Load-based ship navigation control method

Abstract

The invention relates to a ship navigation control method based on load. The method comprises the following steps: acquiring ship weight sensing data; generating a ship weight load total amount index based on the ship weight sensing data; if the ship weight load total amount index meets the ship load total amount standard exceeding condition, generating load total amount standard exceeding risk alarm information and a load total amount standard exceeding control instruction; generating a ship weight distribution index based on the ship weight sensing data if the ship weight load total amount index meets the ship load total amount standard reaching condition; and if the ship weight distribution index meets the ship load offset standard-exceeding condition, generating load offset standard-exceeding risk alarm information and a load offset standard-exceeding control instruction. By the adoption of the method, sailing accidents caused by overload or uneven weight distribution can be effectively avoided through real-time monitoring and timely alarming, it is ensured that the ship meets the safe loading condition during sailing, and sailing stability and sailing safety are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of ship navigation control, and in particular relates to a ship navigation control method based on load. Background Art

[0002] Ship load management is the core technology to ensure the safety of ship navigation, which is especially critical for weight-sensitive ship types such as hydrofoils and high-speed passenger ships. With the development of the shipping industry, the types and sizes of ships are becoming more diverse, and the requirements for the accuracy and timeliness of ship load management are also increasing.

[0003] In traditional technology, ship load management relies heavily on port weighing, which is unable to monitor the dynamic load changes of ships in real time and lacks a complete real-time load warning and control system. When a ship is overloaded, it is often only when there are obvious abnormalities such as a sudden drop in the ship's sailing speed and difficulty in maneuvering that the load problem is discovered, endangering navigation safety. In addition, in the existing technology, the control of ship load distribution relies heavily on manual calculations. The crew needs to manually input the cargo location data and estimate the center of gravity based on empirical formulas, which is time-consuming and prone to errors, increasing the risk of capsizing in special scenarios such as wind and waves and high-speed navigation.

[0004] In particular, hydrofoil boats can generate lift through hydrofoils, thereby increasing speed and reducing resistance, and their performance is greatly affected by the load. Overloading may cause the hydrofoils to not work properly, affecting lift, resulting in failure to take off or loss of balance of the boat, or even capsizing, posing serious safety hazards; uneven weight distribution will cause the center of gravity of the hydrofoil boat to shift, affecting the stability and maneuverability of navigation, causing unnecessary shaking in flight mode, and increasing the risk of accidents. At present, there is a lack of effective real-time load monitoring methods on the market that can promptly alarm and automatically take measures when the hydrofoil boat's load exceeds the limit or is unevenly distributed. Summary of the invention

[0005] Based on this, it is necessary to provide a load-based ship navigation control method that can promptly issue an alarm and automatically take measures when the ship's load exceeds the limit or is unevenly distributed to address the above technical problems.

[0006] The present application provides a ship navigation control method based on load, comprising:

[0007] Acquiring ship weight sensor data, the ship weight sensor data including weight load sensor data of important areas of the ship;

[0008] Generate a total ship weight load index based on the ship weight sensor data, the total ship weight load index is used to characterize the relationship between the total load of the ship and the standard load;

[0009] If the total weight load index of the ship meets the condition of exceeding the total ship load, generate a risk alarm message for exceeding the total load and a control instruction for exceeding the total load. The control instruction for exceeding the total load is used to control the ship's motion control system and power system to enter the working mode of exceeding the total load.

[0010] If the total weight load index of the ship meets the condition of meeting the total ship load standard, generate a ship weight distribution index based on the ship weight sensing data. The ship weight distribution index is used to characterize the deviation of the real-time center of gravity of the ship.

[0011] If the ship weight distribution index meets the condition of exceeding the load offset standard, generate a risk alarm message for exceeding the load offset and a control instruction for exceeding the load offset. The control instruction for exceeding the load offset is used to control the ship's motion control system and power system to enter the working mode of exceeding the load offset.

[0012] The above ship navigation control method based on load can timely detect and handle abnormal ship load conditions through real-time monitoring and timely alarm, avoid ship damage and safety accidents caused by overloading or abnormal load distribution, thereby reducing the ship's downtime and maintenance costs, and improving the ship's operation efficiency. By collecting and analyzing ship weight sensing data, it provides important data support for the operation and management of the ship, can achieve precise control and optimized management of the ship load, standardize the ship load operation process, improve the intelligent level of ship operation, and then ensure that the ship maintains a safe load condition during navigation, and improve the stability and safety of ship navigation. Description of the Drawings

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0014] Figure 1 Schematic diagram of an application scenario of a ship navigation control method based on load provided by an embodiment of the present application;

[0015] Figure 2 Schematic diagram of the flow of a ship navigation control method based on load provided by an embodiment of the present application;

[0016] Figure 3 Schematic diagram of the flow of a ship basic area weight load analysis method provided by an embodiment of the present application;

[0017] Figure 4Schematic flowchart of a method for calculating ship weight indicators provided by an embodiment of the present application;

[0018] Figure 5 Schematic flowchart of another ship navigation control method based on load provided by an embodiment of the present application;

[0019] Figure 6 Schematic structural diagram of a ship navigation control device based on load provided by an embodiment of the present application. Detailed implementation manners

[0020] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0021] The ship navigation control method based on load provided by the embodiments of the present application can be applied to an application environment as shown in Figure 1 wherein, the central processing unit 101 can communicate with the sensing device 102 and the working device 103 through a communication channel. The central processing unit 101 can store the data to be processed through a data storage system. The data storage system can be integrated on the central processing unit 101, or placed in the cloud or other network servers.

[0022] Illustratively, the sensing device 102 can collect the weight load information of the ship and convert it into a digital signal for transmission. After receiving the data, the central processing unit 101 can use a preset algorithm to process and analyze the data, calculate the total load of the ship and the weight distribution of each area, and generate a prompt message and a control strategy message. The working device 103 can implement ship navigation control operations based on the prompt message and the control strategy message generated by the central processing unit 101.

[0023] Optionally, the central processing unit 101 can be, but is not limited to, various computers, industrial computers, intelligent processors, Internet of Things devices and servers, and the server can be implemented by an independent server or a server cluster composed of multiple servers. The sensing device 102 can include, but is not limited to, hull structure monitoring sensors, dynamic environment sensors, pressure sensors, deformation sensors and liquid level sensors. The working device 103 can include, but is not limited to, power devices, loading and unloading devices, storage devices, safety devices and motion control devices.

[0024] Particularly, taking a hydrofoil boat as an example of the ship, the working device 103 can include hydrofoils.

[0025] In an exemplary embodiment, as shown in Figure 2As shown, a ship navigation control method based on load is provided. Taking the central processing unit 101 applied in Figure 1 as an example, the method includes the following steps S201 to S205. Among them:

[0026] Step S201: Obtain ship weight sensing data.

[0027] Specifically, the central processing unit 101 can initialize the ship's weight load sensing system and send parameter configuration instructions to the ship's weight load sensing system. The central processing unit 101 can obtain ship weight sensing data through the sensing devices in the weight load sensing system according to the set acquisition frequency and parameters. The ship weight sensing data can include the weight load sensing data of important areas of the ship.

[0028] Schematically, when the important areas of the ship bear load, strain changes will occur in the load-bearing parts below the key positions of the important areas of the ship. The central processing unit 101 can collect these strain changes through the sensing devices, convert the strain change information into strain change electrical signals, and after collecting through the data acquisition module, convert the strain change electrical signals into digital signals and perform encryption processing to ensure the security and integrity of the data.

[0029] Optionally, high-precision and high-sensitivity weight load sensors for weight changes can be installed at the load-bearing parts below the key positions of the important areas of the ship. The weight load sensors can include, but are not limited to, strain gauge sensors and spring weight sensors. The weight load sensors can have good durability and corrosion resistance. The important areas of the ship can include, but are not limited to, the seat area, the bow area, the stern area, the standing areas on both sides, the luggage stacking area, and the material storage area.

[0030] Furthermore, the central processing unit 101 can preprocess the collected ship weight sensing data. The preprocessing can include, but is not limited to, filtering, amplification, analog-to-digital conversion, data cleaning, and verification. The central processing unit 101 can eliminate the outliers and noise in the data through the preprocessing and ensure the accuracy and stability of the data. The central processing unit 101 can store the processed data in the data storage system.

[0031] Step S202: Generate a total ship weight load index based on the ship weight sensing data.

[0032] Specifically, the central processing unit 101 can compare the processed ship weight sensing data with the pre-set load upper limit to generate a total ship weight load index, which is used to characterize the relationship between the total load weight of the ship and the standard load weight.

[0033] Exemplarily, a feasible expression of the total ship weight load index can be:

[0034]

[0035] In the formula, Π CE is the total index of the ship's weight load, is the ship's weight sensing data, is the set upper load limit.

[0036] Furthermore, a feasible expression for the total index of the ship's weight load can be:

[0037]

[0038] In the formula, Π CE is the total index of the ship's weight load, m is the number of important areas of the ship, is the weight coefficient of the j-th important area of the ship, is the membership function of fuzzy control of the total weight load index of the j-th important area of the ship, is the weight sensing data of the j-th important area of the ship, is the preset upper load limit of the j-th important area of the ship.

[0039] Step S203, if the total index of the ship's weight load meets the condition of exceeding the total ship load, generate a risk alarm message for exceeding the total load and a control instruction for exceeding the total load.

[0040] Specifically, if the total index of the ship's weight load meets the condition of exceeding the total ship load, the central processing unit 101 can generate a risk alarm message for exceeding the total load and a control instruction for exceeding the total load. The control instruction for exceeding the total load can be used to control the ship's motion control system and power system to enter the working mode of exceeding the total load.

[0041] Exemplarily, when the total index Π of the ship's weight load CE is greater than the preset threshold of the total index of the ship's weight load, it is determined that the ship is overweight, triggering the ship overweight alarm mechanism, and reminding the operator to pay attention through means such as sound and light alarms.

[0042] Optionally, the preset threshold of the total index of the ship's weight load can be greater than or equal to 1.

[0043] Schematically, taking a hydrofoil boat as an example, the motion control system of the ship may include a hydrofoil mechanism. When the central processor 101 determines that the hydrofoil boat is in an overweight situation, the central processor 101 can automatically or after receiving a manual signal ensure that the hydrofoil boat cannot enter the hydrofoil navigation mode by restricting the motion control system and the power system of the hydrofoil boat, and restrict the output power of the power system of the hydrofoil boat until the load state returns to normal. And after the central processor 101 generates a risk alarm message for the total load exceeding the standard, the operator should immediately check the load state of the hydrofoil boat and take corresponding measures for adjustment. After adjusting the load state, the operator needs to restart the system for inspection again. Only after confirming that the load state meets the safety requirements can the hydrofoil boat be allowed to enter the hydrofoil navigation mode.

[0044] Further, when the central processor 101 detects that the ship is in an overweight situation, it can, but is not limited to, ensure that the operator can timely discover and handle abnormal situations through means such as sound and light alarms and display screen alarms. The central processor 101 can support a graphical user interface and display the weight data of each weight sensor and the total load situation in real time. By using data visualization means, the total load weight and the change trend are intuitively displayed.

[0045] Step S204, if the total ship weight load index meets the ship total load compliance condition, generate a ship weight distribution index based on the ship weight sensing data.

[0046] Specifically, if the total ship weight load index meets the ship total load compliance condition, the central processor 101 can generate a ship weight distribution index based on the ship weight sensing data, and the ship weight distribution index can be used to characterize the deviation of the real-time center of gravity of the ship.

[0047] Exemplarily, a feasible expression for the ship weight distribution index can be:

[0048]

[0049] In the formula, Π DE is the ship weight distribution index, τ is the normalization coefficient, is the tensor of the actual center of gravity coordinates of the ship, is the tensor of the standard center of gravity coordinates of the ship.

[0050] Further, a feasible expression for the ship weight distribution index can be:

[0051] Π DE = τ X × (X S - X B ) + τ Y × (Y S - Y B ) + τZ ×(Z S -Z B )

[0052] Wherein, Π DE is the ship weight distribution index, τ X is the standardized coefficient of the horizontal lateral center of gravity deviation of the ship, X S is the horizontal lateral coordinate of the actual center of gravity of the ship, X B is the horizontal lateral coordinate of the standard center of gravity of the ship, τ Y is the standardized coefficient of the horizontal forward center of gravity deviation of the ship, Y S is the horizontal forward coordinate of the actual center of gravity of the ship, Y B is the horizontal forward coordinate of the standard center of gravity of the ship, τ Z is the standardized coefficient of the vertical center of gravity deviation of the ship, Z S is the vertical coordinate of the actual center of gravity of the ship, Z B is the vertical coordinate of the standard center of gravity of the ship.

[0053] Optionally, the central processing unit 101 can input the ship weight sensing data into the trained BP neural network to obtain the actual center of gravity coordinate tensor of the ship.

[0054] Optionally, the central processing unit 101 can input the ship weight sensing data into the trained deep learning network to obtain the actual center of gravity coordinate tensor of the ship.

[0055] Step S205, if the ship weight distribution index meets the ship load offset over - standard condition, generate a load offset over - standard risk alarm message and a load offset over - standard control instruction.

[0056] Specifically, if the ship weight distribution index meets the ship load offset over - standard condition, the central processing unit 101 can generate a load offset over - standard risk alarm message and a load offset over - standard control instruction, and the central processing unit 101 can control the ship's motion control system and power system to enter the load offset over - standard working mode based on the load offset over - standard control instruction.

[0057] Exemplarily, when the ship weight distribution index is greater than the preset ship weight distribution index threshold, the central processing unit 101 can determine that the ship is in the ship load offset over - standard situation, trigger the ship load offset over - standard alarm mechanism, and remind the operator to pay attention to the ship being in the ship load offset over - standard situation through means such as sound and light alarm.

[0058] Schematically, taking a hydrofoil boat as an example, the motion control system of the ship may include a hydrofoil mechanism. When the central processor 101 determines that the hydrofoil boat is in a situation where the ship's load offset exceeds the standard, the central processor 101 can automatically or after receiving a manual signal ensure that the hydrofoil boat cannot enter the hydrofoil navigation mode by restricting the motion control system and the power system of the hydrofoil boat, and restrict the output power of the power system of the hydrofoil boat until the load state returns to normal. And after the central processor 101 generates a risk alarm message for the load offset exceeding the standard, the operator should immediately check the load state of the hydrofoil boat and take corresponding measures for adjustment. After adjusting the load state, the operator needs to restart the system for inspection again. Only after confirming that the load state meets the safety requirements can the hydrofoil boat be allowed to enter the hydrofoil navigation mode.

[0059] Furthermore, when the central processor 101 detects that the ship is in a situation where the ship's load offset exceeds the standard, it can, but is not limited to, ensure that the operator can timely discover and handle abnormal situations through means such as sound and light alarms and display screen alarms. The central processor 101 can support a graphical user interface and display the weight data of each weight sensor and the load distribution situation in real time. By using data visualization means, the ship's weight load distribution situation and change trend are intuitively displayed.

[0060] Optionally, if the central processor 101 determines that the ship weight distribution index meets the ship load offset standard condition and the ship weight load total index meets the ship load total standard condition, the central processor 101 can generate a ship load safety compliance prompt message, and the ship load safety compliance prompt message can be used to indicate that the current load state of the ship meets the requirements for safe navigation.

[0061] In the above ship navigation control method based on load, by obtaining the weight load sensing data of the important area of the ship, the ship load information can be collected in real time, and based on this, the ship weight load total index and the weight distribution index can be generated, and the dynamic change of the ship load can be timely grasped, overcoming the drawback that the traditional technology cannot be monitored in real time, providing more timely and accurate data support for ship load management, and then the automation and intelligence of ship load management can be realized, reducing the interference of human factors, meeting the development trend of ship navigation control technology in the modern shipping industry, and helping to improve the safety and economic benefits of ship operation.

[0062] Furthermore, in the above ship navigation control method based on load, when the ship weight load total index meets the load total exceeding the standard condition, a risk alarm message for the load total exceeding the standard and a control instruction can be quickly generated, so that the motion control system and the power system of the ship enter the corresponding working mode, an alarm can be issued at the first time when the overloading situation occurs, and the ship system can be controlled to take measures, which can effectively prevent safety accidents caused by overloading.

[0063] Furthermore, in the above ship navigation control method based on load, a ship weight distribution index can be generated based on ship weight sensing data to accurately characterize the deviation of the real-time center of gravity of the ship. When the load deviation of the ship exceeds the standard, alarm information and control instructions can be generated in a timely manner to automatically adjust the ship state to cope with the problem of center of gravity deviation. Furthermore, the accuracy and timeliness of ship load distribution control can be improved, the risk brought by manual calculation errors can be reduced, the stability and safety of the ship in various scenarios can be enhanced, and the possibility of capsizing in special scenarios such as strong winds, waves, and high-speed navigation can be reduced.

[0064] In particular, for hydrofoil boats, which are sensitive to weight, overloading and uneven weight distribution will bring serious safety hazards. In the above ship navigation control method based on load, the total load and weight distribution of the hydrofoil boat can be monitored in real time, and an alarm can be issued in a timely manner when the load exceeds the limit or the distribution is uneven, and the ship system can be made to enter the corresponding working mode through control instructions. It can prevent the hydrofoils of the hydrofoil boat from malfunctioning due to overloading, and avoid the danger of the hull losing balance or even capsizing; at the same time, it can effectively solve the problem of center of gravity deviation caused by uneven weight distribution, and ensure the stability and maneuverability of the hydrofoil boat in the flight mode.

[0065] In an alternative embodiment of the present application, the ship weight sensing data includes ship draft sensing data. Please refer to Figure 3 , and the ship navigation control method based on load further includes:

[0066] Step S301, obtain the standard weight load data of the ship's basic area.

[0067] Specifically, the central processing unit can obtain the standard weight load data of the ship's basic area, and the standard weight load data of the ship's basic area can be used to characterize the load value of the ship area except for the important areas of the ship under normal load conditions. The standard weight load data of the ship's basic area can be pre-stored in the data storage system.

[0068] Step S302, calculate the weight load deviation index of the ship's basic area based on the ship draft sensing data, the weight load sensing data of the important areas of the ship, and the standard weight load data of the ship's basic area.

[0069] Specifically, the central processing unit can obtain the ship draft sensing data based on the ship draft sensors arranged on the hull. The ship draft sensors can include, but are not limited to, liquid level sensors and ranging sensors. The central processing unit can calculate the weight load deviation index of the ship's basic area based on the ship draft sensing data, the weight load sensing data of the important areas of the ship, and the standard weight load data of the ship's basic area. The weight load deviation index of the ship's basic area can be used to characterize the risk of abnormal weight load in the ship's basic area.

[0070] Optionally, a feasible expression for the weight load deviation index of the ship's basic area can be:

[0071]

[0072] E G =|G W -G I -G B |

[0073] In the formula, ∏ JE is the weight load deviation index of the ship's basic area, α is the normalization coefficient, E G is the weight load deviation of the ship's basic area, μ(E G ) is the fuzzy control membership function of the weight load deviation of the ship's basic area, G B is the standard weight load data of the ship's basic area, G W is the actual weight load data of the ship calculated based on the ship draft sensing data, G I is the weight load sensing data of the important area of the ship.

[0074] Schematically, the central processing unit can use the real-time seawater density to correct the actual weight load data of the ship calculated based on the ship draft sensing data.

[0075] Step S304, if the weight load deviation index of the ship's basic area meets the abnormal condition of the weight load of the ship's basic area, generate an abnormal alarm message for the weight load of the ship's basic area and an abnormal control instruction for the weight load of the ship's basic area.

[0076] Specifically, if the central processing unit determines that the weight load deviation index of the ship's basic area meets the abnormal condition of the weight load of the ship's basic area, the central processing unit can generate an abnormal alarm message for the weight load of the ship's basic area and an abnormal control instruction for the weight load of the ship's basic area. The abnormal control instruction for the weight load of the ship's basic area is used to control the ship's motion control system and power system to enter the abnormal working mode of the weight load of the ship's basic area.

[0077] In the above ship navigation control method based on load, based on the ship draft sensing data, the weight load sensing data of the important area of the ship, and the standard weight load data of the ship's basic area, the weight load deviation index of the ship's basic area is calculated, which can accurately quantify the risk degree of abnormal weight load in the ship's basic area. Compared with the traditional method relying on experience or simple judgment, it can more accurately reflect the actual situation of the load in the basic area. By detecting and controlling abnormal situations in time, it can effectively avoid ship structure damage caused by abnormal load in the basic area, thereby extending the service life of the ship and ensuring the safety and reliability of the ship structure.

[0078] In an alternative embodiment of the present application, please refer to Figure 3 , the ship navigation control method based on load further includes:

[0079] Step S303: Input the weight load sensing data of the important area of the ship and the weight load deviation index of the ship's basic area into the digital twin model of the ship's weight distribution, and update and display the digital twin model of the ship's weight distribution.

[0080] Specifically, the central processing unit can input the preprocessed weight load sensing data obtained based on the ship draft sensor and the weight load sensor, the weight load deviation data of the ship's basic area, and the weight load deviation index of the ship's basic area into the digital twin model of the ship's weight distribution, analyze and process the data according to the preset algorithms and logics, update and calculate the relevant parameters and states in the model, and display the updated result of the digital twin model of the ship's weight distribution on the display device.

[0081] Optionally, the central processing unit can control the display device to display the weight distribution of the ship through a two-dimensional graphical interface, such as representing the weight load magnitudes of different areas of the ship with different colors or icons.

[0082] Optionally, the central processing unit can control the display device to display the three-dimensional model of the ship through a three-dimensional visualization interface, intuitively presenting the overall weight distribution information and the center of gravity position of the ship.

[0083] Specifically, a feasible expression for the weight load deviation index of the ship's basic area can be:

[0084]

[0085] E t =|G W,t -G I,t -G B |

[0086] In the formula, Π JE is the weight load deviation index of the ship's basic area, E t is the weight load deviation of the ship's basic area at time t, μ(E t ) is the fuzzy control membership function of the weight load deviation of the ship's basic area, λ i is the weight coefficient at time t-i based on historical accumulation, n is the number of historical moments considered, G B is the standard weight load data of the ship's basic area, G W,t is the actual weight load data of the ship calculated based on the ship draft sensing data at time t, and G I,t is the weight load sensing data of the important area of the ship at time t.

[0087] In the above ship navigation control method based on load, by comprehensively considering the historically accumulated weight coefficients, fuzzy control membership functions, and real-time sensing data, it is possible to accurately evaluate whether there is an abnormal risk in the weight load of the ship's basic area, and based on the digital twin model of ship weight distribution, the weight distribution of the ship is updated and displayed in real time, which helps the operator to understand the load status of the ship in real time, achieve precise control and optimized management of the ship's weight load, and improve the intelligent level of ship operation.

[0088] In an alternative embodiment of the present application, please refer to Figure 4 , and generate ship weight distribution indicators based on ship weight sensing data, including:

[0089] Step S401, calculate the center of buoyancy of the ship based on the ship draft sensing data.

[0090] Specifically, the central processing unit can use ship draft depth sensors distributed at different positions of the ship to collect the draft depth data of the ship at different positions in real time, and perform data preprocessing on the draft depth data to ensure that the draft information of the ship can be obtained comprehensively and accurately. The central processing unit can calculate the center of buoyancy coordinates of the ship based on the ship draft sensing data combined with the ship's hull form data.

[0091] Optionally, the ship draft depth sensors can include, but are not limited to, ultrasonic draft sensors and pressure draft sensors, and the ship draft depth sensors can be distributed at key positions such as the bow, midship, stern, and both sides of the ship. The data collected by the ship draft depth sensors can include the measurement time, measurement position of each sensor, and the corresponding draft depth value.

[0092] Step S402, calculate the actual center of gravity of the ship based on the ship draft sensing data and the weight load sensing data of the important areas of the ship.

[0093] Step S403, obtain the standard center of gravity of the ship, and calculate the ship weight distribution indicator based on the deviation between the actual center of gravity of the ship and the standard center of gravity of the ship and the deviation between the actual center of gravity of the ship and the center of buoyancy of the ship.

[0094] Specifically, the central processing unit can obtain the preset ship standard center of gravity calculation parameters from the data storage system, calculate the standard center of gravity of the ship in combination with the actual ship weight load data, and calculate the ship weight distribution indicator based on the deviation between the actual center of gravity of the ship and the standard center of gravity of the ship and the deviation between the actual center of gravity of the ship and the center of buoyancy of the ship.

[0095] Exemplarily, a feasible expression for the ship weight distribution indicator can be:

[0096]

[0097] In the formula, ΠDE is the ship weight distribution index, τ BS is the deviation normalization coefficient between the actual center of gravity of the ship and the standard center of gravity of the ship, is the actual center of gravity coordinate tensor of the ship, is the standard center of gravity coordinate tensor of the ship, τ FS is the deviation normalization coefficient between the actual center of gravity of the ship and the center of buoyancy of the ship, is the center of buoyancy coordinate tensor of the ship.

[0098] Furthermore, a feasible expression for the ship weight distribution index can be:

[0099] Π DE = Π DB + Π DF

[0100] Π DB = τ X,B × (X S - X B ) + τ Y,B × (Y S - Y B ) + τ Z,B × (Z S - Z B )

[0101] Π DF = τ X,F × (X S - X F ) + τ Y,F × (Y S - Y F ) + τ Z,F × (Z S - Z F )

[0102] In the formula, Π DE is the ship weight distribution index, ∏ DB is the deviation component between the actual center of gravity of the ship and the standard center of gravity of the ship, ∏ DF is the deviation component between the actual center of gravity of the ship and the center of buoyancy of the ship, τ X,B is the horizontal lateral standard center of gravity deviation normalization coefficient of the ship, X S is the horizontal lateral coordinate of the actual center of gravity of the ship, X B is the horizontal lateral coordinate of the standard center of gravity of the ship, τ Y,B is the horizontal forward standard center of gravity deviation normalization coefficient of the ship, Y S is the horizontal forward coordinate of the actual center of gravity of the ship, Y B is the horizontal forward coordinate of the standard center of gravity of the ship, τ Z,B is the vertical standard center of gravity deviation normalization coefficient of the ship, ZS is the vertical coordinate of the actual center of gravity of the ship, Z B is the vertical coordinate of the standard center of gravity of the ship, τ X,F is the standardized coefficient of the deviation of the ship's horizontal transverse center of buoyancy, X F is the horizontal transverse coordinate of the standard center of gravity of the ship, τ Y,F is the standardized coefficient of the deviation of the ship's horizontal forward center of buoyancy, Y F is the horizontal forward coordinate of the standard center of gravity of the ship, τ Z,F is the standardized coefficient of the deviation of the ship's vertical center of buoyancy, Z F is the vertical coordinate of the standard center of gravity of the ship.

[0103] In the above ship navigation control method based on load, by combining the ship draft sensing data and the weight load sensing data of important areas of the ship, the center of buoyancy and the actual center of gravity of the ship are calculated respectively to achieve the effective fusion of multi-dimensional data, and then the weight distribution of the ship is evaluated comprehensively and accurately; by calculating the ship weight distribution index based on the deviation between the actual center of gravity and the standard center of gravity and the deviation between the actual center of gravity and the center of buoyancy, the deviation degree of the current weight distribution of the ship compared with the ideal state and the navigation stability of the ship can be intuitively reflected. By comprehensively considering these two deviations to calculate the weight distribution index, the actual state of the ship weight distribution can be more accurately described, providing strong data support for the safe navigation of the ship.

[0104] In an alternative embodiment of the present application, the total ship weight load index includes the ship load ratio sub-item, the critical stability speed sub-item, and the important area structural stress sub-item;

[0105] As Figure 4 shown, generating the total ship weight load index based on the ship weight sensing data includes:

[0106] Step S404, calculating the actual weight load data of the ship based on the ship draft sensing data.

[0107] Specifically, the central processing unit can use the ship draft depth sensors distributed at different positions of the ship to collect the draft depth data of the ship at different positions in real time and perform data preprocessing on the draft depth data. The central processing unit can obtain the ship form data based on the design drawings, technical data or form line drawing database of the ship. The central processing unit can calculate the actual weight load data of the ship based on the ship form data and the preprocessed ship draft sensing data.

[0108] Step S405, calculating the ship load ratio sub-item, the critical stability speed sub-item, and the important area structural stress sub-item based on the actual weight load data of the ship.

[0109] Specifically, the central processing unit can calculate the ship load ratio sub-item, the critical stability speed sub-item, and the important area structural stress sub-item based on the actual ship weight load data. The ship load ratio sub-item is the ratio of the actual ship weight load data to the upper limit of the ship's designed load.

[0110] In the above ship navigation control method based on load, by improving these sub-item indicators such as the ship load ratio sub-item, the critical stability speed sub-item, and the important area structural stress sub-item, and comprehensively considering the total load weight of the ship, the stability of the ship, and the stress conditions of the key structures, it is possible to better evaluate and control the impact of the total ship load on the stability and maneuverability of the ship, comprehensively and multi-dimensionally evaluate the load state of the ship, and provide more comprehensive guarantees for the safe navigation of the ship.

[0111] In an alternative embodiment of the present application, the ship load abnormal control instruction includes a total load exceeding standard control instruction and a load offset exceeding standard control instruction, and the ship weight index includes a total ship weight load index and a ship weight distribution index;

[0112] Please refer to Figure 5 , the ship navigation control method based on load further includes:

[0113] Step S509, in response to the generation of the ship load abnormal control instruction, calculate the ship weight abnormal degree information based on the ship weight index.

[0114] Optionally, the central processing unit can input the ship weight abnormal degree information into a trained abnormal range recognition support vector machine to perform abnormal range recognition on the ship weight abnormal degree information. The abnormal range can include a normal abnormal range and a serious abnormal range.

[0115] Optionally, the central processing unit can input the ship weight abnormal degree information into a trained BP neural network to output an abnormal range feature vector, and perform abnormal range recognition on the ship weight abnormal degree information based on the abnormal range feature vector.

[0116] Optionally, the central processing unit can input the ship weight abnormal degree information into a trained convolutional neural network to output an abnormal range feature vector, and perform abnormal range recognition on the ship weight abnormal degree information based on the abnormal range feature vector.

[0117] Optionally, the central processing unit can input the ship weight abnormal degree information into a trained deep learning neural network to output abnormal range classification information, and perform abnormal range recognition on the ship weight abnormal degree information based on the abnormal range classification information.

[0118] Step S510, if the ship weight abnormal degree information is within the normal abnormal range, generate a prompt message for the ship load abnormal control operation based on the ship load abnormal control instruction.

[0119] Step S511, in response to the completion of the ship load abnormal control operation, implement the ship load abnormal control based on the ship load abnormal control instruction.

[0120] Optionally, taking the hydrofoil boat as an example of the ship, the central processing unit can, in response to the completion of the ship load abnormal control operation, control the motion control system and the power system of the hydrofoil boat to enter the prohibited hydroplaning working mode based on the ship load abnormal control instruction.

[0121] Step S512, if the ship weight abnormal degree information is within the severe abnormal range, implement the ship load abnormal control based on the ship load abnormal control instruction.

[0122] Optionally, taking the hydrofoil boat as an example of the ship, if the ship weight abnormal degree information is within the severe abnormal range, the central processing unit can control the motion control system and the power system of the hydrofoil boat to enter the prohibited hydroplaning working mode based on the ship load abnormal control instruction.

[0123] Optionally, the central processing unit can, in response to the implementation of the ship load abnormal control, check the ship load condition again according to the ship navigation control method based on load, and after confirming that the load state has met the safety requirements, the central processing unit can lift the ship load abnormal control.

[0124] In the above ship navigation control method based on load, by classifying the ship weight index into the normal abnormal range and the severe abnormal range according to the abnormal degree and taking different countermeasures, the response efficiency of ship navigation control can be improved and the safety of ship navigation can be guaranteed. When the ship weight abnormal degree is within the normal abnormal range, by guiding the crew to take control operations, a clear and definite operation process and specification are provided for the crew; when the ship weight abnormal degree is within the severe abnormal range, through automatic emergency response, effective measures can be taken quickly to effectively respond to possible sudden dangerous situations.

[0125] In an optional embodiment of the present application, the ship can be a hydrofoil boat, the total load exceeding standard control instruction and the load offset exceeding standard control instruction can include the hydroplaning prohibition mode control instruction, the motion control system of the hydrofoil boat can include hydrofoils, and the hydroplaning prohibition mode control instruction can be used to control the motion control system and the power system of the hydrofoil boat to enter the prohibited hydroplaning working mode.

[0126] In the above ship navigation control method based on load, through the wing navigation prohibition mode control instruction, when the load is abnormal, the motion control system and power system of the hydrofoil boat can be quickly controlled to enter the prohibited wing navigation working mode, forcibly prohibiting the hydrofoil boat from entering the wing navigation mode, avoiding excessive wear or even damage of key structural components due to abnormal weight loads, extending the service life of the hydrofoil boat, reducing maintenance costs, preventing serious accidents caused by the inability of the hydrofoils to effectively provide lift or the imbalance of the hull, and ensuring the life and property safety of the hydrofoil boat and the personnel on board. And through the intelligent and automated abnormal load handling mode, the danger caused by human judgment errors or delayed operations can be avoided, and the reliability of the hydrofoil boat operation system can be enhanced.

[0127] In an exemplary embodiment, as Figure 5 shown, a ship navigation control method based on load is provided, including:

[0128] Step S501, obtaining ship weight sensing data.

[0129] Step S502, calculating the weight load deviation index of the ship's basic area based on the ship draft sensing data, the weight load sensing data of the important areas of the ship, and the standard weight load data of the ship's basic area.

[0130] Step S503, inputting the weight load sensing data of the important areas of the ship and the weight load deviation index of the ship's basic area into the digital twin model of the ship weight distribution, and updating and displaying the digital twin model of the ship weight distribution.

[0131] Step S504, if the weight load deviation index of the ship's basic area meets the abnormal condition of the weight load of the ship's basic area, generating an abnormal alarm message for the weight load of the ship's basic area and an abnormal control instruction for the weight load of the ship's basic area.

[0132] Step S505, generating an index of the total ship weight load based on the ship weight sensing data.

[0133] Step S506, if the index of the total ship weight load meets the condition of exceeding the standard of the total ship load, generating a risk alarm message for exceeding the standard of the total ship load and a control instruction for exceeding the standard of the total ship load.

[0134] Step S507, if the index of the total ship weight load meets the condition of meeting the standard of the total ship load, generating an index of the ship weight distribution based on the ship weight sensing data.

[0135] Step S508, if the ship weight distribution index meets the condition of exceeding the standard of the ship load offset, generating a risk alarm message for exceeding the standard of the ship load offset and a control instruction for exceeding the standard of the ship load offset.

[0136] Step S509, in response to the generation of the ship load abnormal control instruction, calculate the ship weight abnormal degree information based on the ship weight index.

[0137] Step S510, if the ship weight abnormal degree information is within the ordinary abnormal range, generate a prompt message for the ship load abnormal control operation based on the ship load abnormal control instruction.

[0138] Step S511, in response to the completion of the ship load abnormal control operation, implement the ship load abnormal control based on the ship load abnormal control instruction.

[0139] Step S512, if the ship weight abnormal degree information is within the serious abnormal range, implement the ship load abnormal control based on the ship load abnormal control instruction.

[0140] In the above ship navigation control method based on load, by obtaining the ship weight sensing data, the load state of the ship can be grasped in real time and accurately, the influence of the total load of the ship on the ship navigation stability and the deviation of the real-time center of gravity of the ship can be accurately evaluated, and then when the ship load exceeds the limit or the distribution is uneven, an alarm can be given in time and measures can be taken automatically, effectively avoiding ship damage and safety accidents caused by abnormal load, overloading or abnormal load distribution, and improving the intelligent and standardized level of ship navigation control.

[0141] To further illustrate the solution of the embodiment of the present application, a specific example is given below for illustration.

[0142] 1. Composition of the distributed weight sensor weight detection system.

[0143] 1.1 Weight sensors: Select high-precision and high-sensitivity weight sensors (including but not limited to strain gauge sensors, spring weight sensors, etc.) to sense the weight changes of the key load-bearing parts under the hydrofoil boat deck. These sensors should have good durability and corrosion resistance to meet the special requirements of the water environment. Install weight sensors under each key position (seat area, bow, stern, and both sides standing area, luggage stacking area) of the hydrofoil boat deck to comprehensively monitor the overall load and its distribution.

[0144] 1.2 Data acquisition module: Responsible for collecting the output signals of each weight sensor and converting them into digital signals for transmission. This module should have high-speed and stable data acquisition capabilities to ensure the accuracy and real-time nature of the data.

[0145] 1.3 Central processing unit: As the core of the system, it is responsible for receiving, storing and processing the data transmitted by the data acquisition module. The central processing unit will use pre-set algorithms to process and analyze the collected data to calculate the overall load and the weight distribution of each area.

[0146] 1.4 Working principle: When the hydrofoil boat bears a load, strain changes occur in the load-bearing parts below the key positions on the deck. These strain changes are sensed by weight sensors and converted into electrical signals for output. The data acquisition module is responsible for collecting these electrical signals and converting them into digital signals for transmission. During the transmission process, the data will be encrypted to ensure the security and integrity of the data. After receiving the data, the central processor will process and analyze the data using pre-set algorithms. The algorithms will consider factors such as the position and sensitivity of the weight sensors and the structural characteristics of the hydrofoil boat to calculate the total load and the weight distribution of each area.

[0147] 2. Specific steps for data acquisition and processing.

[0148] 2.1 Data acquisition: Start the data acquisition module to begin collecting the output signals of each weight sensor. Preprocess the collected signals, including operations such as filtering, amplification, and analog-to-digital conversion, to ensure the accuracy and stability of the data. Store the processed data in the storage unit of the central processor for subsequent processing and analysis.

[0149] 2.2 Data processing and analysis: Read the data from the storage unit and perform data cleaning and verification to eliminate outliers and noise. Process and analyze the cleaned data using pre-set algorithms to calculate the total load and the weight distribution of each area. Compare the calculated results with the set load limit and the critical value of balanced weight distribution to determine whether there is an overweight or uneven weight distribution situation.

[0150] 3. Logical algorithm for overweight and load imbalance judgment.

[0151] 3.1 Set parameters: According to the design parameters and actual situation of the hydrofoil boat, set the load limit and the critical value of balanced weight distribution. These parameters will be used as the basis for judging overweight and load imbalance.

[0152] 3.2 Judgment logic: When the calculated total load exceeds the set load limit, it is judged as an overweight situation; when there is an obvious deviation between the calculated weight distribution of each area and the set critical value of balanced weight distribution, it is judged as a load imbalance situation. In the case of judging overweight or load imbalance, the system will trigger an alarm mechanism and remind the operator through means such as sound and light alarms. At the same time, the system will automatically or manually prohibit the hydrofoil boat from entering the hydrofoil navigation mode until the load state returns to normal.

[0153] 4. Alarm and operation intervention mechanism.

[0154] 4.1 Alarm mechanism: When the system detects overweight or load imbalance, the alarm mechanism will be triggered immediately. Alarm methods can include audible and visual alarms, display screen alarms, etc., to ensure that operators can discover and handle abnormal situations in a timely manner. Provide a graphical user interface to display the weight data, total load, and distribution of each weight sensor in real time. Use data visualization means, such as line charts, bar charts, etc., to intuitively display the load distribution and change trends.

[0155] 4.2 Operational intervention: After the alarm is triggered, the operator should immediately check the load status of the hydrofoil boat and take corresponding measures for adjustment. For example, unload some cargo, redistribute the weight, etc., to ensure that the load status of the hydrofoil boat returns to normal. After adjusting the load status, the operator needs to start the system again for inspection. Only after confirming that the load status meets the safety requirements can the hydrofoil boat be allowed to enter the hydrofoil navigation mode.

[0156] 5. In summary, through the installation of a distributed weight sensor weight detection system under the deck of the hydrofoil boat, this technical solution realizes the accurate monitoring and calculation of the overall load and weight distribution. When it is detected that the overweight or uneven weight distribution exceeds the critical value, the system will issue an alarm signal in a timely manner and prevent the hydrofoil boat from entering the hydrofoil navigation mode, thus effectively avoiding the occurrence of safety accidents. Compared with the prior art, the technical solution of the present invention may have the following advantages:

[0157] Improve safety: Through real-time monitoring and timely alarm, effectively avoid navigation accidents caused by overloading or uneven weight distribution.

[0158] Enhance stability: Ensure that the hydrofoil boat reaches safe load conditions before takeoff, and improve the stability and safety of navigation.

[0159] Ease of operation: Users can view the load situation in real time through an intuitive interface without cumbersome manual inspections.

[0160] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are displayed in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same moment, but can be executed at different moments. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps in other steps.

[0161] Based on the same inventive concept, an embodiment of the present application further provides a load-based ship navigation control device for implementing the above-mentioned load-based ship navigation control method. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more of the following embodiments of the load-based ship navigation control device can refer to the limitations on the load-based ship navigation control method in the foregoing, and will not be repeated here.

[0162] In an exemplary embodiment, as Figure 6 shown, a load-based ship navigation control device 600 is provided, including:

[0163] A ship load data acquisition module 601, which can be used to acquire ship weight sensing data, and the ship weight sensing data includes weight load sensing data of important areas of the ship.

[0164] A total load index generation module 602, which can be used to generate a total ship weight load index based on the ship weight sensing data, and the total ship weight load index is used to characterize the relationship between the total load weight of the ship and the standard load weight.

[0165] A total index over-limit processing module 603, which can be used to generate a total load over-limit risk alarm message and a total load over-limit control instruction if the total ship weight load index meets the ship total load over-limit condition, and the total load over-limit control instruction is used to ensure the safety of ship navigation in real time from the impact of ship overloading.

[0166] A load distribution index generation module 604, which can be used to generate a ship weight distribution index based on the ship weight sensing data if the total ship weight load index meets the ship total load compliance condition, and the ship weight distribution index is used to characterize the deviation of the real-time center of gravity of the ship.

[0167] A distribution index over-limit processing module 605, which can be used to generate a load deviation over-limit risk alarm message and a load deviation over-limit control instruction if the ship weight distribution index meets the ship load deviation over-limit condition, and the load deviation over-limit control instruction is used to ensure the safety of ship navigation in real time from the impact of abnormal ship load distribution.

[0168] In an optional embodiment, the ship load data acquisition module 601 can also be used to: acquire standard weight load data of the ship's basic area, and the standard weight load data of the ship's basic area is used to characterize the load value of the ship area except the important area of the ship under normal load conditions.

[0169] The ship navigation control device 600 based on load can also be used for: calculating the weight load deviation index of the ship's basic area based on the ship draft sensing data, the weight load sensing data of the important areas of the ship, and the standard weight load data of the ship's basic area; if the weight load deviation index of the ship's basic area meets the abnormal conditions of the weight load of the ship's basic area, generating an abnormal alarm message for the weight load of the ship's basic area and an abnormal control instruction for the weight load of the ship's basic area.

[0170] In an alternative embodiment, the ship navigation control device 600 based on load can also be used for: inputting the weight load sensing data of the important areas of the ship and the weight load deviation index of the ship's basic area into the digital twin model of the ship's weight distribution, and updating and displaying the digital twin model of the ship's weight distribution.

[0171] In an alternative embodiment, the load distribution index generation module 604 can also be used for: calculating the center of buoyancy of the ship based on the ship draft sensing data; calculating the actual center of gravity of the ship based on the ship draft sensing data and the weight load sensing data of the important areas of the ship; obtaining the standard center of gravity of the ship, and calculating the ship weight distribution index based on the deviation between the actual center of gravity of the ship and the standard center of gravity of the ship and the deviation between the actual center of gravity of the ship and the center of buoyancy of the ship.

[0172] In an alternative embodiment, the total load index generation module 602 can also be used for:

[0173] Calculating the actual weight load data of the ship based on the ship draft sensing data; calculating the ship load ratio sub-item, the critical stability speed sub-item, and the important area structure stress sub-item based on the actual weight load data of the ship.

[0174] In an alternative embodiment, the ship navigation control device 600 based on load can also be used for:

[0175] In response to the generation of the ship load abnormal control instruction, calculating the ship weight abnormal degree information based on the ship weight index; if the ship weight abnormal degree information is within the normal abnormal range, generating a prompt message for the ship load abnormal control operation based on the ship load abnormal control instruction; in response to the completion of the ship load abnormal control operation, implementing the ship load abnormal control based on the ship load abnormal control instruction; if the ship weight abnormal degree information is within the serious abnormal range, implementing the ship load abnormal control based on the ship load abnormal control instruction.

[0176] In one embodiment, a computer device is provided, including a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the steps of a power supply safety management method as described above are implemented.

[0177] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0178] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the descriptions of the method embodiments. The device embodiments described above are only illustrative. The components described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present disclosure solution. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0179] The above embodiments only represent several implementation manners of the embodiments of the present application. The descriptions are relatively specific and detailed, but should not be construed as a limitation on the patent scope of the embodiments of the application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the embodiments of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the embodiments of the present application.

Claims

1. A ship navigation control method based on load, characterized in that: The method comprises: Acquiring ship weight sensor data, wherein the ship weight sensor data includes weight load sensor data of important areas of the ship; Generating a ship weight load total amount index based on the ship weight sensor data, wherein the ship weight load total amount index is used to characterize the relationship between the total load capacity of the ship and the standard load capacity; If the total weight load index of the ship meets the condition that the total weight of the ship exceeds the standard, a total weight exceeding risk alarm information and a total weight exceeding control instruction are generated, and the total weight exceeding control instruction is used to control the motion control system and power system of the ship to enter the total weight exceeding working mode; If the ship weight load total amount index meets the ship load total amount standard condition, a ship weight distribution index is generated based on the ship weight sensor data, and the ship weight distribution index is used to characterize the deviation of the real-time center of gravity of the ship; If the ship weight distribution index meets the ship load offset exceeding condition, load offset exceeding risk alarm information and load offset exceeding control instructions are generated. The load offset exceeding control instructions are used to control the ship's motion control system and power system to enter the load offset exceeding working mode.

2. The method according to claim 1, characterized in that The ship weight sensor data includes ship draft sensor data, and the method further includes: Acquire standard weight load data of the ship basic area, wherein the standard weight load data of the ship basic area is used to represent the load value of the ship area except the important area of ​​the ship under the normal load state; Calculate a ship base area weight load deviation index based on the ship draft sensor data, the weight load sensor data of the ship important area and the ship base area standard weight load data, wherein the ship base area weight load deviation index is used to characterize the risk of abnormal weight load in the ship base area; If the ship foundation area weight load deviation index meets the ship foundation area weight load abnormality condition, a ship foundation area weight load abnormality alarm message and a ship foundation area weight load abnormality control instruction are generated. The ship foundation area weight load abnormality control instruction is used to control the ship's motion control system and power system to enter the ship foundation area weight load abnormality working mode.

3. The method according to claim 2, characterized in that The method further comprises: Inputting the weight load sensing data of the important area of ​​the ship and the weight load deviation index of the basic area of ​​the ship into the digital twin model of ship weight distribution, and updating and displaying the digital twin model of ship weight distribution; The expression of the weight load deviation index of the ship foundation area is: E t =|G W,t -G I,t -G B | In the formula, Π JE is the weight load deviation index of the ship foundation area, E t is the weight load deviation of the ship foundation area at time t, μ(E t ) is the fuzzy control membership function of the ship foundation area weight load deviation, λ i is the weight coefficient of the ti moment based on historical accumulation, n is the number of historical moments considered, G B is the standard weight load data of the ship foundation area, G W,t is the actual weight load data of the ship calculated based on the ship draft sensor data at time t, G I,t It is the weight load sensing data of the important areas of the ship at time t.

4. The method according to claim 2, characterized in that: The generating of the ship weight distribution index based on the ship weight sensor data comprises: Calculating the ship's center of buoyancy based on the ship's draft sensor data; Calculating the actual center of gravity of the ship based on the ship draft sensor data and the weight load sensor data of the important area of ​​the ship; The standard center of gravity of the ship is obtained, and the ship weight distribution index is calculated based on the deviation of the actual center of gravity of the ship from the standard center of gravity of the ship and the deviation of the actual center of gravity of the ship from the buoyancy center of the ship.

5. The method according to claim 2, characterized in that: The total ship weight load index includes ship load ratio sub-items, critical stability speed sub-items and important area structural stress sub-items; The generating of the ship weight load total amount indicator based on the ship weight sensor data comprises: Calculating actual weight load data of the ship based on the ship draft sensor data; The ship load ratio item, the critical stability speed item and the important area structural stress item are calculated based on the actual weight load data of the ship, and the ship load ratio item is the ratio of the actual weight load data of the ship to the upper limit of the design load of the ship.

6. The method according to claim 1, characterized in that: The ship load abnormality control instruction includes a total load exceeding standard control instruction and a load deviation exceeding standard control instruction, and the ship weight index includes a total ship weight load index and a ship weight distribution index; The method further comprises: In response to the generation of the ship load abnormality control instruction, calculating ship weight abnormality degree information based on the ship weight index; If the ship weight abnormality degree information is within the normal abnormal range, generating prompt information of the ship weight abnormality control operation based on the ship weight abnormality control instruction; In response to the completion of the ship load abnormality control operation, implementing load abnormality control of the ship based on the ship load abnormality control instruction; If the ship weight abnormality degree information is within the serious abnormality range, the ship's load abnormality control is implemented based on the ship load abnormality control instruction.

7. The method according to any one of claims 1 to 6, characterized in that: The ship is a hydrofoil boat, and the total load exceeding control instruction and the load offset exceeding control instruction include a wing navigation prohibition mode control instruction, and the wing navigation prohibition mode control instruction is used to control the motion control system and power system of the hydrofoil boat to enter a wing navigation prohibition working mode.

8. A ship navigation control device based on load, characterized in that: The device comprises: A ship load data acquisition module, used to acquire ship weight sensor data, wherein the ship weight sensor data includes weight load sensor data of important areas of the ship; A total load index generating module, used to generate a total ship weight load index based on the ship weight sensor data, wherein the total ship weight load index is used to characterize the relationship between the total load of the ship and the standard load; A total amount index exceeding standard processing module is used to generate a total amount exceeding standard risk alarm information and a total amount exceeding standard control instruction if the total amount index of the ship weight load meets the condition of the total amount exceeding standard of the ship load, and the total amount exceeding standard control instruction is used to ensure the navigation safety of the ship in real time from the influence of the ship overloading; A load distribution index generating module, for generating a ship weight distribution index based on the ship weight sensor data if the ship weight load total index meets the ship load total standard condition, wherein the ship weight distribution index is used to characterize the deviation of the real-time center of gravity of the ship; The distribution index exceeding standard processing module is used to generate load offset exceeding standard risk alarm information and load offset exceeding standard control instructions if the ship weight distribution index meets the ship load offset exceeding standard conditions. The load offset exceeding standard control instructions are used to ensure the ship's navigation safety in real time from the impact of abnormal ship load distribution.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images