electric yacht safety control system comprises:

[0008] A power interval calibration module divides the battery power into multiple power intervals according to percentage;

[0009] A historical control data acquisition module acquires the historical control data corresponding to each preset control point when the electric yacht is in different power intervals; the historical control data comprises the signal plan sending time and the motor speed response time corresponding to each preset control point of the electric yacht; the motor speed response time refers to the time length between the motor control signal sending time and the motor speed reaching the predetermined sailing speed;

[0010] A data analysis module analyzes the historical control data corresponding to each preset control point when the electric yacht is in different power intervals, and obtains the control deviation reference table corresponding to different preset control points;

[0011] A deviation adjustment module determines the power interval of the yacht during the yacht operation according to the real-time monitored battery power, generates a new control signal sending time in combination with the control deviation reference table, and adjusts the sending time of the control signal.

[0012] As a further scheme of the application, the specific way of obtaining the control deviation reference table corresponding to different preset control points is as follows:

[0013] S1: randomly selects one from each preset control point as a target control point;

[0014] S2: randomly selects one from different power intervals as a target interval;

[0015] The motor speed response time Tn corresponding to the n historical control data at the target control point when the electric yacht is in the target interval is obtained, the absolute value of the difference between the motor speed response time Tn and the rated speed response time E is marked as the response deviation duration Pn, the response deviation duration Pn is analyzed, the calibration deviation duration D1 corresponding to the target control point when the electric yacht is in the target interval is obtained, and the number of positive and negative values in the difference value between the motor speed response time Tn and the rated speed response time E is analyzed to obtain the deviation control duration K1 corresponding to the target control point when the electric yacht is in the target interval, wherein n represents different historical control data, n=1, 2, …, a, a represents the total number of historical control data, a is a positive integer, and a satisfies a≥2;

[0016] S3: repeating steps S1-S2, i.e. obtaining the deviation control duration Kr corresponding to each power interval when the electric yacht is in the target interval, and binding it with the corresponding target interval to generate the control deviation reference table M1 corresponding to the target control point, wherein r represents different preset control points;

[0017] S4: repeating steps S1-S3, i.e. obtaining the control deviation reference table Mm corresponding to different preset control points, wherein m represents different power intervals.

[0018] As a further scheme of the application, the specific way of analyzing the response deviation duration Pn is:

[0019] The number of values b in the response deviation duration Pn that meet the preset screening condition A1 is obtained, when the number b is greater than or equal to the preset threshold Y1, the mean value Pp of the response deviation duration Pn is defined as the calibration deviation duration D1 corresponding to the target control point when the electric yacht is in the target interval, and when the number b is less than the preset threshold Y1, the mean value of the maximum value and the minimum value in the response deviation duration Pn is defined as the calibration deviation duration D1 corresponding to the target control point when the electric yacht is in the target interval, wherein b is a positive integer, and b satisfies a≥b≥1.

[0020] As a further scheme of the application, the specific way of analyzing the number of positive and negative values in the difference value between the motor speed response time Tn and the rated speed response time E is:

[0021] Obtaining the ratio f1 and f2 between the number c1 and c of positive and negative values in the historical control data and the total number a, when f1 is greater than a preset threshold Y3, then the calibration deviation duration D1 is taken as the deviation control duration K1 corresponding to the target control point when the electric yacht is in the target interval, when f2 is greater than a preset threshold Y3, then the product of the calibration deviation duration D1 and negative one is taken as the deviation control duration K1 corresponding to the target control point when the electric yacht is in the target interval, the value of the preset threshold Y3 is: 3 / 5>Y3≥1 / 2.

[0022] The preset screening condition A1 is specifically: |Pn-Pp|≥Y2, wherein Y2 is a preset value.

[0023] As a further scheme of the application: when f1 and f2 are not greater than a preset threshold Y3, then the calibration deviation duration D1 is taken as the deviation control duration K1 corresponding to the target control point when the electric yacht is in the target interval.

[0024] As a further scheme of the application: the specific way to obtain the new control signal sending time is:

[0025] In the running process of the electric yacht, the electric quantity interval of the yacht at each preset control point is accurately determined according to the real-time monitored battery electric quantity, the deviation control duration of the corresponding preset control point is quickly queried based on the pre-established control deviation reference table, and the new control signal sending time is obtained by combining the planned signal sending time of the preset control point.

[0026] When the deviation control duration corresponding to the preset control point is greater than 0, the control signal is sent in advance by the deviation control duration, that is, the new control signal sending time is the difference between the planned signal sending time corresponding to the preset control point and the corresponding deviation control duration, when the deviation control duration corresponding to the preset control point is less than 0, the control signal is sent by delaying the deviation control duration, that is, the new control signal sending time is the sum of the planned signal sending time corresponding to the preset control point and the corresponding deviation control duration.

[0027] Compared with the prior art, the application has the beneficial effects that:

[0028] (1) The control deviation reference table generated by big data analysis in the application can optimize the control signal sending time according to different electric quantity states, so that the electric yacht can reach the predetermined speed faster at each preset control point, the sailing time is shortened, and the overall sailing efficiency is improved.

[0029] (2) The application can quickly query the corresponding deviation control time by combining the pre-established control deviation reference table according to the real-time monitored battery power, and accurately correct the control signal sending time, so that the electric yacht can quickly and accurately reach the predetermined speed at each preset control point under different power, improve the navigation safety and efficiency of the electric yacht, and reduce the risk of accidents such as collision caused by improper speed control when navigating in complex waters. BRIEF DESCRIPTION OF DRAWINGS

[0030] Fig. 1 is a schematic diagram of the system framework structure of the application;

[0031] Fig. 2 is a flowchart of obtaining the deviation control time corresponding to the target control point when the electric yacht is in the target interval in the application. DETAILED DESCRIPTION

[0032] The technical solutions of the application will be described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the application, not all. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0033] Embodiment one: please refer to Figs. 1-2 The application provides an electric yacht safety control system based on big data, comprising:

[0034] The power interval calibration module is used to divide the battery power into multiple power intervals according to percentage;

[0035] The power interval span corresponding to each power interval can be equal or not equal. In this embodiment, the specific division method is that the power interval span corresponding to each power interval is equal.

[0036] For example, battery power percentage 0 to 10 is divided into an interval, and battery power percentage 10 to 20 is divided into an interval, and then each battery power interval is [0%, 10%], (10%, 20%), …, (90%, 100%). This division method helps to analyze the control characteristics of the electric yacht under different power states, and provides a clear data classification basis for subsequent data analysis and control optimization.

[0037] The percentage of remaining power intuitively reflects the amount of remaining battery power, which is the core basic parameter for analyzing the influence of motor speed control. With the continuous consumption of battery power, the battery voltage will show a gradually declining trend, which will directly affect the performance and speed control of the motor. At the same time, the remaining power is different, the power that the battery can output is also different, which will significantly affect the output power and speed of the motor.

[0038] The historical control data acquisition module acquires the historical control data corresponding to each preset control point when the electric yacht is in different power intervals through sensors:

[0039] The historical control data includes the signal planned sending time and the motor speed response time of the electric yacht at each preset control point, and the motor speed response time refers to the time length between the motor control signal sending time and the motor speed reaching the predetermined speed.

[0040] It should be noted that the signal planned sending time is mainly determined according to the function of the preset control point and the navigation plan. In the prior art, the yacht control system will determine the planned sending time of the control signal at each preset control point according to the preset navigation speed, the distance between two adjacent preset control points, and the required operation, such as acceleration, deceleration, turning, etc., through a simple time calculation model. This calculation method is widely used in existing electric yacht control systems to ensure that the yacht runs according to the predetermined navigation rhythm and operation sequence, so it is not described in detail here. The electric yacht is expected to navigate according to the recommended navigation route, and the preset control speed at each preset control point is generated according to the recommended navigation route of the yacht and is set by the control system in the yacht. It is an existing and mature technology, so it is not described in detail here.

[0041] The data analysis module is used to analyze the historical control data corresponding to each preset control point when the electric yacht is in different power intervals, and obtain the deviation control time corresponding to each preset control point when the electric yacht is in different power intervals according to the analysis result. The specific way is:

[0042] S1: randomly select one from each preset control point as a target control point;

[0043] S2: randomly select one from different power intervals as a target interval;

[0044] Obtain n times of historical control data corresponding to the target control point when the electric yacht is in the target interval;

[0045] The motor speed response time of the corresponding n historical control data of the electric yacht at the target control point in the target interval is marked as Tn, wherein n represents different historical control data, n = 1, 2, …, a, a represents the total number of historical control data, a is a positive integer, and a satisfies a≥2;

[0046] The rated speed response time of the motor corresponding to the electric yacht at the target control point is marked as E;

[0047] The absolute value of the difference between the motor speed response time Tn and the rated speed response time E is marked as the response deviation time Pn;

[0048] The value Pe in the response deviation time Pn that satisfies the preset screening condition A1 is obtained, wherein e represents different values in Pn that satisfy the preset screening condition A1, e = 1, 2, …, b, b represents the total number of values Pe, b is a positive integer, and b satisfies a≥b≥1. The number b is compared with the preset threshold Y1. When the number b is greater than or equal to the preset threshold Y1, it means that the number of values in Pn that satisfy the preset screening condition A1 is relatively large, and the average value of Pn is representative. Therefore, the average value Pp of the response deviation time Pn is defined as the calibration deviation time D1 of the electric yacht at the target control point in the target interval. When the number b is less than the preset threshold Y1, it means that the number of values in Pn that satisfy the preset screening condition A1 is relatively small, and the average value of the response deviation time Pn is not representative. Therefore, the average value of the maximum value and the minimum value in the response deviation time Pn is defined as the calibration deviation time D1 of the electric yacht at the target control point in the target interval, that is, D1 = (Pmin+Pmax) / 2, wherein Pmax and Pmin are the maximum value and the minimum value in Pn, respectively;

[0049] Here, the preset condition A1 is specifically |Pn-Pp|≥Y2, wherein Y2 is a preset value, and the specific values of Y1 and Y2 are determined by relevant personnel according to actual needs;

[0050] It should be noted that in the prior art, the motor speed response time is obtained by integrating the basic timing and speed monitoring functions in the motor control system. When the motor control signal is issued, the timing device inside the control system starts timing, and the speed sensor installed on the motor output shaft, such as the commonly used Hall effect speed sensor, monitors the motor speed in real time. When the speed sensor detects that the motor speed reaches the preset speed, the timing device stops timing, and the recorded time is the motor speed response time. These data are usually simply recorded in local log files for operators to view when needed for preliminary assessment of the running state and performance of the motor. This is an existing and mature technology, and will not be described in detail here.

[0051] The number of positive and negative values in the difference value between the motor speed response time Tn and the rated speed response time E is analyzed, and the number of positive and negative values is marked as c1 and c2 respectively, and the ratio of c1 and c2 to the total number of historical control data a is obtained, and is marked as f1 and f2 respectively, when f1 is greater than the preset threshold Y3, the calibration deviation time D1 is taken as the deviation control time K1 corresponding to the target control point when the electric yacht is in the target interval, when f2 is greater than the preset threshold Y3, the product of the calibration deviation time D1 and negative one is taken as the deviation control time K1 corresponding to the target control point when the electric yacht is in the target interval, when f1 and f2 are not greater than the preset threshold Y3, the calibration deviation time D1 is taken as the deviation control time K1 corresponding to the target control point when the electric yacht is in the target interval, wherein the specific values of the preset threshold Y3 are determined by relevant personnel according to actual needs, and the value range is 3 / 5>Y3≥1 / 2;

[0052] S3: repeating steps S1-S2, i.e. obtaining the deviation control time Kr corresponding to each power interval when the electric yacht is in the target interval, and binding it with the corresponding target interval to generate the control deviation reference table M1 corresponding to the target control point, wherein r represents different preset control points;

[0053] S4: repeating steps S1-S3, i.e. obtaining the control deviation reference table Mm corresponding to different preset control points, wherein m represents different power intervals;

[0054] The control deviation reference table generated based on big data analysis enables the control signal sending time to be optimized according to different power states, so that the electric yacht can reach the predetermined speed faster at each preset control point, thereby shortening the sailing time and improving the overall sailing efficiency.

[0055] The deviation adjustment module, in the running process of the electric yacht, accurately determines the power interval of the yacht at each preset control point according to the real-time monitored battery power, quickly queries the deviation control time of the corresponding preset control point based on the pre-established control deviation reference table, corrects the sending time of the control signal in combination with the planned signal sending time of the preset control point, obtains a new control signal sending time, and adjusts the sending time of the control signal to ensure that the yacht reaches the predetermined speed quickly and accurately. The specific way is:

[0056] If the deviation length K is greater than 0, it means that the actual control length of the electric yacht at the corresponding preset control point is greater than the rated control length, and the control signal is sent K time in advance, that is, the new control signal sending time is t0-K; if K is less than 0, it means that the actual control length of the electric yacht at the corresponding preset control point is less than the rated control length, and the control signal is sent K time later, that is, the new control signal sending time is t0+K. In this way, the control signal sending time is accurately corrected, and it is ensured that the electric yacht can quickly and accurately reach the predetermined speed at each preset control point under different electric quantities, and the navigation safety and efficiency of the electric yacht are improved.

[0057] Through the deviation adjustment module, the corresponding deviation control length can be quickly queried according to the real-time monitored battery capacity combined with the pre-established control deviation table, and the control signal sending time is accurately corrected, so that the electric yacht can quickly and accurately reach the predetermined speed at each preset control point under different electric quantities, and the navigation safety and efficiency of the electric yacht are improved. Through accurate control signal sending time adjustment, the electric yacht can more stably reach the predetermined speed, and the risk of accidents such as collision caused by improper speed control when navigating in complex waters is reduced.

[0058] The above formulas are dimensionless values calculated, and the formulas are obtained by software simulation of a large amount of data to obtain a formula of the most recent real situation. The preset parameters and threshold values in the formula are set by a person skilled in the art according to the actual situation.

[0059] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A big data based safety control system for an electrically powered yacht, characterized in that, The application relates to an electric yacht control method, which comprises the following steps: An electric quantity interval calibration module divides the battery electric quantity into multiple electric quantity intervals according to percentages; A historical control data acquisition module acquires historical control data corresponding to different preset control points when the electric yacht is in different electric quantity intervals; A data analysis module analyzes the historical control data to obtain a control deviation reference table corresponding to different preset control points, specifically as follows: S1: randomly selecting one of the preset control points as a target control point without replacement; S2: randomly selecting one of the different electric quantity intervals as a target interval without replacement; Obtaining a motor rotating speed response time Tn corresponding to n historical control data of the target control point when the electric yacht is in the target interval, marking the absolute value of the difference between the motor rotating speed response time Tn and a rated rotating speed response time E as a response deviation duration Pn, analyzing the response deviation duration Pn to obtain a calibration deviation duration D1 corresponding to the target control point when the electric yacht is in the target interval, and analyzing the number of positive and negative values in the difference value between the motor rotating speed response time Tn and the rated rotating speed response time E to obtain a deviation control duration K1 corresponding to the target control point when the electric yacht is in the target interval, wherein n represents different historical control data, n=1, 2,..., a, a represents the total number of historical control data, a is a positive integer, and a satisfies a>=2; S3: repeating steps S1-S2, so that a deviation control duration Kr corresponding to each electric quantity interval when the electric yacht is in the target interval can be obtained, and the deviation control duration Kr is bound with the corresponding target interval to generate a control deviation reference table M1 corresponding to the target control point, wherein r represents different preset control points; S4: repeating steps S1-S3, so that a control deviation reference table Mm corresponding to different preset control points can be obtained, wherein m represents different electric quantity intervals; A deviation adjustment module generates a new control signal sending time by combining the control deviation reference table according to the battery electric quantity monitored in real time during the running of the yacht, and adjusts the sending time of the control signal.

2. The big data based electric yacht safety control system according to claim 1, wherein, The specific way of analyzing the response deviation duration Pn is as follows: Obtaining the number b of values in the response deviation duration Pn that satisfy a preset screening condition A1, when the number b is greater than or equal to a preset threshold Y1, defining the average value Pp of the response deviation duration Pn as the calibration deviation duration D1 corresponding to the target control point when the electric yacht is in the target interval, and when the number b is less than the preset threshold Y1, defining the average value of the maximum value and the minimum value in the response deviation duration Pn as the calibration deviation duration D1 corresponding to the target control point when the electric yacht is in the target interval, wherein b is a positive integer, and b satisfies a>=b>=1.

3. The big data based electric yacht safety control system according to claim 1, wherein, The specific way of analyzing the number of positive and negative values in the difference value between the motor rotating speed response time Tn and the rated rotating speed response time E is as follows: Obtaining the ratio f1 and f2 between the number c1 and c of positive and negative values in it and the total number a of historical control data, when f1 is greater than the preset threshold Y3, then the calibration deviation duration D1 is taken as the deviation control duration K1 corresponding to the target control point when the electric yacht is in the target interval, when f2 is greater than the preset threshold Y3, then the product of the calibration deviation duration D1 and negative one is taken as the deviation control duration K1 corresponding to the target control point when the electric yacht is in the target interval, the value of the preset threshold Y3 is: 3 / 5>Y3≥1 / 2.

4. The big data based electric yacht safety control system according to claim 2, wherein, The preset screening condition A1 is specifically: |Pn-Pp|≥Y2, wherein Y2 is a preset value.

5. The big data based electric yacht safety control system according to claim 3, wherein, When f1 and f2 are not greater than the preset threshold Y3, then the calibration deviation duration D1 is taken as the deviation control duration K1 corresponding to the target control point when the electric yacht is in the target interval.

6. The big data based electric yacht safety control system according to claim 1, wherein, The specific way to obtain the new control signal sending time is: In the running process of the electric yacht, according to the real-time monitored battery capacity, the electric yacht is accurately determined to be in the capacity interval at each preset control point, based on the pre-established control deviation table, the deviation control duration of the corresponding preset control point is quickly queried, and the new control signal sending time is obtained by combining the planned signal sending time of the preset control point.

7. The big data based electric yacht safety control system according to claim 6, wherein, When the deviation control duration corresponding to the preset control point is greater than 0, the control signal is sent in advance by the deviation control duration, that is, the new control signal sending time is the difference between the planned signal sending time corresponding to the preset control point and the corresponding deviation control duration, when the deviation control duration corresponding to the preset control point is less than 0, the control signal is sent by delaying the deviation control duration, that is, the new control signal sending time is the sum of the planned signal sending time corresponding to the preset control point and the corresponding deviation control duration.

8. The big data based electric yacht safety control system according to claim 1, wherein, The historical control data includes the signal plan sending time and the motor speed response time corresponding to each preset control point of the electric yacht respectively.

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