Stability control method, stability control system, electronic equipment and readable storage medium

Abstract

The invention provides a stability control method, a stability control system, electronic equipment and a readable storage medium, and relates to the technical field of ship navigation, and the method comprises the following steps: switching working modes of a multi-mode gyro stabilization system according to wave height data; establishing a ship motion prediction model based on the LSTM neural network model, and predicting the swinging direction, the swinging amplitude and the swinging period of the ship; under the condition that the multi-mode gyroscope stabilization system is in a conventional mode, one of the flywheel gyroscopes is controlled to work according to the swinging direction, the swinging amplitude and the swinging period; and under the condition that the multi-mode gyro stabilization system is in an emergency mode, the multiple groups of flywheel gyroscopes are controlled to work cooperatively according to the swinging direction, the swinging amplitude and the swinging period. According to the technical scheme, the working mode is selected according to the wave height data, the swinging direction, the swinging amplitude and the swinging period are combined, and the posture of the ship is adjusted through the flywheel gyroscope when the piloting ship leans against the large ship, so that the swinging amplitude of the piloting ship is reduced, and potential safety hazards are reduced.

Description

Technical Field

[0001] This invention relates to the field of marine technology, and more specifically, to a stability control method, a stability control system, an electronic device, and a readable storage medium. Background Technology

[0002] In related technologies, when a pilot boat berths with a large ship, it relies on the gangway or cables placed by the large ship for fixation. When the wave height exceeds 1.5 meters, the pilot boat will sway greatly, posing a safety hazard.

[0003] Therefore, how to provide a stable control method or system for pilotage vessel boarding and disembarking operations is an urgent problem to be solved. Summary of the Invention

[0004] In order to solve or improve the technical problem of large swaying amplitude of pilot vessels when berthing with large ships, which poses a safety hazard, one objective of the present invention is to provide a stable control method for pilot vessel boarding and disembarking operations.

[0005] Another object of the present invention is to provide a stable control system for pilotage boarding and disembarking operations.

[0006] Another object of the present invention is to provide an electronic device.

[0007] Another object of the present invention is to provide a readable storage medium.

[0008] To achieve the above objectives, the first aspect of the present invention provides a stabilization control method for pilotage boarding and disembarking operations, applied to a multimodal gyro stabilization system, the multimodal gyro stabilization system comprising multiple sets of flywheel gyroscopes; at least one set of flywheel gyroscopes has its mounting axis arranged along the ship's roll direction, at least one set of flywheel gyroscopes has its mounting axis arranged along the ship's pitch direction, and at least one set of flywheel gyroscopes has its mounting axis arranged along the ship's bow direction.

[0009] The stabilization control method includes: acquiring wave height data and switching the operating mode of the multimodal gyro stabilization system based on the wave height data; the operating modes include a normal mode and an emergency mode; establishing a ship motion prediction model based on an LSTM neural network model, and predicting the ship's roll direction, roll amplitude, and roll period based on the ship motion prediction model; when the multimodal gyro stabilization system is in the normal mode, controlling one of the multiple sets of flywheel gyroscopes to work according to the roll direction, roll amplitude, and roll period; when the multimodal gyro stabilization system is in the emergency mode, controlling the multiple sets of flywheel gyroscopes to work collaboratively according to the roll direction, roll amplitude, and roll period.

[0010] It should be noted that the LSTM (Long Short-Term Memory) neural network model is a special type of recurrent neural network.

[0011] This invention aims to provide a stabilization control method for pilotage boarding and disembarking operations. Based on acquired wave height data, the operating mode of a multi-modal gyro stabilization system is selected. Furthermore, by combining the sway direction, sway amplitude, and sway period, one set of flywheel gyroscopes can be controlled to operate independently or multiple sets can operate collaboratively. This control method allows for the adjustment of the pilotage's attitude via flywheel gyroscopes when berthing with a larger vessel, thereby reducing the pilotage's sway amplitude and mitigating safety hazards.

[0012] It should be added that by predicting the ship's rolling direction, rolling amplitude, and rolling period through a ship motion prediction model, and based on the ship's rolling direction, rolling amplitude, and rolling period, one set of flywheel gyroscopes can be controlled to work alone or multiple sets of flywheel gyroscopes can work in coordination in advance to achieve motion compensation, maintain the stability of the pilot ship's attitude, improve safety performance, and are suitable for the safe transfer of pilots in adverse sea conditions.

[0013] In some technical solutions, optionally, a ship motion prediction model is established based on an LSTM neural network model, and the ship's rolling direction, rolling amplitude, and rolling period are predicted according to the ship motion prediction model, including: acquiring satellite positioning data, IMU data, and meteorological data; establishing a ship motion prediction model based on an LSTM neural network model, satellite positioning data, IMU data, and meteorological data; and predicting the ship's rolling direction, rolling amplitude, and rolling period according to the ship motion prediction model.

[0014] It should be noted that an IMU (Inertial Measurement Unit) is a sensor used to sense the attitude and motion of a ship in real time.

[0015] In this technical solution, by inputting GPS (Global Positioning System) data, IMU data, and meteorological data into the ship motion prediction model, the model can predict the ship's roll, pitch, or yaw trends in advance. Based on the predicted roll, pitch, or yaw trends, one set of flywheel gyroscopes can be controlled to work individually or multiple sets of flywheel gyroscopes can work in coordination to achieve motion compensation and maintain the pilot ship's stable attitude.

[0016] In some technical solutions, optionally, the ship's sway direction, sway amplitude, and sway period are predicted according to a ship motion prediction model, including: acquiring sampled data within a first duration; and based on the sampled data, predicting the ship's sway direction, sway amplitude, and sway period within a second duration based on the ship motion prediction model; wherein the second duration is shorter than the first duration.

[0017] In this technical solution, the ship motion prediction model adopts a "long window input - short window prediction" design, which achieves a balance between information integrity and prediction real-time performance. The multimodal gyro stabilization system can respond quickly and generate compensation commands, which helps to improve the accuracy of prediction results and at the same time improve the control precision of ship attitude.

[0018] In some technical solutions, the rolling direction may optionally include the ship's roll direction, the ship's pitch direction, and the ship's bow direction.

[0019] In this technical solution, when the multimodal gyro stabilization system is in normal mode, the dominant oscillation direction among the ship's roll, pitch, and bow directions is determined to control the flywheel gyroscopes corresponding to the dominant oscillation direction to operate independently. When the multimodal gyro stabilization system is in emergency mode, the required torque for each set of flywheel gyroscopes is determined based on the ship's roll, pitch, and bow directions, oscillation amplitude, and oscillation period, and multiple sets of flywheel gyroscopes are controlled to work collaboratively. This design facilitates precise control of the flywheel gyroscopes, resulting in greater ship attitude stability.

[0020] In some technical solutions, optionally, wave height data is acquired, and the operating mode of the multimodal gyroscope stabilization system is switched according to the wave height data; wherein, the operating mode includes a normal mode and an emergency mode, including: acquiring wave height data and determining the average wave height of the current sea surface according to the wave height data; setting the operating mode of the multimodal gyroscope stabilization system to normal mode when the average wave height is less than a preset threshold; and setting the operating mode of the multimodal gyroscope stabilization system to emergency mode when the average wave height is greater than or equal to the preset threshold.

[0021] In this technical solution, the specific operating mode of the multimodal gyro stabilization system is set by comparing the average wave height with a preset threshold, which helps improve the accuracy of the timing of operating mode switching. Setting different response strategies according to different sea conditions helps avoid redundant energy consumption and reduce mechanical wear.

[0022] In some technical solutions, wave height data may be acquired, and the average wave height of the current sea surface may be determined based on the wave height data, including: acquiring wave height data through a wave height meter, or acquiring wave height data from a meteorological data platform; and determining the average wave height of the current sea surface based on the wave height data.

[0023] In this technical solution, the specific working mode of the multimodal gyroscope stabilization system is set by comparing the average wave height with a preset threshold, which helps to improve the accuracy of the timing of the working mode switching.

[0024] In some technical solutions, optionally, when the multimodal gyroscope stabilization system is in normal mode, one group of multiple flywheel gyroscopes is controlled to operate based on the swing direction, swing amplitude, and swing period; when the multimodal gyroscope stabilization system is in emergency mode, multiple flywheel gyroscopes are controlled to work collaboratively based on the swing direction, swing amplitude, and swing period, including: when the multimodal gyroscope stabilization system is in normal mode, determining one group of flywheel gyroscopes that needs to operate, as well as the rotational speed and rotation angle of the flywheel gyroscopes, based on the swing direction, swing amplitude, and swing period; controlling the operation of the flywheel gyroscopes based on the rotational speed and rotation angle; when the multimodal gyroscope stabilization system is in emergency mode, determining the corresponding rotational speed and rotation angle of each group of flywheel gyroscopes based on the swing direction, swing amplitude, and swing period; controlling the collaborative operation of multiple flywheel gyroscopes based on the rotational speed and rotation angle.

[0025] In this technical solution, when the multimodal gyro stabilization system is in normal mode, the dominant oscillation direction among the ship's roll, pitch, and bow directions is determined to control the flywheel gyroscopes corresponding to the dominant oscillation direction to operate independently. When the multimodal gyro stabilization system is in emergency mode, the required torque for each set of flywheel gyroscopes is determined based on the ship's roll, pitch, and bow directions, oscillation amplitude, and oscillation period, and multiple sets of flywheel gyroscopes are controlled to work collaboratively. This design facilitates precise control of the flywheel gyroscopes, resulting in greater ship attitude stability.

[0026] A second aspect of the present invention provides a stability control system for pilotage boarding and disembarking operations, comprising: a working mode switching unit for acquiring wave height data and switching the working mode of a multimodal gyro stabilization system according to the wave height data; wherein the working mode includes a normal mode and an emergency mode; a prediction model building unit for building a ship motion prediction model based on an LSTM neural network model and predicting the ship's sway direction, sway amplitude, and sway period according to the ship motion prediction model; and a control unit for controlling one of a group of multiple flywheel gyroscopes to work according to the sway direction, sway amplitude, and sway period when the multimodal gyro stabilization system is in the normal mode; and controlling multiple groups of flywheel gyroscopes to work collaboratively according to the sway direction, sway amplitude, and sway period when the multimodal gyro stabilization system is in the emergency mode.

[0027] This invention aims to provide a stability control system for pilotage boarding and disembarking operations. Based on acquired wave height data, it selects the operating mode of a multi-modal gyro stabilization system and, in conjunction with the sway direction, sway amplitude, and sway period, controls one set of flywheel gyroscopes to operate independently or multiple sets to work collaboratively. This control method allows the pilotage vessel to adjust its attitude via flywheel gyroscopes when berthing with a larger vessel, thereby reducing the pilotage vessel's sway amplitude and mitigating safety hazards.

[0028] It should be added that by predicting the ship's rolling direction, rolling amplitude, and rolling period through a ship motion prediction model, and based on the ship's rolling direction, rolling amplitude, and rolling period, one set of flywheel gyroscopes can be controlled to work alone or multiple sets of flywheel gyroscopes can work in coordination in advance to achieve motion compensation, maintain the stability of the pilot ship's attitude, improve safety performance, and are suitable for the safe transfer of pilots in adverse sea conditions.

[0029] A third aspect of the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory stores a program or instructions executable on the processor, and the processor, when executing the program or instructions, implements the steps of the stable control method for pilotage vessel boarding and disembarking operations as described in any of the above-described technical solutions. The electronic device possesses the beneficial effects of any of the above-described technical solutions, which will not be elaborated further here.

[0030] A fourth aspect of this invention provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the stable control method for pilotage boarding and disembarking operations as described in any of the above-described technical solutions. The readable storage medium possesses the beneficial effects of any of the above-described technical solutions, which will not be elaborated further here.

[0031] Additional aspects and advantages of the technical solutions of the present invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0032] Figure 1 A schematic diagram of a ship according to an embodiment of the present invention is shown;

[0033] Figure 2 A flowchart of a stability control method for pilotage boarding and disembarking operations according to an embodiment of the present invention is shown;

[0034] Figure 3 A flowchart of a stability control method for pilotage boarding and disembarking operations according to another embodiment of the present invention is shown;

[0035] Figure 4 A flowchart of a stability control method for pilotage boarding and disembarking operations according to another embodiment of the present invention is shown;

[0036] Figure 5 A flowchart of a stability control method for pilotage boarding and disembarking operations according to another embodiment of the present invention is shown;

[0037] Figure 6 A flowchart of a stability control method for pilotage boarding and disembarking operations according to another embodiment of the present invention is shown;

[0038] Figure 7A flowchart of a stability control method for pilotage boarding and disembarking operations according to another embodiment of the present invention is shown;

[0039] Figure 8 A structural block diagram of a stability control system for pilotage boarding and disembarking operations according to an embodiment of the present invention is shown;

[0040] Figure 9 A structural block diagram of an electronic device according to an embodiment of the present invention is shown;

[0041] Figure 10 A flowchart of a stability control method for pilotage boarding and disembarking operations according to another embodiment of the present invention is shown.

[0042] in, Figures 1 to 10 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0043] 110: Multimodal gyro stabilization system; 111: Flywheel gyroscope; 120: Ship; a: Ship roll direction; b: Ship pitch direction; c: Ship bow direction; 300: Stability control system for pilotage boarding and disembarking operations; 310: Operating mode switching unit; 320: Predictive model building unit; 330: Control unit; 400: Electronic equipment; 410: Memory; 420: Processor. Detailed Implementation

[0044] To better understand the above-described objectives, features, and advantages of the embodiments of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0045] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, embodiments of the invention may be implemented in other ways different from those described herein. Therefore, the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0046] In traditional pilotage techniques, pilot vessels rely on gangways or cables placed on larger vessels for anchorage when berthing. When waves exceed 1.5 meters, the pilot vessel experiences significant swaying, making it the most dangerous part of the entire pilotage operation and posing a safety hazard.

[0047] It should be noted that a pilotship is a small, high-speed, and highly maneuverable vessel specifically designed to transport pilots between ports and large ships. A gangway is a retractable ladder or ramp structure installed on both sides of a ship, used for the safe boarding and disembarking of personnel (such as crew members, pilots, or inspectors) between a ship and a dock, or between ships (such as a pilotship and a large ship).

[0048] This invention provides a stability control method for pilotage boarding and disembarking operations. By predicting the ship's sway direction, sway amplitude, and sway period through a ship motion prediction model, and based on the ship's sway direction, sway amplitude, and sway period, one set of flywheel gyroscopes can be controlled to work individually or multiple sets of flywheel gyroscopes can work in coordination in advance to achieve motion compensation, maintain the stability of the pilotage, improve safety performance, and is suitable for the safe transfer of pilots in adverse sea conditions.

[0049] In related technologies, the response delay of hydraulic stabilization platforms ranges from 0.8 to 1.2 seconds, making them unable to adapt to sudden rolling. However, in the technical solution of this invention, by predicting the ship's rolling direction, amplitude, and period in advance, the flywheel gyroscope can be controlled ahead of time, significantly reducing response delay and improving safety performance.

[0050] It should be noted that this invention applies a flywheel gyroscope (gyro stabilizer) to the marine field to optimize shipboarding and disembarking scenarios and improve safety performance. This invention aims to combine a gyro stabilizer with a dynamic compensation algorithm to effectively solve the problem of safe transfer of pilots during boarding and disembarking operations in high winds and waves, especially swell weather.

[0051] The following reference Figures 1 to 10 This invention describes a stability control method, a stability control system, an electronic device, and a readable storage medium provided according to some embodiments of the invention.

[0052] In one embodiment of the present invention, such as Figure 1 As shown, the stability control method for pilotage boarding and disembarking operations is applied to a multimodal gyroscopic stabilization system 110. The multimodal gyroscopic stabilization system 110 includes multiple sets of flywheel gyroscopes 111. At least one set of flywheel gyroscopes 111 has its mounting axis arranged along the ship's roll direction a; at least one set of flywheel gyroscopes 111 has its mounting axis arranged along the ship's pitch direction b; and at least one set of flywheel gyroscopes 111 has its mounting axis arranged along the ship's bow direction c.

[0053] The flywheel gyroscope 111 refers to a gyro stabilizer, used to generate stabilizing torque to keep the vessel 120 stable. This invention aims to combine a gyro stabilizer with a dynamic compensation algorithm to effectively solve the problem of safe transfer of pilots from the vessel 120 in high winds and waves, especially swell weather.

[0054] The direction of ship rolling (a) refers to the ship's left and right swaying around its longitudinal axis (the axis in the bow-stern direction, i.e., the horizontal axis from the bow to the stern), which manifests as the ship tilting to the left or right.

[0055] The pitch direction (b) of a ship refers to the back-and-forth rolling motion of the ship around the transverse axis (the axis in the left-right direction, i.e., the horizontal axis from the port side to the starboard side), which is manifested as the bow rising and the stern sinking, or the bow sinking and the stern rising.

[0056] The bow roll direction 'c' refers to the ship's left-right rotation around its vertical axis (the axis in the vertical direction, i.e., the axis perpendicular to the horizontal plane), which manifests as the bow turning to the left or right.

[0057] It should be noted that the flywheel gyroscopes 111, with their mounting axes arranged along the ship's roll direction (a), can be in one, two, or more groups. Similarly, the flywheel gyroscopes 111, with their mounting axes arranged along the ship's pitch direction (b), can be in one, two, or more groups. The flywheel gyroscopes 111 can be flexibly configured according to actual needs.

[0058] A flywheel gyroscope 111 with its axis arranged along the ship's roll direction a is used to compensate for the ship's oscillation in the roll direction a. A flywheel gyroscope 111 with its axis arranged along the ship's pitch direction b is used to compensate for the ship's oscillation in the pitch direction b. A flywheel gyroscope 111 with its axis arranged along the ship's bow direction c is used to compensate for the ship's oscillation in the bow direction c.

[0059] In one specific embodiment, there are three sets of flywheel gyroscopes 111, and the three sets of flywheel gyroscopes 111 are arranged orthogonally (the mounting axes are perpendicular to each other).

[0060] Optionally, such as Figure 1 As shown, the multimodal gyro stabilization system 110 is connected to the ship 120. The flywheel gyroscope 111 is rotatably mounted on the hull of the ship 120, meaning that the flywheel gyroscope 111 can rotate relative to the hull to generate a stabilizing torque.

[0061] like Figure 2 As shown, the stability control methods for pilotage vessel boarding and disembarking operations include:

[0062] S202 acquires wave height data and switches the operating mode of the multimodal gyroscope stabilization system based on the wave height data; the operating modes include normal mode and emergency mode.

[0063] In one specific embodiment, wave height data is acquired using a wave height meter. The wave height meter is a sensor used to monitor the wave height in the operational sea area in real time, and its data acquisition frequency is 0.5 seconds per acquisition.

[0064] The multimodal gyroscope stabilization system has two operating modes: normal mode and emergency mode.

[0065] When the multimodal gyroscope stabilization system is in normal mode, it controls one of the multiple sets of flywheel gyroscopes to work independently.

[0066] When the multimodal gyroscope stabilization system is in normal mode, it controls multiple sets of flywheel gyroscopes to work together.

[0067] S204 establishes a ship motion prediction model based on an LSTM neural network model, and predicts the ship's sway direction, sway amplitude, and sway period based on the ship motion prediction model.

[0068] It should be noted that the LSTM (Long Short-Term Memory) neural network model is a special type of recurrent neural network.

[0069] By predicting the ship's roll direction, amplitude, and period using a ship motion prediction model, and based on these parameters, one or more sets of flywheel gyroscopes can be controlled to work independently or in coordination to achieve motion compensation.

[0070] S206, when the multi-mode gyroscope stabilization system is in normal mode, controls one of the multiple sets of flywheel gyroscopes to work according to the swing direction, swing amplitude and swing period; when the multi-mode gyroscope stabilization system is in emergency mode, controls multiple sets of flywheel gyroscopes to work together according to the swing direction, swing amplitude and swing period.

[0071] By controlling one set of flywheel gyroscopes to work alone or multiple sets of flywheel gyroscopes to work in coordination, the attitude of the ship can be adjusted to reduce the rolling amplitude of the pilot boat.

[0072] This invention aims to provide a stabilization control method for pilotage boarding and disembarking operations. Based on acquired wave height data, the operating mode of a multi-modal gyro stabilization system is selected. Furthermore, by combining the sway direction, sway amplitude, and sway period, one set of flywheel gyroscopes can be controlled to operate independently or multiple sets can operate collaboratively. This control method allows for the adjustment of the pilotage's attitude via flywheel gyroscopes when berthing with a larger vessel, thereby reducing the pilotage's sway amplitude and mitigating safety hazards.

[0073] It should be added that by predicting the ship's rolling direction, rolling amplitude, and rolling period through a ship motion prediction model, and based on the ship's rolling direction, rolling amplitude, and rolling period, one set of flywheel gyroscopes can be controlled to work alone or multiple sets of flywheel gyroscopes can work in coordination in advance to achieve motion compensation, maintain the stability of the pilot ship's attitude, improve safety performance, and are suitable for the safe transfer of pilots in adverse sea conditions.

[0074] In some embodiments, optionally, such as Figure 3As shown, S204 (establishing a ship motion prediction model based on an LSTM neural network model, and predicting the ship's rolling direction, rolling amplitude, and rolling period based on the ship motion prediction model) includes:

[0075] S2042 acquires satellite positioning data, IMU data, and meteorological data.

[0076] Optionally, satellite positioning data includes GPS (Global Positioning System) data and / or BeiDou positioning data.

[0077] The ship's displacement acceleration is determined based on satellite positioning data.

[0078] It should be noted that an IMU (Inertial Measurement Unit) is a sensor used to sense the attitude and motion of a ship in real time.

[0079] The roll rate, pitch rate, and yaw rate were determined based on IMU data.

[0080] Optionally, wave height data can be determined based on meteorological data.

[0081] S2044 is a ship motion prediction model based on an LSTM neural network model, using satellite positioning data, IMU data, and meteorological data.

[0082] Determine the time series data corresponding to satellite positioning data, IMU data, and meteorological data within the first time period, and input the time series data into the LSTM neural network model.

[0083] Optionally, the time-series data within the first time range can be the data displayed in the window within the last 10 seconds.

[0084] S2046, predicts the direction, amplitude, and period of a ship's roll based on a ship motion prediction model.

[0085] The LSTM neural network model outputs prediction data over a second time period, which includes the ship's sway direction, sway amplitude, and sway period.

[0086] Optionally, the LSTM neural network model outputs prediction data for the next 3 seconds based on the time series data.

[0087] It should be noted that the direction of rolling refers to the direction of the ship's roll (lateral sway), the direction of the ship's pitch (longitudinal sway), the direction of the ship's bow roll (bow sway), or a combination of sway directions.

[0088] The swing amplitude can be represented by the angle value, with an accuracy of 0.1 degrees.

[0089] In one specific embodiment, the oscillation period is 2 to 8 seconds.

[0090] By predicting the ship's roll direction, amplitude, and period using a ship motion prediction model, and based on these parameters, one or more sets of flywheel gyroscopes can be controlled to work independently or in coordination to achieve motion compensation.

[0091] In one specific embodiment, a ship motion prediction model is established based on an LSTM neural network. By inputting GPS data, IMU data, and meteorological data into the ship motion prediction model, it can predict the ship's roll, pitch, or bow trends 3 to 5 seconds in advance. By controlling one set of flywheel gyroscopes to work individually or multiple sets of flywheel gyroscopes to work in coordination, motion compensation is achieved to maintain the pilot ship's stable attitude. This design reduces the compensation command generation cycle to 0.2 seconds.

[0092] In some embodiments, optionally, such as Figure 4 As shown, S2046 (predicting the direction, amplitude, and period of a ship's roll based on a ship motion prediction model) includes:

[0093] S2047, Obtain the sampling data within the first time period.

[0094] It should be noted that the sampled data refers to the time-series data corresponding to satellite positioning data, IMU data, and meteorological data within the first time period.

[0095] Optionally, the time-series data within the first time range can be the data displayed in the window within the last 10 seconds.

[0096] S2048, based on a ship motion prediction model, predicts the ship's sway direction, sway amplitude, and sway period within a second duration based on sampled data; wherein the second duration is shorter than the first duration.

[0097] The LSTM neural network model outputs prediction data over a second time period, which includes the ship's sway direction, sway amplitude, and sway period.

[0098] Optionally, the LSTM neural network model outputs prediction data for the next 3 seconds based on the time series data.

[0099] The ship motion prediction model adopts a "long window input - short window prediction" design to achieve a balance between information integrity and prediction real-time performance. The multimodal gyro stabilization system can respond quickly and generate compensation commands, which helps to improve the accuracy of prediction results and improve the control precision of ship attitude.

[0100] It should be emphasized that the second duration is shorter than the first duration, which ensures that the ship motion prediction model adopts the design method of "long window input - short window prediction".

[0101] Optionally, the first duration is 8 to 12 seconds.

[0102] In one specific embodiment, the first duration is 8 seconds.

[0103] In one specific embodiment, the first duration is 10 seconds.

[0104] In one specific embodiment, the first duration is 12 seconds.

[0105] Optionally, the second duration is 2 to 4 seconds.

[0106] In one specific embodiment, the second duration is 2 seconds.

[0107] In one specific embodiment, the second duration is 3 seconds.

[0108] In one specific embodiment, the second duration is 4 seconds.

[0109] In some embodiments, the rolling direction may optionally include the ship's roll direction, ship's pitch direction, and ship's bow direction.

[0110] In the normal mode of the multimodal gyro stabilization system, the dominant oscillation direction among the ship's roll, pitch, and bow directions is determined to control the flywheel gyroscopes corresponding to the dominant oscillation direction to operate independently. In the emergency mode, based on the ship's roll, pitch, and bow directions, oscillation amplitude, and oscillation period, the required torque for each set of flywheel gyroscopes is determined, and multiple sets of flywheel gyroscopes are controlled to work collaboratively. This design approach facilitates precise control of the flywheel gyroscopes, resulting in greater ship attitude stability.

[0111] Taking the regular mode as an example:

[0112] When the multimodal gyroscope stabilization system is in normal mode, it controls one of the multiple sets of flywheel gyroscopes to work independently.

[0113] Determine the dominant oscillation direction among the ship's roll direction, pitch direction, and bow direction, and determine the oscillation amplitude and period of the dominant oscillation direction; based on the dominant oscillation direction, amplitude, and period, control the operation of the flywheel gyroscope corresponding to the dominant oscillation direction.

[0114] In one specific embodiment, among the multiple sets of flywheel gyroscopes, at least one set of flywheel gyroscopes is an X-axis gyroscope, the mounting axis of which is arranged along the ship's pitch direction, and the X-axis gyroscope is used to compensate for the oscillation along the ship's pitch direction; at least one set of flywheel gyroscopes is a Y-axis gyroscope, the mounting axis of which is arranged along the ship's roll direction, and the Y-axis gyroscope is used to compensate for the oscillation along the ship's roll direction; at least one set of flywheel gyroscopes is a Z-axis gyroscope, the mounting axis of which is arranged along the ship's bow direction, and the Z-axis gyroscope is used to compensate for the oscillation along the ship's bow direction.

[0115] When the ship's roll direction is determined to be the dominant oscillation direction, the Y-axis gyroscope is controlled to operate independently.

[0116] When the ship's pitch direction is determined to be the dominant oscillation direction, the X-axis gyroscope is controlled to operate independently.

[0117] When the bow roll direction of the ship is determined to be the dominant oscillation direction, the Z-axis gyroscope is controlled to work independently.

[0118] It should be noted that when the multimodal gyroscope stabilization system is in normal mode, a single gyroscope (flywheel gyroscope) is used for adaptive adjustment.

[0119] In some embodiments, the rotational speed of the flywheel gyroscope may be determined based on the oscillation amplitude and oscillation period in the dominant oscillation direction.

[0120] In one specific embodiment, the rotational speed of the flywheel gyroscope is determined based on a first calculation formula, according to the oscillation amplitude and oscillation period in the dominant oscillation direction.

[0121] The first calculation formula is: RPM=K1×θ / T+K2×dθ / dt.

[0122] Wherein, "RPM" represents the rotational speed of the flywheel gyroscope. "K1" is the first parameter; when the dominant oscillation direction is the ship's roll direction, K1 is 120°; when the dominant oscillation direction is the ship's pitch direction, K1 is 80°. "θ" represents the oscillation amplitude. "T" represents the oscillation period. "K2" represents the differential gain parameter. "dθ / dt" represents the rate of change of the ship's oscillation angle over time.

[0123] For example, when the predicted starboard roll angle θ is 5 degrees and the oscillation period T is 4 seconds, RPM = 6500 r / min.

[0124] In some embodiments, optionally, the rotation of a corresponding flywheel gyroscope is controlled according to its rotational speed. A servo motor drives the flywheel gyroscope to deflect (opposite to the predicted oscillation direction).

[0125] In some embodiments, each set of flywheel gyroscopes can optionally be angled relative to the ship's hull.

[0126] The multimodal gyroscope stabilization system also includes a tilt adjustment mechanism. This mechanism allows for adjustment of the flywheel gyroscope's tilt angle, making it adjustable within ±30 degrees.

[0127] In some embodiments, optionally, the tilt adjustment mechanism adjusts the tilt angle of the flywheel gyroscope based on the oscillation amplitude and oscillation period of the dominant oscillation direction. This design allows the corresponding flywheel gyroscope to more effectively address predicted oscillation trends.

[0128] In one specific embodiment, the tilt angle α of the flywheel gyroscope is determined based on the oscillation amplitude θ. Wherein, α = 0.15 × θ.

[0129] Optionally, in some embodiments, the stable control method of the present invention also includes closed-loop correction logic. The predicted value is compared with the actual sensor data every 0.2 seconds. When the deviation exceeds 10%, the PID (Proportional-Integral-Derivative) compensator is triggered to adjust the torque output of the flywheel gyroscope and update the weights of the LSTM model.

[0130] Taking emergency mode as an example:

[0131] When the multimodal gyroscope stabilization system is in emergency mode, it controls multiple sets of flywheel gyroscopes to work together.

[0132] Based on the ship's roll direction, pitch direction, bow direction, oscillation amplitude, and oscillation period, determine the required torque for each set of flywheel gyroscopes, and control multiple sets of flywheel gyroscopes to work together.

[0133] In some embodiments, optionally, such as Figure 5 As shown, S202 (acquiring wave height data and switching the operating mode of the multi-modal gyroscope stabilization system based on the wave height data; wherein the operating modes include normal mode and emergency mode) includes:

[0134] S2022, acquire wave height data, and determine the current average wave height of the sea surface based on the wave height data.

[0135] Wave height data can be obtained using a wave height meter or from a meteorological data platform.

[0136] In subsequent steps, the specific operating mode of the multimodal gyro stabilization system is set by comparing the average wave height with a preset threshold, which helps improve the accuracy of the timing of operating mode switching. Setting different response strategies according to different sea conditions helps avoid redundant energy consumption and reduce mechanical wear.

[0137] S2024, when the average wave height is less than the preset threshold, the working mode of the multimodal gyroscope stabilization system is set to normal mode.

[0138] When the average wave height is less than the preset threshold, it indicates that the ship is in a low-risk mode. A single set of flywheel gyroscopes can meet the stability requirements, avoiding redundant energy consumption of three gyroscopes working together, and reducing mechanical wear.

[0139] S2026, when the average wave height is greater than or equal to a preset threshold, the working mode of the multimodal gyroscope stabilization system is set to emergency mode.

[0140] When the average wave height is greater than or equal to a preset threshold, the vessel is in a high-risk mode. In this case, three sets of flywheel gyroscopes need to work together in a coordinated manner using hydraulic compensation.

[0141] Optionally, the preset threshold is 1.8m to 2.2m.

[0142] In one specific embodiment, the preset threshold is 1.8m.

[0143] In one specific embodiment, the preset threshold is 2m.

[0144] In one specific embodiment, the preset threshold is 2.2m.

[0145] In some embodiments, optionally, such as Figure 6 As shown, S2022 (acquiring wave height data and determining the current average wave height based on the wave height data) includes:

[0146] S2027, obtain wave height data through a wave height meter, or obtain wave height data from a meteorological data platform.

[0147] S2028, determine the average wave height of the current sea surface based on wave height data.

[0148] By comparing the average wave height with a preset threshold, the specific operating mode of the multimodal gyroscope stabilization system can be set, which helps to improve the accuracy of the timing of the operating mode switching.

[0149] In some embodiments, optionally, such as Figure 7 As shown, S206 (when the multi-mode gyroscope stabilization system is in normal mode, it controls the operation of one of the multiple sets of flywheel gyroscopes according to the swing direction, swing amplitude, and swing period; when the multi-mode gyroscope stabilization system is in emergency mode, it controls the multiple sets of flywheel gyroscopes to work together according to the swing direction, swing amplitude, and swing period) includes:

[0150] S2062, when the multi-mode gyroscope stabilization system is in normal mode, determines one of the flywheel gyroscopes that needs to work, as well as the rotation speed and rotation angle of the flywheel gyroscopes, based on the swing direction, swing amplitude and swing period.

[0151] Determine the dominant oscillation direction among the ship's roll direction, pitch direction, and bow direction, and determine the oscillation amplitude and period of the dominant oscillation direction; based on the dominant oscillation direction, amplitude, and period, control the operation of the flywheel gyroscope corresponding to the dominant oscillation direction.

[0152] In one specific embodiment, among the multiple sets of flywheel gyroscopes, at least one set of flywheel gyroscopes is an X-axis gyroscope, the mounting axis of which is arranged along the ship's pitch direction, and the X-axis gyroscope is used to compensate for the oscillation along the ship's pitch direction; at least one set of flywheel gyroscopes is a Y-axis gyroscope, the mounting axis of which is arranged along the ship's roll direction, and the Y-axis gyroscope is used to compensate for the oscillation along the ship's roll direction; at least one set of flywheel gyroscopes is a Z-axis gyroscope, the mounting axis of which is arranged along the ship's bow direction, and the Z-axis gyroscope is used to compensate for the oscillation along the ship's bow direction.

[0153] When the ship's roll direction is determined to be the dominant oscillation direction, the Y-axis gyroscope is controlled to operate independently.

[0154] When the ship's pitch direction is determined to be the dominant oscillation direction, the X-axis gyroscope is controlled to operate independently.

[0155] When the bow roll direction of the ship is determined to be the dominant oscillation direction, the Z-axis gyroscope is controlled to work independently.

[0156] It should be noted that when the multimodal gyroscope stabilization system is in normal mode, a single gyroscope (flywheel gyroscope) is used for adaptive adjustment.

[0157] In some embodiments, the rotational speed of the flywheel gyroscope may be determined based on the oscillation amplitude and oscillation period in the dominant oscillation direction.

[0158] It should be noted that the rotation angle refers to the tilt angle of the flywheel gyroscope.

[0159] In some embodiments, optionally, the tilt adjustment mechanism adjusts the rotation angle of the flywheel gyroscope based on the oscillation amplitude and oscillation period of the dominant oscillation direction. This design allows the corresponding flywheel gyroscope to more effectively respond to predicted oscillation trends.

[0160] In one specific embodiment, the rotation angle α of the flywheel gyroscope is determined based on the oscillation amplitude θ. Wherein, α = 0.15 × θ.

[0161] S2064 controls the operation of the flywheel gyroscope based on its rotational speed and rotational angle.

[0162] This design allows for precise control of the flywheel gyroscope, avoiding redundant consumption in normal mode and reducing mechanical wear.

[0163] S2066, when the multi-mode gyroscope stabilization system is in emergency mode, determines the rotational speed and rotation angle of each of the multiple sets of flywheel gyroscopes based on the swing direction, swing amplitude and swing period.

[0164] Based on the ship's roll direction, pitch direction, bow direction, oscillation amplitude, and oscillation period, determine the required torque for each set of flywheel gyroscopes, and control multiple sets of flywheel gyroscopes to work together.

[0165] Optionally, radar wave measurement data and ship load parameters are acquired; the radar wave measurement data, ship load parameters, satellite positioning data, IMU data, and meteorological data are input into the ship motion prediction model; the ship motion prediction model outputs prediction data. The prediction data includes the ship's roll direction, roll amplitude, and roll period.

[0166] It should be noted that radar wave measurement data includes wavelength and wave direction. Ship load parameters include draft.

[0167] Optionally, wave measurement data can be acquired using millimeter-wave radar. The millimeter-wave radar operates at a frequency of 77 GHz.

[0168] Optionally, the ship's roll rate, pitch rate, and attitude angle can be obtained using a fiber optic gyroscope. The system can stabilize the ship's roll angle within a target range of ±0.01 degrees.

[0169] In some embodiments, the predicted data may optionally be the swing direction, swing amplitude, and swing period over the next 5 seconds. The time interval is 0.5 seconds.

[0170] When the multi-modal gyroscope stabilization system is in emergency mode, the main gyroscope and auxiliary gyroscope in multiple sets of flywheel gyroscopes are determined based on the swing direction, swing amplitude and swing period.

[0171] Optionally, the main gyroscope bears 70% of the torque, while the auxiliary gyroscope compensates for the remaining 30% of the torque through differential operation.

[0172] S2068 controls multiple sets of flywheel gyroscopes to work together based on rotational speed and rotational angle.

[0173] The flywheel gyroscopes are controlled by phase difference, with the maximum torque output times of each set of flywheel gyroscopes staggered by a quarter of a cycle.

[0174] In some embodiments, the multimodal gyroscope stabilization system may optionally include a controller. The controller is electrically or communicatively connected to multiple sets of flywheel gyroscopes.

[0175] When the controller and the flywheel gyroscope are connected by communication, the controller and the flywheel gyroscope use a CAN (Controller Area Network) bus to establish a synchronization protocol between multiple sets of flywheel gyroscopes, thereby enabling coordinated control of multiple sets of flywheel gyroscopes.

[0176] In the normal mode of the multimodal gyro stabilization system, the dominant oscillation direction among the ship's roll, pitch, and bow directions is determined to control the flywheel gyroscopes corresponding to the dominant oscillation direction to operate independently. In the emergency mode, based on the ship's roll, pitch, and bow directions, oscillation amplitude, and oscillation period, the required torque for each set of flywheel gyroscopes is determined, and multiple sets of flywheel gyroscopes are controlled to work collaboratively. This design approach facilitates precise control of the flywheel gyroscopes, resulting in greater ship attitude stability.

[0177] In some embodiments, optionally, after S2026 (setting the operating mode of the multimodal gyro stabilization system to emergency mode when the average wave height is greater than or equal to a preset threshold), the stability control method for pilotage boarding and disembarking operations further includes:

[0178] Continuously acquire wave height data and determine the safety response level based on the wave height data; the safety response level includes Level 1 response level and Level 2 response level.

[0179] When the average wave height is greater than or equal to the preset threshold but less than the safety threshold, the safety response level is Level 1, the hydraulic compensator is activated and the damping pedal is used to achieve pre-pressurization.

[0180] When the average wave height is greater than or equal to the preset threshold but less than the safety threshold, the safety response level is Level 1, which activates the hydraulic compensator and uses a pressure-sensing pedal to pre-pressurize.

[0181] It should be noted that the security threshold is greater than the preset threshold.

[0182] The hydraulic compensator moves in the opposite phase to the corresponding flywheel gyroscope. The damping pedal provides counter-damping to make the pilot's ascent smoother.

[0183] In one specific embodiment, the damping pedal is a magnetic pedal. Alternatively, the damping pedal is a pedal with a spring-loaded cushioning structure.

[0184] If the average wave height exceeds the safety threshold, cut off unnecessary loads (prioritize power supply to the flywheel gyroscope) and shorten the laser guidance path to 1.5m (forced linear transfer).

[0185] Optionally, the safety threshold is 2.8m to 3.2m.

[0186] In one specific embodiment, the safety threshold is 2.8m.

[0187] In one specific embodiment, the safety threshold is 3m.

[0188] In one specific embodiment, the safety threshold is 3.2m.

[0189] In a specific embodiment, when the multimodal gyroscope stabilization system is in emergency mode, the torque distribution algorithm between the main gyroscope and the auxiliary gyroscope is as follows (using Python as an example):

[0190] def torque_distribute(θ_x,θ_y):

[0191] total_torque=calc_total_torque(θ_x,θ_y)

[0192] if θ_x > θ_y:

[0193] x_axis = 0.7 * total_torque

[0194] y_axis=0.3*total_torque*(θ_y / θ_x)

[0195] else:

[0196] y_axis = 0.7 * total_torque

[0197] x_axis=0.3*total_torque*(θ_x / θ_y).

[0198] It should be noted that Python is a programming language.

[0199] In one embodiment of the present invention, such as Figure 10 As shown, the stability control methods for pilotage vessel boarding and disembarking operations include:

[0200] S2221, Wave height detection.

[0201] It should be noted that "wave height" here refers to wave height data. The average wave height is determined based on the wave height data.

[0202] The average wave height is compared with a preset threshold of 2m to generate a first judgment result. If the average wave height is less than or equal to 2m, S2222 is executed; if the average wave height is greater than 2m, S2233 is executed.

[0203] S2222, standard mode.

[0204] The multimodal gyroscope stabilization system operates in the conventional mode.

[0205] S2223, IMU / GPS data acquisition.

[0206] Collect IMU data and GPS data.

[0207] S2224, LSTM short-term forecast.

[0208] A ship motion prediction model is established using an LSTM neural network model, and the ship's sway direction, sway amplitude, and sway period are predicted based on the ship motion prediction model.

[0209] S2225, active oscillation type.

[0210] The purpose of this step is to determine the type of active oscillation and generate a second determination result. If the second determination result is "roll" (lateral sway), execute S2226; if the second determination result is "pitch" (vertical sway), execute S2227.

[0211] S2226, activate the Y-axis gyroscope.

[0212] Y-axis gyroscopes are used to compensate for the swaying of a ship in the roll direction.

[0213] S2227, activate the X-axis gyroscope.

[0214] X-axis gyroscopes are used to compensate for swaying along the ship's pitch direction.

[0215] S2228, Flywheel parameter calculation.

[0216] The "flywheel" here refers to a "flywheel gyroscope". Flywheel parameters include the gyroscope's rotational speed and tilt angle (rotation angle).

[0217] S2229, servo deflection control.

[0218] The purpose of this step is to adjust the rotation angle (tilt angle) of the flywheel gyroscope.

[0219] S2230, 0.2s closed-loop verification.

[0220] In the stable control method of this invention, there is also a closed-loop correction logic. Every 0.2 seconds, the predicted value is compared with the actual sensor data. When the deviation is greater than 10%, the PID (Proportional-Integral-Derivative) compensator is triggered to adjust the torque output of the flywheel gyroscope and update the weights of the LSTM model.

[0221] If the verification is successful, execute S2232.

[0222] S2231, PID online correction.

[0223] When the deviation is greater than 10%, the PID (Proportional-Integral-Derivative) compensator is triggered to adjust the torque output of the flywheel gyroscope and update the weights of the LSTM model.

[0224] After S2231, return to S2224 for repeated verification.

[0225] S2232, the state remains stable.

[0226] S2233, Emergency Mode.

[0227] The operating mode of the multimodal gyroscope stabilization system is emergency mode.

[0228] S2234, multi-data fusion.

[0229] Acquire radar wave measurement data and ship load parameters; input the radar wave measurement data, ship load parameters, satellite positioning data, IMU data, and meteorological data into the ship motion prediction model; the ship motion prediction model outputs prediction data. The prediction data includes the ship's roll direction, roll amplitude, and roll period.

[0230] S2235, LSTM multi-step prediction.

[0231] A ship motion prediction model is established using an LSTM neural network model, and the ship's sway direction, sway amplitude, and sway period are predicted based on the ship motion prediction model.

[0232] S2236, three-gyroscope torque distribution.

[0233] It should be noted that "three gyroscopes" refers to "three sets of flywheel gyroscopes".

[0234] S2237, phase difference synchronization control.

[0235] The flywheel gyroscopes are controlled by phase difference, with the maximum torque output times of each set of flywheel gyroscopes staggered by a quarter of a cycle.

[0236] S2238, wave height classification.

[0237] Continuously acquire wave height data and determine the safety response level based on the wave height data; the safety response level includes Level 1 response level and Level 2 response level.

[0238] When the average wave height is greater than or equal to the preset threshold but less than the safety threshold, the safety response level is Level 1, the hydraulic compensator is activated and the damping pedal is used to achieve pre-pressurization.

[0239] If the average wave height exceeds the safety threshold, cut off unnecessary loads (prioritize power supply to the flywheel gyroscope) and shorten the laser guidance path to 1.5m (forced linear transfer).

[0240] The purpose of this step is to compare the average wave height with the safety threshold of 3m to generate a third judgment result. If the third judgment result indicates that the average wave height is between 2m and 3m, execute S2239; if the third judgment result indicates that the average wave height is greater than 3m, execute S2240.

[0241] S2239, hydraulic compensation, magnetic attraction 50%.

[0242] It should be noted that "magnetic" refers to magnetic foot pedals.

[0243] When the average wave height is greater than or equal to the preset threshold but less than the safety threshold, the safety response level is Level 1, the hydraulic compensator is activated and the power of the magnetic pedal is 50%.

[0244] S2240, load switching and path shortening.

[0245] If the average wave height exceeds the safety threshold, cut off unnecessary loads (prioritize power supply to the flywheel gyroscope) and shorten the laser guidance path to 1.5m (forced linear transfer).

[0246] S2241, 5s trend assessment.

[0247] If the ship's attitude is found to have improved after the trend assessment, then return to S2221.

[0248] If, after trend assessment, it is found that the ship's attitude has not improved and has deteriorated, then S2242 shall be executed.

[0249] S2242, Level 3 Emergency Protocol.

[0250] S2243, the boarding and disembarking operation is complete.

[0251] S2243 is executed after S2232 or S2242.

[0252] In one embodiment of the present invention, such as Figure 8 As shown, the stability control system 300 for pilotage boarding and disembarking operations includes a working mode switching unit 310, a prediction model establishment unit 320, and a control unit 330.

[0253] The working mode switching unit 310 is used to acquire wave height data and switch the working mode of the multimodal gyroscope stabilization system 110 according to the wave height data; the working modes include normal mode and emergency mode.

[0254] In one specific embodiment, wave height data is acquired using a wave height meter. The wave height meter is a sensor used to monitor the wave height in the operational sea area in real time, and its data acquisition frequency is 0.5 seconds per acquisition.

[0255] The multimodal gyroscope stabilization system 110 has two operating modes: normal mode and emergency mode.

[0256] When the multimodal gyroscope stabilization system 110 is in normal mode, it controls one of the multiple sets of flywheel gyroscopes 111 to work independently.

[0257] When the multimodal gyroscope stabilization system 110 is in normal mode, it controls multiple sets of flywheel gyroscopes 111 to work together.

[0258] The prediction model building unit 320 is used to build a ship motion prediction model based on the LSTM neural network model, and predict the sway direction, sway amplitude and sway period of the ship 120 according to the ship motion prediction model.

[0259] It should be noted that the LSTM (Long Short-Term Memory) neural network model is a special type of recurrent neural network.

[0260] The ship motion prediction model predicts the sway direction, sway amplitude, and sway period of the ship 120. Based on the sway direction, sway amplitude, and sway period of the ship 120, one set of flywheel gyroscopes 111 can be controlled to work alone or multiple sets of flywheel gyroscopes 111 can work in coordination in advance to achieve motion compensation.

[0261] The control unit 330 is used to control one of the multiple sets of flywheel gyroscopes 111 to work according to the swing direction, swing amplitude and swing period when the multi-mode gyroscope stabilization system 110 is in normal mode; and to control the multiple sets of flywheel gyroscopes 111 to work together according to the swing direction, swing amplitude and swing period when the multi-mode gyroscope stabilization system 110 is in emergency mode.

[0262] By controlling one set of flywheel gyroscopes 111 to work alone or multiple sets of flywheel gyroscopes 111 to work in coordination, the attitude of the ship 120 can be adjusted to reduce the sway amplitude of the pilot ship.

[0263] This invention aims to provide a stability control system 300 for pilotage boarding and disembarking operations. Based on acquired wave height data, the system selects the operating mode of a multi-modal gyro stabilization system 110 and, in conjunction with the sway direction, sway amplitude, and sway period, controls one set of flywheel gyroscopes 111 to operate independently or multiple sets of flywheel gyroscopes 111 to operate collaboratively. This control method allows for the adjustment of the vessel's attitude 120 via the flywheel gyroscopes 111 when the pilotage berths with a larger vessel, thereby reducing the pilotage's sway amplitude and mitigating safety hazards.

[0264] It should be added that the ship motion prediction model predicts the sway direction, sway amplitude and sway period of the ship 120. Based on the sway direction, sway amplitude and sway period of the ship 120, one set of flywheel gyroscopes 111 can be controlled to work alone or multiple sets of flywheel gyroscopes 111 can work in coordination in advance to achieve motion compensation, maintain the stability of the pilot ship's attitude, improve safety performance, and is suitable for the safe transfer of pilots in bad sea conditions.

[0265] In one embodiment of the present invention, such as Figure 9 As shown, the electronic device 400 includes a memory 410 and a processor 420. The memory 410 stores programs or instructions that can be executed on the processor 420. When the processor 420 executes the programs or instructions, it implements the steps of the stable control method for pilotage vessel boarding and disembarking operations in any of the above embodiments. The electronic device 400 has the beneficial effects of any of the above embodiments, which will not be elaborated further here.

[0266] In one embodiment of the present invention, the readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the stable control method for pilotage boarding and disembarking operations in any of the above-described technical solutions. The readable storage medium possesses the beneficial effects of any of the above embodiments, which will not be elaborated further here.

[0267] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0268] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0269] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0270] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A stability control method for pilotage vessel boarding and disembarking operations, characterized in that, It is applied to a multimodal gyroscope stabilization system, which includes multiple sets of flywheel gyroscopes; At least one set of the flywheel gyroscopes has its mounting axis arranged along the ship's roll direction, at least one set of the flywheel gyroscopes has its mounting axis arranged along the ship's pitch direction, and at least one set of the flywheel gyroscopes has its mounting axis arranged along the ship's bow direction. The stability control method includes: Acquire wave height data and switch the operating mode of the multimodal gyroscope stabilization system according to the wave height data; wherein the operating mode includes a normal mode and an emergency mode; A ship motion prediction model is established based on an LSTM neural network model, and the ship's sway direction, sway amplitude, and sway period are predicted based on the ship motion prediction model. When the multimodal gyroscope stabilization system is in the normal mode, one of the multiple sets of flywheel gyroscopes is controlled to work according to the swing direction, the swing amplitude, and the swing period; when the multimodal gyroscope stabilization system is in the emergency mode, multiple sets of flywheel gyroscopes are controlled to work collaboratively according to the swing direction, the swing amplitude, and the swing period.

2. The stability control method for pilotage vessel boarding and disembarking operations according to claim 1, characterized in that, The process of establishing a ship motion prediction model based on an LSTM neural network model, and predicting the ship's rolling direction, rolling amplitude, and rolling period based on the ship motion prediction model, includes: Acquire satellite positioning data, IMU data, and meteorological data; Based on the LSTM neural network model, the ship motion prediction model is established according to the satellite positioning data, the IMU data, and the meteorological data. The ship's sway direction, sway amplitude, and sway period are predicted based on the ship motion prediction model.

3. The stability control method for pilotage vessel boarding and disembarking operations according to claim 2, characterized in that, The step of predicting the ship's rolling direction, rolling amplitude, and rolling period based on the ship motion prediction model includes: Acquire the sampling data within the first time period; Based on the ship motion prediction model, and according to the sampled data, the ship's sway direction, sway amplitude, and sway period are predicted within a second duration; wherein the second duration is shorter than the first duration.

4. The stability control method for pilotage vessel boarding and disembarking operations according to claim 1, characterized in that, The sway direction includes the ship's roll direction, the ship's pitch direction, and the ship's bow roll direction.

5. The stability control method for pilotage vessel boarding and disembarking operations according to any one of claims 1 to 4, characterized in that, The process involves acquiring wave height data and switching the operating mode of the multimodal gyroscope stabilization system based on the wave height data; wherein the operating mode includes a normal mode and an emergency mode, including: Acquire the wave height data and determine the current average wave height based on the wave height data; When the average wave height is less than a preset threshold, the operating mode of the multimodal gyroscope stabilization system is set to the normal mode; When the average wave height is greater than or equal to the preset threshold, the operating mode of the multimodal gyroscope stabilization system is set to the emergency mode.

6. The stability control method for pilotage vessel boarding and disembarking operations according to claim 5, characterized in that, The step of acquiring the wave height data and determining the average wave height of the current sea surface based on the wave height data includes: The wave height data is obtained by using a wave height meter or by obtaining the wave height data from a meteorological data platform; The average wave height at the current sea surface is determined based on the wave height data.

7. The stability control method for pilotage vessel boarding and disembarking operations according to any one of claims 1 to 4, characterized in that, When the multimodal gyroscope stabilization system is in the normal mode, one of the multiple sets of flywheel gyroscopes is controlled to operate according to the swing direction, the swing amplitude, and the swing period. When the multimodal gyro stabilization system is in the emergency mode, multiple sets of flywheel gyroscopes are controlled to work collaboratively based on the swing direction, swing amplitude, and swing period, including: When the multimodal gyroscope stabilization system is in the normal mode, one set of the flywheel gyroscopes that need to work is determined according to the swing direction, the swing amplitude, and the swing period, as well as the rotation speed and rotation angle of the flywheel gyroscopes; the operation of the flywheel gyroscopes is controlled according to the rotation speed and rotation angle. When the multi-modal gyroscope stabilization system is in the emergency mode, the rotational speed and rotation angle of each of the multiple sets of flywheel gyroscopes are determined according to the swing direction, the swing amplitude, and the swing period; the multiple sets of flywheel gyroscopes are controlled to work together according to the rotational speed and rotation angle.

8. A stability control system for pilotage vessel boarding and disembarking operations, characterized in that, include: The working mode switching unit (310) is used to acquire wave height data and switch the working mode of the multimodal gyroscope stabilization system (110) according to the wave height data; wherein the working mode includes a normal mode and an emergency mode; The prediction model building unit (320) is used to build a ship motion prediction model based on the LSTM neural network model, and predict the sway direction, sway amplitude and sway period of the ship (120) according to the ship motion prediction model; The control unit (330) is configured to control one of the multiple sets of flywheel gyroscopes (111) to operate according to the swing direction, the swing amplitude and the swing period when the multimodal gyroscope stabilization system (110) is in the normal mode; and to control the multiple sets of flywheel gyroscopes (111) to work together according to the swing direction, the swing amplitude and the swing period when the multimodal gyroscope stabilization system (110) is in the emergency mode.

9. An electronic device, characterized in that, include: A memory (410) and a processor (420), wherein the memory (410) stores a program or instructions executable on the processor (420), and the processor (420) executes the program or instructions to implement the steps of the stable control method for pilotage boarding and disembarking operations as described in any one of claims 1 to 7.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the stable control method for pilotage boarding and disembarking operations as described in any one of claims 1 to 7.

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