Multi-modal collaborative and heterogeneous data fused ship navigation control system and method

Abstract

The invention discloses a ship navigation control system and method based on multi-mode cooperation and heterogeneous data fusion, and relates to the technical field of ship data processing, the system comprises a navigation control module, a navigation mode switching module and at least one gateway, the gateway is used for receiving multi-source heterogeneous ship related data, and the navigation mode switching module is used for switching the navigation mode of the ship related data. Converting the ship related data into json data in a preset format; the navigation control module is used for generating a first navigation control instruction based on the json data and generating a second navigation control instruction based on a control parameter input by a user; the navigation mode switching module is used for determining a target control instruction based on the current control mode input by the user, the first navigation control instruction and the second navigation control instruction; and the target control instruction is sent to the propulsion motor and the steering instrument through the gateway. The ship control system is used for solving a series of problems caused by multi-source heterogeneity of a ship control system in the prior art, and the purpose of multi-mode collaboration and heterogeneous data fusion is achieved.

Description

Technical Field

[0001] This application relates to the technical field of ship data processing, and in particular to a ship navigation control system and method for multimodal collaboration and heterogeneous data fusion. Background Art

[0002] With the development of ship intelligence, more and more information devices are used on ships, resulting in a discrete architecture for the existing ship navigation control system. Moreover, in the discrete architecture, the linkage between devices needs to be realized through multiple communication protocols.

[0003] However, the existing ship navigation control system has poor integration ability for multi-source heterogeneous protocols. The coexistence of multiple communication protocols creates data interaction barriers between edge sensors and the upper computer, resulting in the inability to transmit device status information in a timely manner. In addition, the existing ship navigation control system faces problems such as poor compatibility of multi-source heterogeneous device protocols, low coupling degree of multimodal control strategies, and poor adaptability to dynamic environments. Summary of the Invention

[0004] In view of the above problems and technical requirements, the applicant of this application proposes a ship navigation control system and method for multimodal collaboration and heterogeneous data fusion, aiming to solve a series of problems caused by multi-source heterogeneity in the existing ship control system and achieve the purpose of multimodal collaboration and heterogeneous data fusion.

[0005] An embodiment of this application provides a ship navigation control system for multimodal collaboration and heterogeneous data fusion. The system includes: a navigation control module, a navigation mode switching module, and at least one gateway;

[0006] The navigation control module is communicatively connected to the navigation mode switching module, and the navigation mode switching module is communicatively connected to the propulsion motor and the steering gear of the ship through the gateway;

[0007] The gateway is communicatively connected to the data acquisition module of the ship, and is configured to receive multi-source heterogeneous ship-related data sent by at least two data acquisition modules of the ship, and convert the ship-related data into json data in a preset format;

[0008] The navigation control module is configured to generate a first navigation control instruction based on the json data, and generate a second navigation control instruction based on the control parameters input by the user;

[0009] The navigation mode switching module is configured to determine a target control instruction from the first navigation control instruction and the second navigation control instruction based on the currently input control mode by the user; and send the target control instruction to the propulsion motor and the steering gear of the ship through the gateway.

[0010] According to the ship navigation control system with multimodal collaboration and heterogeneous data fusion provided by the embodiments of the present application, the navigation control module includes: a digital software control module, a path tracking control module, and a remote control module;

[0011] The first navigation control instruction includes: a tracking control instruction and a remote control instruction;

[0012] The digital software control module is used to generate a second navigation control instruction based on the control parameters input by the user;

[0013] The path tracking control module is used to generate the tracking control instruction based on the json data;

[0014] The remote control module is used to generate the remote control instruction based on the json data.

[0015] According to the ship navigation control system with multimodal collaboration and heterogeneous data fusion provided by the embodiments of the present application, the json data includes: the actual working frequency of the propulsion motor, the actual rudder angle of the steering gear, the navigation data of the ship, the preset planned navigation path, and the planned navigation speed corresponding to the planned navigation path;

[0016] The path tracking control module includes: a speed controller and a path tracking controller;

[0017] The tracking control instruction includes: a motor speed control instruction and a steering gear rudder angle control instruction;

[0018] The speed controller is used to obtain the target motor speed based on the actual working frequency of the propulsion motor, the planned navigation path, and the planned navigation speed, and generate a motor speed control instruction carrying the target motor speed;

[0019] The path tracking controller is used to obtain the target rudder angle of the steering gear based on the actual rudder angle of the steering gear, the navigation data of the ship, the planned navigation path, and the planned navigation speed, and generate a steering gear rudder angle control instruction carrying the target rudder angle of the steering gear.

[0020] According to the ship navigation control system with multimodal collaboration and heterogeneous data fusion provided by the embodiments of the present application, the json data includes: the required working frequency of the propulsion motor and the required rudder angle of the steering gear;

[0021] The remote control module is used to generate a remote control instruction carrying the required working frequency and the required rudder angle.

[0022] According to the ship navigation control system with multimodal collaboration and heterogeneous data fusion provided by the embodiments of the present application, the gateway is used to obtain the ship-related data based on the message publishing and subscribing mechanism, extract the data content corresponding to the preset key name from the ship-related data, and obtain the converted json data.

[0023] According to the ship navigation control system with multi-modal collaboration and heterogeneous data fusion provided by the embodiments of the present application, the gateway is further configured to convert the target instruction into a first control signal recognizable by the propulsion motor and a second control signal recognizable by the steering gear, and send the first control signal to the propulsion motor and the second control signal to the steering gear.

[0024] According to the ship navigation control system with multi-modal collaboration and heterogeneous data fusion provided by the embodiments of the present application, the system further includes: an intelligent device including a display screen;

[0025] The intelligent device is communicatively connected to the navigation mode switching module;

[0026] The intelligent device responds to the current control mode selected by the user through the display screen and sends the current control mode to the navigation mode switching module.

[0027] According to the ship navigation control system with multi-modal collaboration and heterogeneous data fusion provided by the embodiments of the present application, the control modes include: digital driving control mode, autonomous navigation mode, and remote control mode;

[0028] There is a mapping relationship between the control modes and the navigation control module. The digital driving control mode corresponds to the digital software control module, the autonomous navigation mode corresponds to the path tracking control module, and the remote control mode corresponds to the remote control module;

[0029] The navigation mode switching module is configured to determine the navigation control instruction sent by the navigation control module corresponding to the current control mode as the target control instruction based on the mapping relationship.

[0030] The embodiments of the present application provide a ship navigation control method with multi-modal collaboration and heterogeneous data fusion, including:

[0031] Obtain ship-related data collected by at least two data acquisition modules of the ship, control parameters input by the user, and the current control mode input by the user;

[0032] Convert the ship-related data into json data in a preset format;

[0033] Generate a first navigation control instruction based on the json data and a second navigation control instruction based on the control parameters;

[0034] Based on the current control mode, determine the target control instruction from the first navigation control instruction and the second navigation control instruction, and control the propulsion motor and the steering gear of the ship through the target control instruction.

[0035] According to the ship navigation control method of multimodal collaboration and heterogeneous data fusion provided by the embodiments of the present application, the first navigation control instruction includes: a tracking control instruction and a remote control instruction;

[0036] Generating a first navigation control instruction based on the json data, and generating a second navigation control instruction based on the control parameters, including:

[0037] Generating a second navigation control instruction based on the control parameters input by the user;

[0038] Generating the tracking control instruction based on the json data, and generating the remote control instruction based on the json data.

[0039] The ship navigation control system and method of multimodal collaboration and heterogeneous data fusion provided by the embodiments of the present application, the system includes: a navigation control module, a navigation mode switching module and at least one gateway; the gateway is used to receive the multi-source heterogeneous ship-related data sent by at least two data acquisition modules of the ship, and convert the ship-related data into json data in a preset format. It can be seen that the present application can be compatible with the multi-source heterogeneity of the data acquisition module, as well as compatible with a variety of communication protocols, and can integrate multi-source heterogeneous data, ensuring the real-time nature of data transmission.

[0040] Furthermore, the navigation control module is used to generate a first navigation control instruction based on the json data, and generate a second navigation control instruction based on the control parameters input by the user; the navigation mode switching module is used to determine the target control instruction from the first navigation control instruction and the second navigation control instruction based on the current control mode input by the user; and send the target control instruction to the propulsion motor and the steering gear of the ship through the gateway. The navigation control module of the present application will generate multiple navigation control instructions at the same time, and then determine the target control instruction corresponding to the current control mode from them based on the navigation mode switching module. It can be seen that the present application can couple multimodal control, and is not restricted by the ship navigation environment, with strong adaptability, achieving the purpose of multimodal collaboration and heterogeneous data fusion. Description of the Drawings

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0042] Figure 1 It is one of the structural schematic diagrams of the ship navigation control system of multimodal collaboration and heterogeneous data fusion provided by the embodiments of the present application;

[0043] Figure 2 It is the second schematic structural diagram of the ship navigation control system with multimodal collaboration and heterogeneous data fusion provided by the embodiments of the present application;

[0044] Figure 3 It is the third schematic structural diagram of the ship navigation control system with multimodal collaboration and heterogeneous data fusion provided by the embodiments of the present application;

[0045] Figure 4 It is the fourth schematic structural diagram of the ship navigation control system with multimodal collaboration and heterogeneous data fusion provided by the embodiments of the present application;

[0046] Figure 5 It is the fifth schematic structural diagram of the ship navigation control system with multimodal collaboration and heterogeneous data fusion provided by the embodiments of the present application;

[0047] Figure 6 It is the schematic flow diagram of the ship navigation control method with multimodal collaboration and heterogeneous data fusion provided by the embodiments of the present application. Specific embodiments

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present invention.

[0049] To further illustrate the present application with respect to the existing ship control system:

[0050] Existing ship control systems have significant technical limitations and cannot adapt to the future trend of ship intelligence. Their discrete architecture results in a lack of effective coordination mechanisms and state synchronization capabilities for data interaction. Existing technologies include device linkage through the conversion of Modbus and CAN bus protocols, as well as the switching between autonomous ship navigation and remote control. However, the data fusion solution is limited to format conversion, fails to address the protocol differences of multi-source sensors, lacks support for marine-specific protocols, does not cover Internet protocol interaction, and is prone to instruction conflicts in the execution mechanism during the switching of different control modes. The integration ability of multi-source heterogeneous protocols at the communication layer of each ship information subsystem is weak. The coexistence of multiple communication protocols creates data interaction barriers between the edge sensor network and the upper computer, making it difficult to ensure the coordination and real-time performance of the transmission of key device status information. There is a lack of an intelligent data processing architecture between the edge computing layer and the control system, and the degree of multi-modal sensor data fusion is insufficient. Existing technical solutions usually sacrifice system energy efficiency or increase hardware costs and cannot meet the comprehensive requirements of modern intelligent ships for seamless switching between multiple control modes and edge intelligent processing.

[0051] Generally speaking, existing ship control systems lack the integration of multiple navigation control modes, the integration of multi-source heterogeneous communication protocols, and the construction of a functional system to support intelligent navigation control.

[0052] To solve the problems of existing ship control systems, the embodiments of this application provide a ship navigation control system for multi-modal collaboration and heterogeneous data fusion, as Figure 1 shown. The system includes: a navigation control module 101, a navigation mode switching module 102, and at least one gateway 103.

[0053] The navigation control module 101 is communicatively connected to the navigation mode switching module 102, and the navigation mode switching module 102 is communicatively connected to the propulsion motor 104 and the steering gear 105 of the ship through the gateway 103.

[0054] The gateway 103 is communicatively connected to the data acquisition module 106 of the ship, and is used to receive multi-source heterogeneous ship-related data sent by at least two data acquisition modules 106 of the ship, convert the ship-related data into json data in a preset format, and send the converted json data to the navigation control module 101.

[0055] The navigation control module 101 is used to generate a first navigation control instruction based on the json data, and generate a second navigation control instruction based on the control parameters input by the user, and send the first navigation control instruction and the second navigation control instruction to the navigation mode switching module 102.

[0056] The navigation mode switching module 102 is used to determine a target control instruction from the first navigation control instruction and the second navigation control instruction based on the current control mode input by the user; and send the target control instruction to the propulsion motor 104 and the steering gear 105 of the ship through the gateway 103.

[0057] Among them, the multi-source heterogeneous ship-related data includes: the operating status of the propulsion motor frequency converter corresponding to the propulsion motor (corresponding to the actual working frequency), and its data is transmitted in the form of the Modbus TCP communication protocol carrier.

[0058] It also includes: the operating status of the steering gear (the real-time rudder angle uploaded by a 4-20V voltage signal, corresponding to the actual rudder angle), which is further converted into the Modbus RTU communication protocol for data transmission by using an analog-to-digital conversion module.

[0059] It also includes: the navigation data of the ship, specifically, the ship position, ship speed over the ground, ship speed through the water, course, heading, ship turning rate, etc. data uploaded by devices such as collectors (e.g., gyrocompass, GNSS, log, radar) through the NMEA 0183 communication protocol.

[0060] It also includes: the required working frequency of the propulsion motor and the required rudder angle of the steering gear sent through 4G / 5G or satellite communication.

[0061] Among them, the json data includes any one or more of the actual working frequency of the propulsion motor, the actual rudder angle of the steering gear, the navigation data of the ship, the preset planned navigation path, the planned navigation speed corresponding to the planned navigation path, the required working frequency of the propulsion motor, and the required rudder angle of the steering gear.

[0062] Among them, the planned navigation path and the planned navigation speed are the input json data.

[0063] The ship navigation control system for multi-modal collaboration and heterogeneous data fusion provided by the embodiments of the present application includes: a navigation control module, a navigation mode switching module, and at least one gateway; the gateway is used to receive the multi-source heterogeneous ship-related data sent by the data acquisition module and convert the ship-related data into json data in a preset format. It can be seen that the present application can be compatible with multi-source heterogeneous devices corresponding to the data acquisition module, as well as compatible with multiple communication protocols, and can integrate multi-source heterogeneous data, ensuring the real-time nature of data transmission.

[0064] Furthermore, a navigation control module is configured to generate a first navigation control instruction based on JSON data and a second navigation control instruction based on control parameters input by a user; a navigation mode switching module is configured to determine a target control instruction from the first navigation control instruction and the second navigation control instruction based on the current control mode input by the user; and send the target control instruction to a propulsion motor and a steering gear of a ship through a gateway. The navigation control module of the present application generates multiple navigation control instructions simultaneously, and then determines a target control instruction corresponding to the current control mode from them based on the navigation mode switching module. It can be seen that the present application can couple multi-modal control, is not restricted by the ship navigation environment, has strong adaptability, and achieves the purpose of multi-modal collaboration and heterogeneous data fusion.

[0065] In a specific embodiment, as Figure 2 shown, the navigation control module 101 includes: a digital software control module 201, a path tracking control module 202, and a remote control module 203.

[0066] The first navigation control instruction includes: a tracking control instruction and a remote control instruction.

[0067] The digital software control module 201 is configured to generate a second navigation control instruction based on control parameters input by a user and send the second navigation control instruction to the navigation mode switching module 102. The path tracking control module 202 is configured to generate a tracking control instruction based on JSON data and send the tracking control instruction to the navigation mode switching module 102. The remote control module 203 is configured to generate a remote control instruction based on JSON data and send the remote control instruction to the navigation mode switching module 102.

[0068] Specifically, as Figure 3 shown, the digital software control module 201 includes: a digital virtual steering device 301 and a digital virtual telegraph 302. It is used to input control parameters through the digital virtual steering device 301 and the digital virtual telegraph 302.

[0069] Among them, the control parameters include parameters for controlling the motor speed and parameters for controlling the steering angle of the steering gear.

[0070] Specifically, the digital software control module 201 further includes a display screen, which displays the control parameters to be input, and the user inputs the corresponding values of the control parameters through the display screen.

[0071] Specifically, each sub-control module in the navigation control module 101 runs simultaneously, and after generating the corresponding control instruction, it is sent to the navigation mode switching module 102.

[0072] In a specific embodiment, the control modes include: a digital driving control mode, an autonomous navigation mode, and a remote control mode.

[0073] There is a mapping relationship between the control mode and the navigation control module 101. The digital driving control mode corresponds to the digital software control module 201, the autonomous navigation mode corresponds to the path tracking control module 202, and the remote control mode corresponds to the remote control module 203.

[0074] The navigation mode switching module 102 is configured to determine the navigation control instruction sent by the navigation control module 101 corresponding to the current control mode as the target control instruction based on the mapping relationship.

[0075] For example, when the current control mode is the digital driving control mode, the second navigation control instruction generated by the digital software control module 201 is used as the target control instruction; when the current control mode is the autonomous navigation mode, the tracking control instruction generated by the path tracking control module 202 is used as the target control instruction; when the current control mode is the remote control mode, the remote control instruction generated by the remote control module 203 is used as the target control instruction.

[0076] In a specific embodiment, the json data includes: the actual working frequency of the propulsion motor, the actual rudder angle of the steering gear, the navigation data of the ship, the preset planned navigation path, and the planned navigation speed corresponding to the planned navigation path.

[0077] Among them, the navigation data of the ship includes: ship position, ship speed over the ground, ship speed through the water, course, heading, ship turning rate, etc.

[0078] Specifically, as Figure 4 shown, the path tracking control module 202 includes: a speed controller 401 and a path following controller 402.

[0079] The tracking control instruction includes: a motor speed control instruction and a steering gear rudder angle control instruction.

[0080] The speed controller 401 is configured to obtain the target motor speed based on the actual working frequency of the propulsion motor, the planned navigation path, and the planned navigation speed, generate a motor speed control instruction carrying the target motor speed, and send the motor speed control instruction to the navigation mode switching module 102.

[0081] The path following controller 402 is configured to obtain the target rudder angle of the steering gear based on the actual rudder angle of the steering gear, the navigation data of the ship, the planned navigation path, and the planned navigation speed, generate a steering gear rudder angle control instruction carrying the target rudder angle of the steering gear, and send the steering gear rudder angle control instruction to the navigation mode switching module 102.

[0082] Among them, the data acquisition module 106 includes: a collector for collecting the working frequency of the recommended motor frequency converter, a collector for collecting the rudder angle of the steering gear, a gyrocompass, GNSS, log, radar, AIS, etc.

[0083] Specifically, the ship speed controller 401 includes a pre-trained neural network model. The input data of this neural network model is the actual operating frequency of the propulsion motor, the planned navigation path, and the planned ship speed, and the output data is the motor speed control instruction.

[0084] Specifically, the path tracking controller 402 also includes another pre-trained neural network model. The input data of this neural network model is the actual rudder angle of the steering gear, the navigation data of the ship, the planned navigation path, and the planned ship speed, and the output data is the steering gear rudder angle control instruction.

[0085] In a specific embodiment, the json data includes: the required operating frequency of the propulsion motor and the required rudder angle of the steering gear.

[0086] The remote control module 203 is used to generate a remote control instruction carrying the required operating frequency and the required rudder angle.

[0087] In a specific embodiment, the gateway 103 is further used to convert the target instruction into a first control signal recognizable by the propulsion motor 104 and a second control signal recognizable by the steering gear 105, and send the first control signal to the propulsion motor 104 and the second control signal to the steering gear 105.

[0088] In a specific embodiment, the system further includes: an intelligent device including a display screen, and the intelligent device is communicatively connected to the navigation mode switching module 102. Specifically, it can be connected through a wireless mode or a wired mode.

[0089] The intelligent device responds to the current control mode selected by the user through the display screen and sends the current control mode to the navigation mode switching module 102.

[0090] In a specific embodiment, the gateway 103 is used to obtain ship-related data based on the message publishing and subscribing mechanism, extract the data content corresponding to the preset key name from the ship-related data, and obtain the converted json data.

[0091] Specifically, the gateway 103 obtains the ship-related data sent by the data acquisition module based on the message publishing and subscribing mechanism. The ship-related data includes various data types, such as Bool, Float, Int, and String, etc. It performs serialization processing based on the transmission device and the transmission time, and extracts data from the serialized ship-related data through the preset key name to obtain the converted json data.

[0092] In addition, the json data also includes an accumulated value, that is, the step size is superimposed each time data is extracted to ensure the continuity and integrity of the data.

[0093] It is also possible to clear the accumulated value to zero after it reaches a certain threshold and then allow it to be accumulated again.

[0094] For example, the data format of json data is {Time: ***, Topic Data Name 1: Topic Content 1; Topic Data Name 2: Topic Content 2,..., Topic Data Name n: Topic Content n}.

[0095] Among them, Time and Topic Data Name n are key names, and Topic Data Content n is the specific data extracted.

[0096] Next, through Figure 5 a specific illustration of this system is given:

[0097] This system also includes a planning module 501, through which a planned navigation path and a planned navigation speed are input.

[0098] In Figure 5 it is illustrated with 5 gateways, which is not used to limit the protection scope of this application. The user determines the number of gateways according to their actual needs.

[0099] This system also includes an analog-to-digital converter for converting analog signals into digital signals.

[0100] In addition, the shore-based control center sends messages for remote rudder angle and propulsion motor control to gateway 103 through the http communication protocol. Gateway 103 converts it into json format and transmits it to the remote control module 203.

[0101] This application constructs a trinity control system architecture, realizes the deep coupling of autonomous navigation, remote control, and digital driving control, solves the problem of the limitation of the functional fragmentation of traditional systems, and improves the dynamic response ability and cooperative control efficiency of the ship under different working conditions. Moreover, it integrates functional modes such as autonomous navigation, remote control, and digital driving control with ship equipment, and uses an intelligent gateway to integrate heterogeneous communication protocols such as NMEA 0183, Modbus RTU, Modbus TCP, and Http, and converts them into josn data streams in real time. It breaks the interaction barriers of heterogeneous communication protocols such as NMEA 0183, Modbus RTU, Modbus TCP, and Http, realizes the data interconnection of all ship equipment through standardized josn data streams, and improves communication efficiency and information utilization rate. By designing an intelligent instruction conversion module, abnormal instructions are effectively filtered and mode switching conflicts are avoided, ensuring the safety and continuity of the multi-mode switching process.

[0102] The embodiment of the present application also provides a ship navigation control method for multi-modal collaboration and heterogeneous data fusion in a ship navigation control system for multi-modal collaboration and heterogeneous data fusion. For the specific implementation, reference can be made to the description part of the ship navigation control system for multi-modal collaboration and heterogeneous data fusion. For the repeated parts, they will not be elaborated again. As Figure 6 shown, the method includes:

[0103] Step 601, obtain ship-related data collected by at least two data acquisition modules of the ship, control parameters input by the user, and the current control mode input by the user.

[0104] Step 602, convert the ship-related data into json data in a preset format.

[0105] Step 603, generate a first navigation control instruction based on the json data, and generate a second navigation control instruction based on the control parameters.

[0106] Step 604, determine a target control instruction from the first navigation control instruction and the second navigation control instruction based on the current control mode, and control the propulsion motor and the steering gear of the ship through the target control instruction.

[0107] In a specific embodiment, the first navigation control instruction includes: a tracking control instruction and a remote control instruction.

[0108] The specific implementation of generating a first navigation control instruction based on the json data and generating a second navigation control instruction based on the control parameters includes:

[0109] Generate a second navigation control instruction based on the control parameters input by the user; generate a tracking control instruction based on the json data, and generate a remote control instruction based on the json data.

[0110] In a specific embodiment, the json data includes: the actual operating frequency of the propulsion motor, the actual rudder angle of the steering gear, the navigation data of the ship, a preset planned navigation path, and a planned navigation speed corresponding to the planned navigation path.

[0111] The tracking control instruction includes: a motor speed control instruction and a steering gear rudder angle control instruction.

[0112] Based on the actual operating frequency of the propulsion motor, the planned navigation path, and the planned navigation speed, obtain the target motor speed, and generate a motor speed control instruction carrying the target motor speed. Based on the actual rudder angle of the steering gear, the navigation data of the ship, the planned navigation path, and the planned navigation speed, obtain the target rudder angle of the steering gear, and generate a steering gear rudder angle control instruction carrying the target rudder angle of the steering gear.

[0113] In a specific embodiment, the json data includes: the required operating frequency of the propulsion motor and the required steering angle of the steering instrument.

[0114] Generate a remote control command carrying the required operating frequency and required rudder angle.

[0115] In a specific embodiment, ship-related data is obtained based on a message publishing and subscription mechanism, and data content corresponding to a preset key name is extracted from the ship-related data to obtain converted json data.

[0116] In a specific embodiment, the target instruction is converted into a first control signal recognizable by the propulsion motor and a second control signal recognizable by the steering instrument, and the first control signal is sent to the propulsion motor, and the second control signal is sent to the steering instrument.

[0117] In a specific embodiment, in response to the current control mode selected by the user through the display screen, the current control mode is sent to the navigation mode switching module.

[0118] In a specific embodiment, the control modes include: digital driving mode, autonomous navigation mode and remote control mode.

[0119] Based on the mapping relationship between the control mode and the navigation control module, the navigation control instruction sent by the navigation control module corresponding to the current control mode is determined as the target control instruction.

[0120] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0121] Finally, it should be noted that the above is only the preferred implementation of the present application, and the present application is not limited to the above embodiments. It is understood that other improvements and changes directly derived or associated by those skilled in the art without departing from the spirit and concept of the present application should be considered to be included in the scope of protection of the present application.

Claims

1. A ship navigation control system with multi-modal collaboration and heterogeneous data fusion, characterized in that: The system comprises: a navigation control module, a navigation mode switching module and at least one gateway; The navigation control module is communicatively connected with the navigation mode switching module, and the navigation mode switching module is communicatively connected with the propulsion motor and the steering instrument of the ship through the gateway; The gateway is communicatively connected to the data acquisition module of the ship, and is used to receive multi-source heterogeneous ship-related data sent by at least two data acquisition modules of the ship, and convert the ship-related data into json data in a preset format; A navigation control module, used to generate a first navigation control instruction based on JSON data, and to generate a second navigation control instruction based on a control parameter input by a user; The navigation mode switching module is used to determine the target control instruction from the first navigation control instruction and the second navigation control instruction based on the current control mode input by the user; and send the target control instruction to the propulsion motor and steering instrument of the ship through the gateway.

2. The ship navigation control system with multi-modal collaboration and heterogeneous data fusion according to claim 1 is characterized in that: The navigation control module includes: a digital software control module, a path tracking control module and a remote control module; The first navigation control instruction includes: a tracking control instruction and a remote control instruction; The digital software control module is used to generate a second navigation control instruction based on the control parameters input by the user; The path tracking control module is used to generate the tracking control instruction based on JSON data; The remote control module is used to generate the remote control instruction based on json data.

3. The ship navigation control system with multi-modal collaboration and heterogeneous data fusion according to claim 2 is characterized in that: The json data includes: the actual operating frequency of the propulsion motor, the actual rudder angle of the steering instrument, the navigation data of the ship, the preset planned navigation path and the planned navigation speed corresponding to the planned navigation path; The path tracking control module includes: a speed controller and a tracking controller; The tracking control instructions include: motor speed control instructions and steering instrument rudder angle control instructions; The speed controller is used to obtain the motor target speed based on the actual operating frequency of the propulsion motor, the planned navigation path and the planned speed, and generate a motor speed control instruction carrying the motor target speed; The tracking controller is used to obtain the target rudder angle of the steering instrument based on the actual rudder angle of the steering instrument, the navigation data of the ship, the planned navigation path and the planned speed, and generate a steering instrument rudder angle control instruction carrying the target rudder angle of the steering instrument.

4. The ship navigation control system with multi-modal collaboration and heterogeneous data fusion according to claim 2 is characterized in that: The json data includes: the required operating frequency of the propulsion motor and the required steering angle of the steering instrument; The remote control module is used to generate a remote control instruction carrying a required operating frequency and a required rudder angle.

5. The ship navigation control system of multi-modal collaboration and heterogeneous data fusion according to any one of claims 1 to 4, characterized in that: The gateway is used to obtain the ship-related data based on the message publishing and subscription mechanism, extract the data content corresponding to the preset key name from the ship-related data, and obtain the converted json data.

6. The ship navigation control system of multi-modal collaboration and heterogeneous data fusion according to any one of claims 1 to 4, characterized in that: The gateway is also used to convert the target instruction into a first control signal recognizable by the propulsion motor and a second control signal recognizable by the steering instrument, and send the first control signal to the propulsion motor and the second control signal to the steering instrument.

7. The ship navigation control system of multi-modal collaboration and heterogeneous data fusion according to any one of claims 1 to 4, characterized in that: The system further comprises: a smart device including a display screen; The smart device is communicatively connected with the navigation mode switching module; The smart device responds to the current control mode selected by the user through the display screen and sends the current control mode to the navigation mode switching module.

8. The ship navigation control system with multi-modal collaboration and heterogeneous data fusion according to claim 2 is characterized in that: The control modes include: digital driving mode, autonomous navigation mode and remote control mode; There is a mapping relationship between the control mode and the navigation control module, the digital driving control mode corresponds to the digital software control module, the autonomous navigation mode corresponds to the path tracking control module, and the remote control mode corresponds to the remote control module; The navigation mode switching module is used to determine the navigation control instruction sent by the navigation control module corresponding to the current control mode as the target control instruction based on the mapping relationship.

9. A ship navigation control method based on the multi-modal collaboration and heterogeneous data fusion of the ship navigation control system according to any one of claims 1 to 8, characterized in that: The method comprises: Acquire ship-related data collected by at least two data collection modules of the ship, control parameters input by a user, and a current control mode input by the user; Convert the ship-related data into json data in a preset format; Generate a first navigation control instruction based on the json data, and generate a second navigation control instruction based on the control parameter; Based on the current control mode, a target control instruction is determined from the first navigation control instruction and the second navigation control instruction, and the propulsion motor and the steering instrument of the ship are controlled by the target control instruction.

10. The ship navigation control method of multi-modal collaboration and heterogeneous data fusion according to claim 9 is characterized in that: The first navigation control instruction includes: a tracking control instruction and a remote control instruction; Generating a first navigation control instruction based on the json data, and generating a second navigation control instruction based on the control parameter, including: generating a second navigation control instruction based on the control parameter input by the user; The tracking control instruction is generated based on the json data, and the remote control instruction is generated based on the json data.

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