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

Abstract

The application provides a stable control method, a stable control system, an electronic device and a readable storage medium, relates to the field of ship navigation technology, and the method comprises the following steps: switching the working mode of a multi-mode gyroscopic stabilization system according to wave height data; establishing a ship motion prediction model based on an LSTM neural network model, and predicting the swing direction, swing amplitude and swing period of the ship; in the case that the multi-mode gyroscopic stabilization system is in a normal mode, controlling one group of work of a plurality of flywheel gyroscopes according to the swing direction, swing amplitude and swing period; in the case that the multi-mode gyroscopic stabilization system is in an emergency mode, controlling the cooperative work of the plurality of flywheel gyroscopes according to the swing direction, swing amplitude and swing period.In the technical scheme of the application, the working mode is selected according to the wave height data, the swing direction, the swing amplitude and the swing period, the attitude of the ship is adjusted by the flywheel gyroscopes when the pilot boat is against the large ship, so that the swing amplitude of the pilot boat is reduced, and the safety hidden danger is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of marine navigation technology, in particular to a stabilizing control method, a stabilizing control system, an electronic device and a readable storage medium. BACKGROUND

[0002] In related technologies, when the pilot boat is docked on the large ship, it relies on the gangway or the cable fixed by the large ship. When the wave height exceeds 1.5 meters, the pilot boat swings greatly, which has a safety hazard.

[0003] Therefore, how to provide a stabilizing control method or system for the pilot boat boarding and disembarking operation is a problem to be solved at present. SUMMARY

[0004] In order to solve or improve the technical problem that the pilot boat swings greatly when it is docked on the large ship, and has a safety hazard, one purpose of the present application is to provide a stabilizing control method for the pilot boat boarding and disembarking operation.

[0005] Another purpose of the present application is to provide a stabilizing control system for the pilot boat boarding and disembarking operation.

[0006] Another purpose of the present application is to provide an electronic device.

[0007] Another purpose of the present application is to provide a readable storage medium.

[0008] To achieve the above purpose, the first aspect of the present application provides a stabilizing control method for pilot boat boarding and disembarking operation, which is applied to a multi-modal gyro stabilizing system, the multi-modal gyro stabilizing system comprising a plurality of sets of flywheel gyroscopes; the installation axis of at least one set of flywheel gyroscopes is arranged along the roll direction of the ship, the installation axis of at least one set of flywheel gyroscopes is arranged along the pitch direction of the ship, and the installation axis of at least one set of flywheel gyroscopes is arranged along the yaw direction of the ship.

[0009] The stabilizing control method comprises: obtaining wave height data, and switching the working mode of the multi-modal gyro stabilizing system according to the wave height data; wherein the working mode comprises a normal mode and an emergency mode; a ship motion prediction model is established based on an LSTM neural network model, and the swing direction, swing amplitude and swing period of the ship are predicted according to the ship motion prediction model; in the case that the multi-modal gyro stabilizing system is in the normal mode, one of the plurality of sets of flywheel gyroscopes is controlled to work according to the swing direction, swing amplitude and swing period; in the case that the multi-modal gyro stabilizing system is in the emergency mode, the plurality of sets of flywheel gyroscopes are controlled to work cooperatively according to the swing direction, swing amplitude and swing period.

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

[0011] The present application aims to provide a stable control method for the boarding and disembarking operation of a pilot boat, which selects the working mode of a multi-mode gyro stabilization system according to the obtained wave height data, and controls one group of flywheel gyroscopes to work alone or multiple groups of flywheel gyroscopes to work cooperatively in combination with the swing direction, swing amplitude and swing period. This control method can adjust the attitude of the pilot boat through the flywheel gyroscopes when the pilot boat is against a large ship, so as to reduce the swing amplitude of the pilot boat and reduce the safety hazard.

[0012] It should be noted that the swing direction, swing amplitude and swing period of the ship are predicted through the ship motion prediction model, and one group of flywheel gyroscopes is controlled to work alone or multiple groups of flywheel gyroscopes are controlled to work cooperatively in advance according to the swing direction, swing amplitude and swing period of the ship, so as to realize motion compensation and keep the attitude of the pilot boat stable, which is beneficial to improve the safety performance and is suitable for safely transferring pilots in severe sea conditions.

[0013] In some technical solutions, optionally, the ship motion prediction model is established based on an LSTM neural network model, and the swing direction, swing amplitude and swing period of the ship are predicted according to the ship motion prediction model, which includes: obtaining satellite positioning data, IMU data and weather 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 weather data; the swing direction, swing amplitude and swing period of the ship are predicted according to the ship motion prediction model.

[0014] It should be noted that the IMU (Inertial Measurement Unit) is a sensor for real-time sensing of the attitude and motion state of the ship.

[0015] In this technical solution, by inputting the GPS (Global Positioning System) data, the IMU data and the weather data to the ship motion prediction model, the ship motion prediction model can predict the yawing trend, pitching trend or yawing trend of the ship in advance. According to the yawing trend, pitching trend or yawing trend of the ship predicted in advance, one group of flywheel gyroscopes is controlled to work alone or multiple groups of flywheel gyroscopes are controlled to work cooperatively, so as to realize motion compensation and keep the attitude of the pilot boat stable.

[0016] In some technical solutions, optionally, the swing direction, swing amplitude and swing period of the ship are predicted according to the ship motion prediction model, which includes: obtaining sampling data within a first time length; based on the ship motion prediction model, the swing direction, swing amplitude and swing period of the ship within a second time length are predicted according to the sampling data; wherein the second time length is less than the first time length.

[0017] In the technical solution, the ship motion prediction model adopts a design mode of "long window input-short window prediction", a balance is achieved between information integrity and prediction real-time, the multi-modal gyro stabilization system can quickly respond and generate compensation instructions, which is beneficial to improve the accuracy of the prediction results and improve the control accuracy of the ship attitude.

[0018] In some technical solutions, the swing direction includes a ship roll direction, a ship pitch direction, and a ship yaw direction.

[0019] In the technical solution, when the multi-modal gyro stabilization system is in a normal mode, the dominant swing direction in the ship roll direction, the ship pitch direction, and the ship yaw direction is determined to control the flywheel gyro corresponding to the dominant swing direction to work alone. When the multi-modal gyro stabilization system is in an emergency mode, the required torque of each group of flywheel gyro is determined according to the ship roll direction, the ship pitch direction, the ship yaw direction, the swing amplitude, and the swing period, and the multiple groups of flywheel gyro are controlled to work cooperatively. This design mode is beneficial to accurately control the flywheel gyro to make the ship attitude more stable.

[0020] In some technical solutions, the wave height data is obtained, and the working mode of the multi-modal gyro stabilization system is switched according to the wave height data; wherein the working mode includes a normal mode and an emergency mode, including: obtaining wave height data and determining the average wave height of the current sea surface according to the wave height data; in the case that the average wave height is less than a preset threshold, setting the working mode of the multi-modal gyro stabilization system as the normal mode; in the case that the average wave height is greater than or equal to the preset threshold, setting the working mode of the multi-modal gyro stabilization system as the emergency mode.

[0021] In the technical solution, by comparing the average wave height with the preset threshold, the specific working mode of the multi-modal gyro stabilization system is set, which is beneficial to improve the accuracy of the working mode switching time. According to different sea conditions, different coping strategies are set, which is beneficial to avoid redundant energy consumption and reduce mechanical wear.

[0022] In some technical solutions, the wave height data is obtained, and the average wave height of the current sea surface is determined according to the wave height data, including: obtaining the wave height data through a wave height meter, or obtaining the wave height data from a meteorological data platform; determining the average wave height of the current sea surface according to the wave height data.

[0023] In the technical solution, by comparing the average wave height with the preset threshold, the specific working mode of the multi-modal gyro stabilization system is set, which is beneficial to improve the accuracy of the working mode switching time.

[0024] In some technical solutions, optionally, when the multi-modal gyro stabilization system is in a normal mode, one of the groups of flywheel gyroscopes is controlled to work according to the swing direction, swing amplitude and swing period; when the multi-modal gyro stabilization system is in an emergency mode, the groups of flywheel gyroscopes are controlled to work cooperatively according to the swing direction, swing amplitude and swing period, including: when the multi-modal gyro stabilization system is in the normal mode, one of the groups of flywheel gyroscopes that needs to work is determined according to the swing direction, swing amplitude and swing period, and the rotation speed and rotation angle of the flywheel gyroscope; the flywheel gyroscope is controlled to work according to the rotation speed and rotation angle; when the multi-modal gyro stabilization system is in the emergency mode, the rotation speed and rotation angle corresponding to each group of flywheel gyroscopes in the groups of flywheel gyroscopes are determined according to the swing direction, swing amplitude and swing period; the groups of flywheel gyroscopes are controlled to work cooperatively according to the rotation speed and rotation angle.

[0025] In the technical solution, when the multi-modal gyro stabilization system is in the normal mode, the dominant swing direction in the ship roll direction, ship pitch direction and ship yaw direction is determined to control the flywheel gyroscope corresponding to the dominant swing direction to work alone. When the multi-modal gyro stabilization system is in the emergency mode, the required torque of each group of flywheel gyroscopes is determined according to the ship roll direction, ship pitch direction, ship yaw direction, swing amplitude and swing period, and the groups of flywheel gyroscopes are controlled to work cooperatively. This design facilitates accurate control of the flywheel gyroscopes to make the ship attitude more stable.

[0026] The second aspect of the present application provides a stable control system for pilot boat boarding and disembarking operation, comprising: a working mode switching unit configured to obtain wave height data and switch the working mode of a multi-modal gyro stabilization system according to the wave height data; wherein the working mode comprises a normal mode and an emergency mode; a prediction model establishing unit configured to establish a ship motion prediction model based on an LSTM neural network model, and predict the swing direction, swing amplitude and swing period of the ship according to the ship motion prediction model; and a control unit configured to control one of the groups of flywheel gyroscopes to work according to the swing direction, swing amplitude and swing period when the multi-modal gyro stabilization system is in the normal mode, and control the groups of flywheel gyroscopes to work cooperatively according to the swing direction, swing amplitude and swing period when the multi-modal gyro stabilization system is in the emergency mode.

[0027] The present application aims to provide a stable control system for pilot boat boarding and disembarking operation, which selects the working mode of a multi-modal gyro stabilization system according to obtained wave height data, and controls one of the groups of flywheel gyroscopes to work alone or the groups of flywheel gyroscopes to work cooperatively in combination with the swing direction, swing amplitude and swing period. This control method can adjust the attitude of the ship through the flywheel gyroscopes when the pilot boat is against the large ship, so as to reduce the swing amplitude of the pilot boat and reduce the safety hazard.

[0028] It should be noted that the ship motion prediction model is used to predict the rolling direction, rolling amplitude and rolling period of the ship, and according to the rolling direction, rolling amplitude and rolling period of the ship, one group of flywheel gyroscopes is controlled to work alone or multiple groups of flywheel gyroscopes are controlled to work cooperatively in advance to realize motion compensation and keep the pilot boat stable, which is beneficial to improve the safety performance and is suitable for safely transferring the pilot in severe sea conditions.

[0029] The third aspect of the present application provides an electronic device, comprising a memory and a processor, wherein the memory stores programs or instructions executable on the processor, and the processor implements the steps of the stable control method for the pilot boat boarding and disembarking operation in any of the above technical solutions when executing the programs or instructions. The electronic device has the beneficial effects of any of the above technical solutions, which will not be repeated here.

[0030] The fourth aspect of the present application provides a readable storage medium, which stores programs or instructions, and the programs or instructions implement the steps of the stable control method for the pilot boat boarding and disembarking operation in any of the above technical solutions when executed by a processor. The readable storage medium has the beneficial effects of any of the above technical solutions, which will not be repeated here.

[0031] Additional aspects and advantages of the technical solutions of the present application will become apparent from the following description section or be understood through the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 A schematic view of a ship according to one embodiment of the present application is shown;

[0033] Figure 2 A flowchart of a stable control method for pilot boat boarding and disembarking operation according to one embodiment of the present application is shown;

[0034] Figure 3 A flowchart of a stable control method for pilot boat boarding and disembarking operation according to another embodiment of the present application is shown;

[0035] Figure 4 A flowchart of a stable control method for pilot boat boarding and disembarking operation according to another embodiment of the present application is shown;

[0036] Figure 5 A flowchart of a stable control method for pilot boat boarding and disembarking operation according to another embodiment of the present application is shown;

[0037] Figure 6 A flowchart of a stable control method for pilot boat boarding and disembarking operation according to another embodiment of the present application is shown;

[0038] Figure 7A flow chart of a pilot boat embarkation and disembarkation operation stability control method according to another embodiment of the present application is shown.

[0039] Figure 8 A structural block diagram of a pilot boat embarkation and disembarkation operation stability control system according to an embodiment of the present application is shown.

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

[0041] Figure 10 A flow chart of a pilot boat embarkation and disembarkation operation stability control method according to another embodiment of the present application is shown.

[0042] wherein, Figures 1 to 10 The correspondence between the reference signs and the component names is as follows:

[0043] 110: multi-modal gyro stabilization system; 111: flywheel gyro; 120: ship; a: ship roll direction; b: ship pitch direction; c: ship yaw direction; 300: pilot boat embarkation and disembarkation operation stability control system; 310: working mode switching unit; 320: prediction model establishing unit; 330: control unit; 400: electronic device; 410: memory; 420: processor. DETAILED DESCRIPTION

[0044] In order to more clearly understand the above-mentioned purposes, features and advantages of the embodiments of the present application, the embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0045] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application. However, embodiments of the present application can be practiced without the specific details that are set forth in the following description, and therefore the scope of the present application is not limited to the following specific embodiments.

[0046] In the conventional technology, the pilot boat needs to rely on the gangway or the cable fixed by the large ship when it is docked. When the wave height exceeds 1.5 meters, the pilot boat swings greatly, which is the most dangerous link in the whole pilot operation process, and there is a safety hazard.

[0047] It should be noted that the pilot boat is a small, high-speed and highly maneuverable small ship specially used for transporting pilots to and from the port and large ships. The gangway refers to a ladder or ramp structure erected on both sides of the ship, which can be retracted and used for personnel (such as crew members, pilots or inspection personnel, etc.) to safely embark and disembark between the ship and the wharf, or between the ship and the ship (such as the pilot boat and the large ship).

[0048] The application provides a stable control method for pilot boat boarding and disembarking operation, which predicts the swing direction, swing amplitude and swing period of a ship through a ship motion prediction model, and controls one group of flywheel gyroscopes to work alone or multiple groups of flywheel gyroscopes to work cooperatively in advance according to the swing direction, swing amplitude and swing period of the ship, so as to realize motion compensation and keep the posture of the pilot boat stable, which is beneficial to improving the safety performance and is suitable for safely transferring pilots in severe sea conditions.

[0049] In the related art, the response delay of the hydraulic stable platform is 0.8-1.2 seconds, which cannot adapt to sudden rolling. In the technical scheme of the application, the swing direction, swing amplitude and swing period of the ship are predicted in advance, so the flywheel gyroscopes can be controlled in advance, which is beneficial to greatly reducing the response delay and improving the safety performance.

[0050] It should be noted that the flywheel gyroscopes (gyro stabilizers) are applied in the ship field in the application to optimize the ship boarding and disembarking scene and improve the safety performance. The application aims to combine the gyro stabilizers with the dynamic compensation algorithm, and effectively solves the problem of safely transferring pilots boarding and disembarking the ship in strong waves, especially in surge weather.

[0051] Reference will be made to the following Figures 1 to 10 The application provides a stable control method, a stable control system, an electronic device and a readable storage medium.

[0052] In one embodiment of the application, as shown in Figure 1 The stable control method for pilot boat boarding and disembarking operation is applied to a multi-modal gyro stabilization system 110. The multi-modal gyro stabilization system 110 includes multiple groups of flywheel gyroscopes 111. The installation axis of at least one group of flywheel gyroscopes 111 is arranged along the ship rolling direction a; the installation axis of at least one group of flywheel gyroscopes 111 is arranged along the ship pitching direction b; and the installation axis of at least one group of flywheel gyroscopes 111 is arranged along the ship yawing direction c.

[0053] The flywheel gyroscope 111 refers to a gyro stabilizer, which is used to generate a stable torque to keep the posture of the ship 120 stable. The application aims to combine the gyro stabilizer with the dynamic compensation algorithm, and effectively solves the problem of safely transferring pilots boarding and disembarking the ship 120 in strong waves, especially in surge weather.

[0054] The ship rolling direction a refers to the left and right swinging of the ship 120 around the longitudinal axis (the axis of the bow and stern direction, i.e. the horizontal axis from the bow to the stern), which is manifested as the inclination of the ship body to the left or right.

[0055] The roll direction b (pitch direction) of the ship refers to the forward and backward swinging movement of the ship 120 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 of the ship being lifted up and the stern being sunk down, or the bow being sunk down and the stern being lifted up.

[0056] The yaw direction c of the ship refers to the left and right rotation movement of the ship 120 around the vertical axis (the axis in the up-down direction, i.e., the axis perpendicular to the horizontal plane), which is manifested as the bow of the ship being deflected to the left or to the right.

[0057] It should be noted that the flywheel gyroscopes 111 arranged along the roll direction a of the ship can be one group, two groups or multiple groups. The flywheel gyroscopes 111 arranged along the pitch direction b of the ship can be one group, two groups or multiple groups. The flywheel gyroscopes 111 arranged along the yaw direction c of the ship can be one group, two groups or multiple groups. The flywheel gyroscopes 111 are flexibly arranged according to actual needs.

[0058] The flywheel gyroscopes 111 arranged along the roll direction a of the ship are used to compensate for the swing in the roll direction a of the ship. The flywheel gyroscopes 111 arranged along the pitch direction b of the ship are used to compensate for the swing in the pitch direction b of the ship. The flywheel gyroscopes 111 arranged along the yaw direction c of the ship are used to compensate for the swing in the yaw direction c of the ship.

[0059] In a specific embodiment, the number of flywheel gyroscopes 111 is three groups, and the three groups of flywheel gyroscopes 111 are arranged orthogonally (the mounting axes are perpendicular to each other).

[0060] Optionally, as shown in Figure 1 The multi-modal gyro stabilization system 110 is connected to the ship 120. The flywheel gyroscopes 111 are rotatably arranged on the hull of the ship 120, i.e., the flywheel gyroscopes 111 can rotate relative to the hull to generate a stabilization torque.

[0061] As shown in Figure 2 The stability control method for the pilot boat boarding and disembarking operation includes:

[0062] S202, acquiring wave height data, and switching the working mode of the multi-modal gyro stabilization system according to the wave height data; wherein the working mode includes a normal mode and an emergency mode.

[0063] In a specific embodiment, the wave height data is acquired by a wave height meter. The wave height meter is a sensor for real-time monitoring of the wave height in the operation sea area, and the data acquisition frequency of the wave height meter is 0.5 seconds / second.

[0064] The multi-modal gyro stabilization system has two working modes, namely a normal mode and an emergency mode.

[0065] In the case that the multi-modal gyro stabilization system is in the normal mode, one of the groups of flywheel gyroscopes is controlled to work alone.

[0066] In the case that the multi-modal gyro stabilization system is in the normal mode, the groups of flywheel gyroscopes are controlled to work cooperatively.

[0067] S204, a ship motion prediction model is established based on the LSTM neural network model, and the ship's swing direction, swing amplitude and swing period are predicted according to the ship motion prediction model.

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

[0069] The ship's swing direction, swing amplitude and swing period are predicted by the ship motion prediction model, and one of the groups of flywheel gyroscopes is controlled to work alone or the groups of flywheel gyroscopes are controlled to work cooperatively according to the ship's swing direction, swing amplitude and swing period, so as to realize motion compensation.

[0070] S206, in the case that the multi-modal gyro stabilization system is in the normal mode, one of the groups of flywheel gyroscopes is controlled to work according to the swing direction, swing amplitude and swing period; in the case that the multi-modal gyro stabilization system is in the emergency mode, the groups of flywheel gyroscopes are controlled to work cooperatively according to the swing direction, swing amplitude and swing period.

[0071] By controlling one of the groups of flywheel gyroscopes to work alone or the groups of flywheel gyroscopes to work cooperatively, the attitude of the ship is adjusted, and the swing amplitude of the pilot boat is reduced.

[0072] The present application aims to provide a stable control method for the boarding and disembarking operation of a pilot boat, which selects the working mode of a multi-modal gyro stabilization system according to the obtained wave height data, and controls one of the groups of flywheel gyroscopes to work alone or the groups of flywheel gyroscopes to work cooperatively in combination with the swing direction, swing amplitude and swing period. This control method can adjust the attitude of the ship through flywheel gyroscopes when the pilot boat is against a large ship, so as to reduce the swing amplitude of the pilot boat and reduce the safety hazard.

[0073] It should be noted that the ship's swing direction, swing amplitude and swing period are predicted by the ship motion prediction model, and one of the groups of flywheel gyroscopes is controlled to work alone or the groups of flywheel gyroscopes are controlled to work cooperatively according to the ship's swing direction, swing amplitude and swing period, so as to realize motion compensation, keep the attitude of the pilot boat stable, improve the safety performance, and be suitable for safely transferring pilots in severe sea conditions.

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

[0075] S2042, acquiring satellite positioning data, IMU data and weather data.

[0076] Optionally, the satellite positioning data comprises GPS (Global Positioning System) data and / or Beidou positioning data.

[0077] The displacement acceleration of the ship is determined according to the satellite positioning data.

[0078] It should be noted that the IMU (Inertial Measurement Unit) is a sensor for real-time sensing of the attitude and motion state of the ship.

[0079] The roll angular velocity, pitch angular velocity and yaw angular velocity are determined according to the IMU data.

[0080] Optionally, the wave height data is determined according to the weather data.

[0081] S2044, based on the LSTM neural network model, a ship motion prediction model is established according to the satellite positioning data, the IMU data and the weather data.

[0082] The time series data corresponding to the satellite positioning data, the IMU data and the weather data in the first time range is determined, and the time series data is input to the LSTM neural network model.

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

[0084] S2046, the rolling direction, rolling amplitude and rolling period of the ship are predicted according to the ship motion prediction model.

[0085] The LSTM neural network model outputs prediction data in a second time range, and the prediction data comprises the rolling direction, rolling amplitude and rolling period of the ship.

[0086] Optionally, the LSTM neural network model outputs prediction data in the next 3 seconds according to the time series data.

[0087] It should be noted that the rolling direction refers to the roll direction (roll swing direction), the pitch direction (pitch swing direction), the yaw direction (yaw swing direction) or the composite swing direction of the ship.

[0088] The rolling amplitude can be represented by an angle value, and the precision is 0.1 degree.

[0089] In a specific embodiment, the swing period is 2-8 seconds.

[0090] The swing direction, swing amplitude and swing period of the ship are predicted by the ship motion prediction model, and one group of flywheel gyroscopes is controlled to work alone or multiple groups of flywheel gyroscopes are controlled to work cooperatively in advance according to the swing direction, swing amplitude and swing period of the ship, so as to realize motion compensation.

[0091] In a specific embodiment, the ship motion prediction model is established based on an LSTM neural network. By inputting GPS data, IMU data and weather data into the ship motion prediction model, the ship motion prediction model can predict the yawing trend, pitching trend or yawing trend of the ship in advance by 3-5 seconds. One group of flywheel gyroscopes is controlled to work alone or multiple groups of flywheel gyroscopes are controlled to work cooperatively in advance to realize motion compensation and keep the pilot boat stable. In this way, the compensation instruction generation period can be shortened to 0.2 seconds.

[0092] In some embodiments, as shown in Figure 4 S2046 (predicting the swing direction, swing amplitude and swing period of the ship according to the ship motion prediction model) includes:

[0093] S2047, acquiring sampling data within a first time length.

[0094] It should be noted that the sampling data refers to the time series data corresponding to the satellite positioning data, IMU data and weather data within the first time length.

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

[0096] S2048, predicting the swing direction, swing amplitude and swing period of the ship within a second time length based on the ship motion prediction model and according to the sampling data; wherein the second time length is less than the first time length.

[0097] The LSTM neural network model outputs prediction data within the second time length, and the prediction data includes the swing direction, swing amplitude and swing period of the ship.

[0098] Optionally, the LSTM neural network model outputs prediction data within the next 3 seconds according to the time series data.

[0099] The ship motion prediction model adopts a design method of "long window input-short window prediction", which balances between information integrity and prediction real-time performance. The multi-modal gyro stabilization system can quickly respond and generate compensation instructions, which is conducive to improving the accuracy of prediction results and improving the control accuracy of the ship attitude.

[0100] It should be emphasized that the second time length is less than the first time length, which can ensure that the ship motion prediction model adopts the design method of "long window input-short window prediction".

[0101] Optionally, the first time length is 8-12 seconds.

[0102] In a specific embodiment, the first time length is 8 seconds.

[0103] In a specific embodiment, the first time length is 10 seconds.

[0104] In a specific embodiment, the first time length is 12 seconds.

[0105] Optionally, the second time length is 2-4 seconds.

[0106] In a specific embodiment, the second time length is 2 seconds.

[0107] In a specific embodiment, the second time length is 3 seconds.

[0108] In a specific embodiment, the second time length is 4 seconds.

[0109] In some embodiments, the swing direction includes the ship roll direction, the ship pitch direction, and the ship yaw direction.

[0110] In the case where the multi-modal gyro stabilization system is in the normal mode, the dominant swing direction among the ship roll direction, the ship pitch direction, and the ship yaw direction is determined to control the flywheel gyro corresponding to the dominant swing direction to work alone. In the case where the multi-modal gyro stabilization system is in the emergency mode, the required torque of each group of flywheel gyro is determined according to the ship roll direction, the ship pitch direction, the ship yaw direction, the swing amplitude, and the swing period, and the multiple groups of flywheel gyro are controlled to work cooperatively. This design method is beneficial to accurately control the flywheel gyro to make the ship attitude more stable.

[0111] Taking the normal mode as an example:

[0112] In the case where the multi-modal gyro stabilization system is in the normal mode, one of the multiple groups of flywheel gyro is controlled to work alone.

[0113] The dominant swing direction among the ship roll direction, the ship pitch direction, and the ship yaw direction is determined, and the swing amplitude and the swing period of the dominant swing direction are determined; according to the dominant swing direction, the swing amplitude, and the swing period, the flywheel gyro corresponding to the dominant swing direction is controlled to work.

[0114] In a specific embodiment, in the multi-group flywheel gyroscopes, at least one group of flywheel gyroscopes is an X-axis gyroscope, the installation axis of the X-axis gyroscope is arranged along the roll direction of the ship, and the X-axis gyroscope is used for compensating the swing along the roll direction of the ship; at least one group of flywheel gyroscopes is a Y-axis gyroscope, the installation axis of the Y-axis gyroscope is arranged along the yaw direction of the ship, and the Y-axis gyroscope is used for compensating the swing along the yaw direction of the ship; and at least one group of flywheel gyroscopes is a Z-axis gyroscope, the installation axis of the Z-axis gyroscope is arranged along the pitch direction of the ship, and the Z-axis gyroscope is used for compensating the swing along the pitch direction of the ship.

[0115] When it is determined that the yaw direction of the ship is the dominant swing direction, the Y-axis gyroscope is controlled to work alone.

[0116] When it is determined that the roll direction of the ship is the dominant swing direction, the X-axis gyroscope is controlled to work alone.

[0117] When it is determined that the pitch direction of the ship is the dominant swing direction, the Z-axis gyroscope is controlled to work alone.

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

[0119] In some embodiments, optionally, the rotation speed of the flywheel gyroscope is determined according to the swing amplitude and the swing period of the dominant swing direction.

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

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

[0122] Wherein, “RPM” represents the rotation speed of the flywheel gyroscope. “K1” is a first parameter, K1 takes 1200 when the dominant swing direction is the yaw direction of the ship, and K1 takes 800 when the dominant swing direction is the roll direction of the ship. “θ” represents the swing amplitude. “T” represents the swing period. “K2” represents a differential gain parameter. “dθ / dt” represents the rate of change of the ship swing angle with time.

[0123] For example, when the right side yaw angle θ is predicted to be 5 degrees, and the swing period T is 4 seconds, RPM=6500r / min (revolutions per minute).

[0124] In some embodiments, optionally, the corresponding flywheel gyroscope is controlled to rotate according to the rotation speed of the flywheel gyroscope. The flywheel gyroscope is driven to deflect (in the opposite direction of the predicted swing direction) by a servo motor.

[0125] In some embodiments, optionally, each group of flywheel gyroscopes can be angle-adjusted relative to the ship body.

[0126] The multi-modal gyro stabilization system further comprises a tilt angle adjustment mechanism. The tilt angle of the flywheel gyro can be adjusted by the tilt angle adjustment mechanism, so that the tilt angle of the flywheel gyro is adjustable within ±30 degrees.

[0127] In some embodiments, the tilt angle adjustment mechanism adjusts the tilt angle of the flywheel gyro according to the swing amplitude and swing period of the dominant swing direction. This design enables the corresponding flywheel gyro to face the predicted swing trend more specifically.

[0128] In a specific embodiment, the tilt angle a of the flywheel gyro is determined according to the swing amplitude θ, where a = 0.15 x θ.

[0129] In some embodiments, the stabilization control method of the present application further comprises 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%, a PID (Proportional-Integral-Derivative) compensator is triggered to adjust the torque output of the flywheel gyro, and the weights of the LSTM model are updated.

[0130] Taking the emergency mode as an example:

[0131] When the multi-modal gyro stabilization system is in the emergency mode, the multiple groups of flywheel gyros are controlled to work cooperatively.

[0132] According to the ship roll direction, the ship pitch direction, the ship yaw direction, the swing amplitude and the swing period, the required torque of each group of flywheel gyros is determined, and the multiple groups of flywheel gyros are controlled to work cooperatively.

[0133] In some embodiments, as shown in Figure 5 S202 (acquiring wave height data and switching the working mode of the multi-modal gyro stabilization system according to the wave height data; wherein the working mode includes a normal mode and an emergency mode) comprises:

[0134] S2022, acquiring wave height data and determining the average wave height of the current sea surface according to the wave height data.

[0135] The wave height data is acquired by a wave height meter, or the wave height data is acquired from a meteorological data platform.

[0136] In subsequent steps, by comparing the average wave height with a preset threshold, the specific working mode of the multi-modal gyro stabilization system is set, which is beneficial to improve the accuracy of the working mode switching time. According to different sea conditions, different coping strategies are set, which is beneficial to avoid redundant energy consumption and reduce mechanical wear.

[0137] S2024, in a case where the average wave height is less than the preset threshold, setting the working mode of the multi-modal gyro stabilization system as a normal mode.

[0138] In a case where the average wave height is less than the preset threshold, it indicates that the ship is in a low-risk mode at this time, and the working of a single set of flywheel gyroscopes can meet the stabilization requirements, avoiding the redundant energy consumption of three-gyro linkage, and reducing mechanical wear and tear.

[0139] S2026, in a case where the average wave height is greater than or equal to the preset threshold, setting the working mode of the multi-modal gyro stabilization system as an emergency mode.

[0140] In a case where the average wave height is greater than or equal to the preset threshold, it indicates that the ship is in a high-risk mode at this time. At this time, three sets of flywheel gyroscopes need to be linked and work cooperatively in a hydraulic compensation manner.

[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, S2022 (acquiring wave height data and determining the average wave height of the current sea surface according to the wave height data) includes: Figure 6

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

[0147] S2028, determining the average wave height of the current sea surface according to the wave height data.

[0148] By comparing the average wave height with the preset threshold, the specific working mode of the multi-modal gyro stabilization system is set, which is conducive to improving the accuracy of the working mode switching time.

[0149] In some embodiments, S206 (in a case where the multi-modal gyro stabilization system is in a normal mode, controlling one of the multiple sets of flywheel gyroscopes to work according to the swing direction, swing amplitude and swing period; in a case where the multi-modal gyro stabilization system is in an emergency mode, controlling the multiple sets of flywheel gyroscopes to work cooperatively according to the swing direction, swing amplitude and swing period) includes: Figure 7

[0150] ​​S2062, in the case that the multi-modal gyro stabilization system is in the normal mode, according to the swing direction, the swing amplitude and the swing period, determine one of the groups of flywheel gyroscopes that needs to work, and the rotating speed and the rotating angle of the flywheel gyroscope.

[0151] Determine the dominant swing direction among the ship roll direction, the ship pitch direction and the ship yaw direction, and determine the swing amplitude and the swing period of the dominant swing direction; according to the dominant swing direction, the swing amplitude and the swing period, control the flywheel gyroscope corresponding to the dominant swing direction to work.

[0152] In one specific embodiment, among the groups of flywheel gyroscopes, at least one group of flywheel gyroscopes is X-axis gyroscopes, the installation axis of the X-axis gyroscopes is arranged along the ship pitch direction, and the X-axis gyroscopes are used to compensate for the swing along the ship pitch direction; at least one group of flywheel gyroscopes is Y-axis gyroscopes, the installation axis of the Y-axis gyroscopes is arranged along the ship roll direction, and the Y-axis gyroscopes are used to compensate for the swing in the ship roll direction; at least one group of flywheel gyroscopes is Z-axis gyroscopes, the installation axis of the Z-axis gyroscopes is arranged along the ship yaw direction, and the Z-axis gyroscopes are used to compensate for the swing arranged along the ship yaw direction.

[0153] In the case that the ship roll direction is determined as the dominant swing direction, control the Y-axis gyroscopes to work alone.

[0154] In the case that the ship pitch direction is determined as the dominant swing direction, control the X-axis gyroscopes to work alone.

[0155] In the case that the ship yaw direction is determined as the dominant swing direction, control the Z-axis gyroscopes to work alone.

[0156] It should be noted that in the case that the multi-modal gyro stabilization system is in the normal mode, single-gyroscope (flywheel gyroscope) adaptive adjustment is adopted.

[0157] In some embodiments, optionally, according to the swing amplitude and the swing period of the dominant swing direction, determine the rotating speed of the flywheel gyroscope.

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

[0159] In some embodiments, optionally, according to the swing amplitude and the swing period of the dominant swing direction, control the inclination angle adjustment mechanism to adjust the rotating angle of the flywheel gyroscope. This design can make the corresponding flywheel gyroscope more targeted to the predicted swing trend.

[0160] In one specific embodiment, according to the swing amplitude θ, determine the rotating angle α of the flywheel gyroscope. Wherein, α = 0.15 × θ.

[0161] S2064, according to the rotating speed and the rotating angle, control the flywheel gyroscope to work.

[0162] This design can accurately control the flywheel gyroscopes, avoid redundant consumption in the conventional mode, and reduce mechanical wear.

[0163] S2066, in the case that the multi-modal gyro stabilization system is in the emergency mode, according to the swing direction, swing amplitude and swing period, the rotation speed and rotation angle corresponding to each group of flywheel gyroscopes in the multiple groups of flywheel gyroscopes are determined.

[0164] According to the ship roll direction, ship pitch direction, ship yaw direction, swing amplitude and swing period, the required torque of each group of flywheel gyroscopes is determined, and the multiple groups of flywheel gyroscopes are controlled to work cooperatively.

[0165] Optionally, radar wave measurement data and ship load parameters are obtained; the radar wave measurement data, the ship load parameters, the satellite positioning data, the IMU data and the weather data are input into a ship motion prediction model; and the ship motion prediction model outputs prediction data. The prediction data includes the swing direction, the swing amplitude and the swing period of the ship.

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

[0167] Optionally, the radar wave measurement data is obtained by a millimeter wave radar. The working frequency of the millimeter wave radar is 77 GHz.

[0168] Optionally, the roll angular velocity, the pitch angular velocity and the attitude angle of the ship are obtained by a fiber-optic gyroscope. The system can stabilize the ship swing angle to be within the target value ±0.01 degree range.

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

[0170] In the case that the multi-modal gyro stabilization system is in the emergency mode, the main gyroscopes and the auxiliary gyroscopes in the multiple groups of flywheel gyroscopes are determined according to the swing direction, the swing amplitude and the swing period.

[0171] Optionally, the main gyroscopes bear 70% of the torque, and the auxiliary gyroscopes compensate for the remaining 30% of the torque through differential compensation.

[0172] S2068, the multiple groups of flywheel gyroscopes are controlled to work cooperatively according to the rotation speed and the rotation angle.

[0173] For the flywheel gyroscopes, a phase difference control mode is adopted, and the maximum torque output time of each group of flywheel gyroscopes is staggered by a quarter of a period.

[0174] In some embodiments, optionally, the multi-modal gyro stabilization system further comprises a controller. The controller is electrically connected or communicatively connected to the multiple groups 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 one specific embodiment, in the case that the multi-modal gyro stabilization system is in the emergency mode, the torque distribution algorithm of the main gyro and the auxiliary gyro is as follows (for example, in python):

[0190] def torque_distribute(θ_x,θ_y):

[0191] total_torque=calc_total_torque(θ_x,θ_y)

[0192] ifθ_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 application, as shown in Figure 10 the stability control method for pilot ship embarkation and disembarkation operation includes:

[0200] S2221, wave height detection.

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

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

[0203] S2222, normal mode.

[0204] The working mode of the multi-modal gyro stabilization system is normal mode.

[0205] S2223, IMU / GPS data acquisition.

[0206] Acquire IMU data and GPS data.

[0207] S2224, LSTM short-term prediction.

[0208] A ship motion prediction model is established through an LSTM neural network model, and the ship's swing direction, swing amplitude and swing period are predicted according to the ship motion prediction model.

[0209] S2225, active swing type.

[0210] The purpose of this step is to determine the active swing type and generate a second determination result. When the second determination result is "roll" (roll swing), S2226 is executed; when the second determination result is "pitch" (pitch swing), S2227 is executed.

[0211] S2226, activate Y-axis gyro.

[0212] The Y-axis gyro is used to compensate for the swing in the roll direction of the ship.

[0213] S2227, activate X-axis gyro.

[0214] The X-axis gyro is used to compensate for the swing in the pitch direction of the ship.

[0215] S2228, flywheel parameter calculation.

[0216] The "flywheel" here is a "flywheel gyro". The flywheel parameters include the rotation speed and inclination angle (rotation angle) of the flywheel gyro.

[0217] S2229, servo deflection control.

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

[0219] S2230, 0.2s closed loop verification.

[0220] In the stabilization control method of the present application, there is also a closed loop correction logic. Every 0.2 seconds, the predicted value is compared with the actual sensor data, and when the deviation is greater than 10%, the PID (Proportional-Integral-Derivative) compensator is triggered to adjust the torque output of the flywheel gyro, and the weights of the LSTM model are updated.

[0221] In the case of normal verification, S2232 is performed.

[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 gyro, and the weight of the LSTM model is updated.

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

[0225] S2232, state stable retention.

[0226] S2233, emergency mode.

[0227] The working mode of the multi-modal gyro stabilization system is emergency mode.

[0228] S2234, multi-data fusion.

[0229] Obtain radar wave measurement data and ship load parameters; input radar wave measurement data, ship load parameters, satellite positioning data, IMU data and weather data into the ship motion prediction model; the ship motion prediction model outputs prediction data. The prediction data includes the swing direction, swing amplitude and swing period of the ship.

[0230] S2235, LSTM multi-step prediction.

[0231] A ship motion prediction model is established through an LSTM neural network model, and the swing direction, swing amplitude and swing period of the ship are predicted according to the ship motion prediction model.

[0232] S2236, three gyro torque distribution.

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

[0234] S2237, phase difference synchronous control.

[0235] The control mode of the flywheel gyroscopes is phase difference, and the maximum torque output time of each set of flywheel gyroscopes is staggered by one quarter of a cycle.

[0236] S2238, wave height classification.

[0237] Continuously obtain wave height data, and determine a safety response level according to the wave height data; the safety response level includes a first response level and a second 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 configured to obtain wave height data and switch the working mode of the multi-modal gyro stabilization system 110 according to the wave height data; the working mode includes a normal mode and an emergency mode.

[0254] In a specific embodiment, the wave height data is obtained by a wave height meter. The wave height meter is a sensor for monitoring the wave height of the working sea area in real time, and the data acquisition frequency of the wave height meter is 0.5 seconds / time.

[0255] The multi-modal gyro stabilization system 110 has two working modes, namely a normal mode and an emergency mode.

[0256] When the multi-modal gyro stabilization system 110 is in the normal mode, one of the groups of flywheel gyroscopes 111 is controlled to work alone.

[0257] When the multi-modal gyro stabilization system 110 is in the normal mode, the groups of flywheel gyroscopes 111 are controlled to work cooperatively.

[0258] The prediction model establishing unit 320 is configured to establish a ship motion prediction model based on an LSTM neural network model, and predict the swing direction, swing amplitude and swing period of the ship 120 according to the ship motion prediction model.

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

[0260] The swing direction, swing amplitude and swing period of the ship 120 are predicted by the ship motion prediction model, and one of the groups of flywheel gyroscopes 111 is controlled to work alone or the groups of flywheel gyroscopes 111 are controlled to work cooperatively according to the swing direction, swing amplitude and swing period of the ship 120, so as to realize motion compensation.

[0261] The control unit 330 is configured to control one of the groups of flywheel gyroscopes 111 to work according to the swing direction, swing amplitude and swing period when the multi-modal gyro stabilization system 110 is in the normal mode, and control the groups of flywheel gyroscopes 111 to work cooperatively according to the swing direction, swing amplitude and swing period when the multi-modal gyro stabilization system 110 is in the emergency mode.

[0262] By controlling one of the groups of flywheel gyroscopes 111 to work alone or the groups of flywheel gyroscopes 111 to work cooperatively, the attitude of the ship 120 is adjusted, and the swing amplitude of the pilot ship is reduced.

[0263] The present application aims to provide a stable control system 300 for the boarding and disembarking operation of a pilot boat, which selects the working mode of a multi-mode gyro stabilization system 110 according to the obtained wave height data, and controls one group of flywheel gyros 111 to work alone or multiple groups of flywheel gyros 111 to work in coordination in combination with the swing direction, swing amplitude and swing period. This control mode can adjust the attitude of the ship 120 through the flywheel gyros 111 when the pilot boat is lapping a large ship, so as to reduce the swing amplitude of the pilot boat and reduce the safety hazard.

[0264] It should be noted that the swing direction, swing amplitude and swing period of the ship 120 are predicted through a ship motion prediction model, and one group of flywheel gyros 111 is controlled to work alone or multiple groups of flywheel gyros 111 are controlled to work in coordination in advance according to the swing direction, swing amplitude and swing period of the ship 120, so as to realize motion compensation and keep the attitude of the pilot boat stable, which is beneficial to improve the safety performance and is suitable for safely transferring pilots in severe sea conditions.

[0265] In an embodiment of the present application, as shown in Figure 9 The electronic device 400 includes a memory 410 and a processor 420. The memory 410 stores programs or instructions executable on the processor 420, and the processor 420 implements the steps of the stable control method for the boarding and disembarking operation of a pilot boat in any of the above embodiments when executing the programs or instructions. The electronic device 400 has the beneficial effects of any of the above embodiments, which will not be repeated here.

[0266] In an embodiment of the present application, the readable storage medium stores programs or instructions, which implement the steps of the stable control method for the boarding and disembarking operation of a pilot boat in any of the above embodiments when executed by the processor. The readable storage medium has the beneficial effects of any of the above embodiments, which will not be repeated here.

[0267] In the present application, the terms "first", "second", "third" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance; the term "multiple" refers to two or more, unless otherwise explicitly limited. The terms "mounting", "connecting", "connecting", "fixing" and the like should be broadly understood, for example, "connecting" can be fixed connection, or detachable connection, or integral connection; "connecting" can be direct connection, or indirect connection through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0268] In the description of the application, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the application and simplifying the description, and do not indicate or imply that the device or unit referred to must have a particular direction, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0269] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "a specific embodiment" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0270] The above is only the preferred embodiment of the present application, and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for stabilizing control of a pilot boat during embarkation and disembarkation, characterized by, The application is applied to a multi-modal gyro stabilization system, and the multi-modal gyro stabilization system comprises a plurality of sets of flywheel gyroscopes; At least one set of installation axes of the flywheel gyroscopes is arranged along a roll direction of the ship, at least one set of installation axes of the flywheel gyroscopes is arranged along a pitch direction of the ship, and at least one set of installation axes of the flywheel gyroscopes is arranged along a yaw direction of the ship; The stabilization control method comprises: Obtaining wave height data and switching a working mode of the multi-modal gyro stabilization system according to the wave height data; wherein the working mode comprises a normal mode and an emergency mode; A ship motion prediction model is established based on an LSTM neural network model, and a swing direction, a swing amplitude and a swing period of the ship are predicted according to the ship motion prediction model; In a case where the multi-modal gyro stabilization system is in the normal mode, one set of the plurality of sets of flywheel gyroscopes is controlled to work according to the swing direction, the swing amplitude and the swing period; in a case where the multi-modal gyro stabilization system is in the emergency mode, the plurality of sets of flywheel gyroscopes are controlled to work cooperatively according to the swing direction, the swing amplitude and the swing period.

2. The method of claim 1, wherein The ship motion prediction model is established based on the LSTM neural network model, and the swing direction, the swing amplitude and the swing period of the ship are predicted according to the ship motion prediction model, and the ship motion prediction model comprises: Satellite positioning data, IMU data and weather data are obtained; The ship motion prediction model is established based on the LSTM neural network model according to the satellite positioning data, the IMU data and the weather data; The swing direction, the swing amplitude and the swing period of the ship are predicted according to the ship motion prediction model.

3. The method of claim 2, wherein The swing direction, the swing amplitude and the swing period of the ship are predicted according to the ship motion prediction model, and the method comprises: Sampling data within a first time length is obtained; The swing direction, the swing amplitude and the swing period of the ship within a second time length are predicted according to the sampling data based on the ship motion prediction model; wherein the second time length is less than the first time length.

4. The method of claim 1, wherein The swing direction comprises a roll direction of the ship, a pitch direction of the ship and a yaw direction of the ship.

5. The method of controlling the boarding and disembarking of a pilot boat according to any one of claims 1 to 4, characterized in that, The wave height data is obtained, and the working mode of the multi-modal gyro stabilization system is switched according to the wave height data; wherein the working mode comprises a normal mode and an emergency mode, and the method comprises: The wave height data is obtained, and an average wave height of a current sea surface is determined according to the wave height data; In a case where the average wave height is less than a preset threshold, the working mode of the multi-modal gyro stabilization system is set to the normal mode; In a case where the average wave height is greater than or equal to the preset threshold, the working mode of the multi-modal gyro stabilization system is set to the emergency mode.

6. The method of claim 5, wherein the method further comprises: The wave height data is obtained, and the average wave height of the current sea surface is determined according to the wave height data, and the method comprises: The wave height data is obtained by a wave height instrument, or the wave height data is obtained from a weather data platform; The average wave height of the current sea surface is determined according to the wave height data.

7. The method of stabilizing control for boarding and disembarking of a pilot boat according to any one of claims 1 to 4, characterized by, In the case that the multi-modal gyro stabilization system is in the normal mode, according to the swing direction, the swing amplitude and the swing period, one group of the plurality of groups of flywheel gyroscopes is controlled to work; In the case that the multi-modal gyro stabilization system is in the emergency mode, according to the swing direction, the swing amplitude and the swing period, the plurality of groups of flywheel gyroscopes are controlled to work cooperatively, including: In the case that the multi-modal gyro stabilization system is in the normal mode, according to the swing direction, the swing amplitude and the swing period, one group of the plurality of groups of flywheel gyroscopes is determined to work, and the rotation speed and the rotation angle of the flywheel gyroscope are determined; according to the rotation speed and the rotation angle, the flywheel gyroscope is controlled to work; In the case that the multi-modal gyro stabilization system is in the emergency mode, according to the swing direction, the swing amplitude and the swing period, the rotation speed and the rotation angle corresponding to each group of the plurality of groups of flywheel gyroscopes are determined; according to the rotation speed and the rotation angle, the plurality of groups of flywheel gyroscopes are controlled to work cooperatively.

8. A system for stabilizing a pilot boat during embarkation and disembarkation operations, characterized in that Comprising: A working mode switching unit (310) is configured to acquire wave height data, and switch a working mode of a multi-modal gyro stabilization system (110) according to the wave height data; wherein the working mode includes a normal mode and an emergency mode; A prediction model establishing unit (320) is configured to establish a ship motion prediction model based on an LSTM neural network model, and predict a swing direction, a swing amplitude and a swing period of a ship (120) according to the ship motion prediction model; A control unit (330) is configured to, in the case that the multi-modal gyro stabilization system (110) is in the normal mode, control one group of a plurality of groups of flywheel gyroscopes (111) to work according to the swing direction, the swing amplitude and the swing period; and in the case that the multi-modal gyro stabilization system (110) is in the emergency mode, control the plurality of groups of flywheel gyroscopes (111) to work cooperatively according to the swing direction, the swing amplitude and the swing period.

9. An electronic device, comprising: Comprising: A memory (410) and a processor (420), wherein the memory (410) stores programs or instructions executable on the processor (420), and the processor (420) implements the steps of the method for stabilizing control of pilot boarding and disembarking operations according to any one of claims 1 to 7 when executing the programs or the instructions.

10. A readable storage medium, characterized by, The readable storage medium stores programs or instructions, and the programs or the instructions are executed by the processor to implement the steps of the method for stabilizing control of pilot boarding and disembarking operations according to any one of claims 1 to 7.

Images