A remote control system and method for a marine valve and liquid level

Abstract

The present application relates to the technical field of control system data processing, and especially relates to a ship valve remote control and liquid level remote measurement system and method, which comprises a data acquisition module that acquires data and sends the data to a distributed control module; the distributed control module connects sensors and control units by using a local ring network, and generates valve opening degree instructions and liquid level state information in parallel; a multi-path communication module transmits liquid level state information through a satellite network, and switches the local ring network to transmit valve opening degree instructions when the satellite signal is interrupted; an execution feedback module drives a hydraulic actuator to adjust the valve opening degree, and collects actual position data and liquid level change amount; a dynamic monitoring module compares target and actual opening degree values to generate deviation data, and activates a fire alarm signal when the liquid level change rate exceeds a threshold value; and a load calculation module calls maintenance database data to generate trimming alarm parameters and maps the parameters to a cabin distribution diagram. The system solves the problems of ship valve control feedback lag and fire response delay.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of control system data processing, and in particular to a ship valve remote control and liquid level remote measurement system and method. BACKGROUND

[0002] The ship valve plays a key control role in the ship fluid system, and its mechanical energy is mainly input through operating mechanisms such as handwheels, levers or actuators, converted into linear or rotary motion, and used to drive the valve disc to change position, thereby adjusting or blocking fluid flow; this process involves mechanical energy overcoming fluid pressure, friction and sealing resistance to achieve reliable operation of the valve, and based on the principle of energy conservation, effective transmission of mechanical energy ensures the stability and safety of system function.

[0003] The existing ship valve control and liquid level monitoring technology has the following technical pain points: the lack of distributed control architecture causes multiple sensor data to be unable to be processed cooperatively, the ballast tank liquid level sensor signal needs to be transferred to the centralized controller through a single point, and the feedback delay exceeds the safety threshold; the real-time performance of the multi-path communication is insufficient, so that there is no redundant backup when the satellite or local network transmission is interrupted, and the engine room valve opening instruction cannot be executed in real time. For example, in the ballast water deployment scene of an ocean voyage, the delay of uploading liquid level change data causes the load calculation of the loading computer to deviate, causing the imbalance of the cargo hold trim; for example, in the emergency scene of the engine room fire fighting system, the valve position feedback lag causes the fire pump start-stop instruction to be out of tune with the pipeline pressure, delays the fire response time, and violates the ship safety specification. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a ship valve remote control and liquid level remote measurement system and method, which solves the technical problems of ballast tank / engine room key equipment operation state feedback lag, valve opening control error, and subsequent ballast water density monitoring failure and fire fighting system response delay caused by the lack of distributed control architecture and insufficient real-time performance of multi-path communication in the existing ship valve control and liquid level monitoring system.

[0005] To solve the above technical problems, the specific content of the present application is as follows:

[0006] In a first aspect, the present application provides a ship valve remote control and liquid level remote measurement system, comprising:

[0007] A data acquisition module acquires valve state sensing data and liquid tank liquid level sensing data, and sends the valve state sensing data and the liquid tank liquid level sensing data to a distributed control module, respectively;

[0008] A distributed control module receives valve state sensor data and tank level sensor data, adopts a ring network to connect the level sensor, the valve state sensor and the control unit to form a local ring network, and performs in parallel: opening degree calculation on the valve state sensor data to generate a valve opening degree instruction; state analysis on the tank level sensor data to generate level state information; and sending the valve opening degree instruction and the level state information to a multi-path communication module;

[0009] A multi-path communication module receives the valve opening degree instruction and the level state information, transmits the level state information to a land management center server through a satellite network, sends the valve opening degree instruction to a mobile terminal through a mobile application when the satellite signal is available, and switches to a local ring network to transmit the valve opening degree instruction to an execution feedback module when the satellite signal is interrupted.

[0010] An execution feedback module receives the valve opening degree instruction, drives a hydraulic actuator to adjust the ballast tank valve opening degree, generates a fire pump start-stop signal according to the ballast tank valve opening degree value, collects actual valve position data and tank level change amount, and sends the actual valve position data and the tank level change amount to a dynamic monitoring module.

[0011] A dynamic monitoring module receives the actual valve position data and the tank level change amount, compares the target opening degree value in the valve opening degree instruction with the actual valve position data to generate deviation data, activates a machine cabin fire alarm signal when the change rate of the tank level change amount exceeds a preset threshold, and stores the deviation data, the tank level change amount and the machine cabin fire alarm signal in a maintenance database.

[0012] A load calculation module calls the tank level change amount in the maintenance database, calculates the real-time load distribution value of the ballast tank, and calculates the relative deviation of the real-time load distribution value relative to the target load distribution value, generates a trim alarm parameter when the relative deviation is greater than a preset threshold, and maps the trim parameter to a cabin distribution map of a ship control interface.

[0013] Further, the ship valve remote control and liquid level remote measurement system of the present application, the multi-path communication module is configured to:

[0014] transmit the level state information to the management center server through the satellite network;

[0015] push the valve opening degree instruction to the mobile terminal through the mobile application;

[0016] when the satellite signal is interrupted, switch to the local ring network to transmit the valve opening degree instruction to the execution feedback module.

[0017] Further, the ship valve remote control and liquid level remote measurement system of the present application, the distributed control module comprises:

[0018] The master control unit receives valve state sensing data and liquid tank level sensing data, performs opening degree calculation on the valve state sensing data to generate a valve opening degree instruction, and sends the valve opening degree instruction to the execution unit through a local ring network;

[0019] The execution unit receives the valve opening degree instruction through the local ring network and drives the hydraulic actuator to adjust the valve position;

[0020] The master control unit also receives fire pump pressure sensing data through the local ring network;

[0021] The execution unit also receives fire pump pressure sensing data through the local ring network, and when driving the hydraulic actuator, adjusts the valve position in real time according to the fire pump pressure sensing data.

[0022] Further, the ship valve remote control and liquid level remote measurement system of the present application, the execution unit comprises:

[0023] The digital quantity control sub-unit receives the valve opening degree instruction and converts the valve opening degree instruction into a hydraulic pump control signal;

[0024] The analog quantity feedback sub-unit collects hydraulic actuator displacement feedback signals and fire pump pressure sensing data, and generates valve opening degree calibration parameters according to the hydraulic actuator displacement feedback signals and fire pump pressure sensing data;

[0025] The digital quantity control sub-unit receives the valve opening degree calibration parameters and corrects the hydraulic pump control signal.

[0026] Further, the ship valve remote control and liquid level remote measurement system of the present application, the dynamic monitoring module is configured to:

[0027] Receive actual valve position data and liquid tank level change amount;

[0028] Compare the target opening value in the valve opening degree instruction with the actual valve position data to generate deviation data;

[0029] When the change rate of the liquid tank level change amount exceeds a preset threshold, activate the engine room fire alarm signal;

[0030] Store the deviation data, liquid tank level change amount and engine room fire alarm signal to the maintenance database.

[0031] Further, the ship valve remote control and liquid level remote measurement system of the present application further comprises a permission management module, and the permission management module is configured to perform permission verification, and the permission verification comprises:

[0032] Receive the ballast tank valve control instruction sent by the captain terminal of the system preset, and authorize the feedback module to execute the ballast tank valve control instruction;

[0033] The intercept system pre-set the wheel department terminal access request of the trim alarm parameter in the load calculation module;

[0034] After verifying the system pre-set service engineer terminal identity, the data write permission of the maintenance database is opened.

[0035] Further, the ship valve remote control and liquid level telemetry system of the present application, the feedback module includes three control nodes, three control nodes include drive node, deck control node and bridge node:

[0036] The drive node converts the valve opening instruction into the displacement of the hydraulic actuator and outputs to the hydraulic actuator;

[0037] The deck control node receives the operator input instruction through the manual operation interface, generates the manual valve control signal according to the input instruction, and sends it to the drive node through the local ring network;

[0038] The bridge node receives the fire pump pressure sensor data, analyzes the fire pump pressure sensor data to obtain the pressure value, and generates the fire pump start-stop instruction according to the pressure deviation value when the pressure value is lower than the preset threshold;

[0039] The drive node responds to the manual valve control signal when receiving the manual valve control signal and interrupts the displacement output of the hydraulic actuator;

[0040] The bridge node sends the fire pump start-stop instruction to the drive node, and the drive node adjusts the valve opening according to the control parameters in the fire pump start-stop instruction.

[0041] Further, the ship valve remote control and liquid level telemetry system of the present application, the load calculation module is configured to:

[0042] Receive the liquid tank liquid level change amount stored by the dynamic monitoring module from the maintenance database as input data of the load calculation module;

[0043] Based on the liquid tank liquid level change amount, the real-time load distribution value of the ballast tank is calculated by the finite element grid analysis algorithm;

[0044] The difference between the real-time load distribution value and the target load distribution value is calculated, and the difference is divided by the target load distribution value to obtain the relative deviation percentage; compare the relative deviation percentage with the preset threshold, when the relative deviation percentage exceeds the preset threshold, generate the trim alarm parameter, and trigger the access interception of the wheel department terminal by the authority management module;

[0045] The generated trim alarm parameter is sent to the visualization module in real time, and the parameter is dynamically mapped to the cabin distribution map of the ship control interface through the visualization module, and the alarm area is activated in the cabin distribution map.

[0046] Further, the ship valve remote control and liquid level telemetry system further comprises a visualization module, the visualization module is configured to:

[0047] The actual valve position data transmitted by the execution feedback module, the cabin fire alarm signal transmitted by the dynamic monitoring module and the liquid tank liquid level change in the maintenance database are received, and the actual valve position data is displayed in the ship control interface using a color pipeline diagram.

[0048] The running state of the fire pump transmitted by the execution feedback module is marked in the fire fighting system schematic diagram of the ship control interface, and when the liquid tank liquid level change in the maintenance database exceeds the preset threshold, the alarm area is activated in the cabin distribution diagram of the ship control interface.

[0049] In the second aspect, the ship valve remote control and liquid level telemetry method is applied to the ship valve remote control and liquid level telemetry system, and comprises:

[0050] Step 1, obtain valve state sensing data and liquid tank liquid level sensing data, and send the valve state sensing data and the liquid tank liquid level sensing data to step 2 respectively;

[0051] Step 2, receive the valve state sensing data and the liquid tank liquid level sensing data, connect the liquid level sensor, the valve state sensor and the control unit to form a local ring network, and perform the following in parallel: calculate the opening of the valve state sensing data to generate a valve opening instruction; analyze the state of the liquid tank liquid level sensing data to generate liquid level state information; and send the valve opening instruction and the liquid level state information to step 3;

[0052] Step 3, receive the valve opening instruction and the liquid level state information, transmit the liquid level state information to the land management center server through the satellite network; when the satellite signal is available, send the valve opening instruction to the mobile terminal through the mobile application; when the satellite signal is interrupted, switch to the local ring network to transmit the valve opening instruction to step 4;

[0053] Step 4, receive the valve opening instruction, drive the hydraulic actuator to adjust the ballast tank valve opening, generate a fire pump start-stop signal according to the ballast tank valve opening value, collect actual valve position data and liquid tank liquid level change, and send the actual valve position data and the liquid tank liquid level change to step 5;

[0054] Step 5, receive the actual valve position data and the liquid tank liquid level change, compare the target opening value in the valve opening instruction with the actual valve position data to generate deviation data, activate the cabin fire alarm signal when the change rate of the liquid tank liquid level change exceeds the preset threshold, and store the deviation data, the liquid tank liquid level change and the cabin fire alarm signal to the maintenance database;

[0055] Step 6, call the liquid tank liquid level change in the maintenance database, calculate the real-time load distribution value of the ballast tank, and calculate the relative deviation of the real-time load distribution value relative to the target load distribution value, and generate the trimming alarm parameter when the relative deviation is greater than the preset threshold, map the trimming parameter to the cabin distribution diagram of the ship operation interface.

[0056] The present application has the following advantages:

[0057] The present application has the following advantages: The distributed control module directly connects the liquid level sensor and the valve state sensor through the local ring network, which improves the timeliness of the cooperative processing of the ballast tank liquid level data and the valve state data and eliminates the feedback delay caused by the existing single-point transfer architecture; the multi-path communication module adopts dual-channel redundant transmission of satellite and local ring network, which automatically switches the local network transmission valve opening degree instruction when the satellite signal is interrupted, ensuring real-time synchronization of the engine room valve control instruction; the three-level control nodes of the execution feedback module establish a valve opening degree and fire pump pressure linkage mechanism, and the bridge node dynamically adjusts the valve opening degree based on the fire pump pressure sensor data, solving the problem of response lag of the fire fighting system; the load calculation module fuses the historical liquid level data of the maintenance database and the real-time analysis to generate the trimming alarm parameter, and the alarm area is accurately positioned in combination with the cabin distribution diagram of the visualization module, eliminating the risk of failure of the ballast water density monitoring; the permission management module performs three-level control through captain authorization verification, engine department access interception and service engineer identity authentication, avoiding valve control errors caused by human operation from the system level. BRIEF DESCRIPTION OF DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed in the embodiments. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor based on the drawings.

[0059] Fig. 1 It is a system overall structure diagram of a ship valve remote control and liquid level remote measurement system.

[0060] Fig. 2 It is a liquid level remote measurement system design principle schematic diagram.

[0061] Fig. 3 It is a valve remote control system composition framework diagram.

[0062] Fig. 4 It is a liquid level remote measurement system design principle schematic diagram. DETAILED DESCRIPTION

[0063] In order to make the technical solutions of the present application clearer, the present application will be described below in detail with reference to the embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application. The present application provided by the embodiments of the present application will be described in detail below with reference to the drawings. For the purpose of better understanding the present application, the present application will be further described in detail below.

[0064] In a first aspect, referring to Figs. 1 to 4 The present application provides a ship valve remote control and liquid level remote measurement system, comprising:

[0065] A data acquisition module acquires valve state sensing data and liquid tank liquid level sensing data, and sends the valve state sensing data and the liquid tank liquid level sensing data to a distributed control module respectively;

[0066] A distributed control module receives the valve state sensing data and the liquid tank liquid level sensing data, connects the liquid level sensor, the valve state sensor and the control unit to form a local ring network using a ring network, and performs in parallel: opening degree calculation on the valve state sensing data to generate a valve opening degree instruction; state analysis on the liquid tank liquid level sensing data to generate liquid level state information; and sending the valve opening degree instruction and the liquid level state information to a multi-path communication module;

[0067] A multi-path communication module receives the valve opening degree instruction and the liquid level state information, transmits the liquid level state information to a land management center server through a satellite network; when the satellite signal is available, sends the valve opening degree instruction to a mobile terminal through a mobile application; when the satellite signal is interrupted, switches to the local ring network to transmit the valve opening degree instruction to an execution feedback module;

[0068] An execution feedback module receives the valve opening degree instruction, drives a hydraulic actuator to adjust the opening degree of the ballast tank valve, generates a fire pump start / stop signal according to the opening degree value of the ballast tank valve, collects actual valve position data and liquid tank liquid level change amount, and sends the actual valve position data and the liquid tank liquid level change amount to a dynamic monitoring module;

[0069] A dynamic monitoring module receives the actual valve position data and the liquid tank liquid level change amount, compares the target opening degree value in the valve opening degree instruction with the actual valve position data to generate deviation data, activates a machine cabin fire alarm signal when the change rate of the liquid tank liquid level change amount exceeds a preset threshold, and stores the deviation data, the liquid tank liquid level change amount and the machine cabin fire alarm signal to a maintenance database;

[0070] The load calculation module calls the liquid tank liquid level change in the maintenance database, calculates the real-time load distribution value of the ballast tank, and calculates the relative deviation of the real-time load distribution value relative to the target load distribution value. When the relative deviation is greater than a preset threshold, a trimming alarm parameter is generated, and the trimming parameter is mapped to a cabin distribution map of a ship control interface.

[0071] The data acquisition module obtains valve state sensing data through an angular displacement sensor arranged at a valve shaft, and collects liquid tank liquid level sensing data by using a radar liquid level meter at the top of the ballast tank. The angular displacement sensor detects the valve opening angle change, and the radar liquid level meter emits electromagnetic waves to measure the liquid level. The data acquisition module transmits the two types of sensing data to the distributed control module through an RS485 bus shunt, wherein the valve state data is sent through a digital channel, and the liquid level data is sent through an analog channel.

[0072] The distributed control module connects the liquid level sensor group, the valve state sensor group and the Siemens S7-1200 control unit by using a ring optical fiber network. The main processor performs parallel task scheduling: Kalman filtering processing is performed on the valve opening angle data, a valve opening degree instruction is generated by using a PID algorithm, spectrum analysis is performed on the liquid level fluctuation data, and liquid level state information representing the stability of the liquid tank is generated. The ring network topology enables bidirectional transmission of sensor data, and when a single node fails, the adjacent node is automatically enabled to relay, so that the control unit continuously receives data. The generated valve opening degree instruction and the liquid level state information are sent to the multi-path communication module through an industrial Ethernet protocol.

[0073] The multi-path communication module integrates a maritime satellite transceiver and a local ZigBee wireless network. Under normal working conditions: the liquid level state information is transmitted to the land management center server through the maritime satellite link, and the valve opening degree instruction is transmitted to the crew handheld terminal through the mobile base station. When the satellite signal strength is lower than -90dBm, the system automatically switches to the local ZigBee mesh network, and the valve opening degree instruction is transmitted to the execution feedback module through the deck relay station. The communication state switching process is completed within 200ms, avoiding interruption of instruction transmission.

[0074] The execution feedback module is a closed-loop control. After receiving the valve opening degree instruction, the hydraulic actuator drives the proportional valve to adjust the oil pressure piston stroke, so that the ballast tank valve rotates to the target angle. The displacement sensor collects real-time valve position data, and the ultrasonic flowmeter synchronously records the liquid tank liquid level change. When the valve opening degree is within ±3% of the set value, the PLC outputs the fire pump start / stop signal to the engine room execution mechanism. All real-time data are sent to the dynamic monitoring module through the CAN bus.

[0075] The dynamic monitoring module compares the target angle in the valve opening instruction with the actual valve position data, and generates deviation data when the deviation lasts for 5 seconds and exceeds 5°. The first derivative of the liquid tank liquid level change amount is calculated, and if the liquid level drop rate exceeds 10 cm / min, the engine room fire alarm signal is triggered. The deviation data, liquid level change amount and alarm signal are stored in the maintenance database in SQLite format according to the time stamp, and the database adopts a dual hard disk hot standby architecture to prevent data loss.

[0076] The load calculation module accesses the maintenance database through the database interface, and calls the liquid tank liquid level change amount data set stored by the dynamic monitoring module. The maintenance database adopts a time series data table structure to store historical liquid level change amounts and associated time stamps, and the data is derived from the continuous collection and archiving of liquid tank liquid level sensing data by the dynamic monitoring module. The load calculation module performs data preprocessing, filters the liquid tank liquid level change amount, and eliminates sensor noise interference to provide a clean data source for subsequent calculations.

[0077] Based on the preprocessed liquid tank liquid level change amount, the load calculation module calculates the real-time load distribution value of the ballast tank using a finite element grid analysis algorithm. The finite element grid analysis algorithm discretizes the ship structure into independent cabin units, loads the ship waterline parameters and tank capacity curve data, and performs three-dimensional interpolation operation on the liquid tank liquid level change amount. The interpolation process combines the seawater density compensation coefficient to output the real-time load distribution value digital matrix of the ballast tank, and the matrix elements represent the real-time load state of each cabin unit.

[0078] The load calculation module calculates the difference between the real-time load distribution value and the target load distribution value, and divides the difference by the target load distribution value to obtain the relative deviation percentage. The relative deviation percentage calculation uses scalar division operation, and the target load distribution value is derived from the loading plan or the preset trim model. The load calculation module compares the relative deviation percentage with the preset threshold value, and generates a trim alarm parameter when the relative deviation percentage exceeds the preset threshold value. The trim alarm parameter includes the deviation amount, the cabin identifier and the adjustment suggestion vector.

[0079] The generated trim alarm parameter is sent to the visualization module in real time, and the parameter is dynamically mapped to the cabin distribution graph of the ship control interface through the visualization module. The visualization module analyzes the trim alarm parameter and identifies the alarm area in the cabin distribution graph using a color gradient algorithm, and the red highlight indicates the cabin that needs to be adjusted. The mapping process involves coordinate conversion and rendering engine cooperation to accurately correspond the trim alarm parameter to the cabin space position.

[0080] Specifically, the ship valve remote control and liquid level remote measurement system of the present application is configured as follows:

[0081] transmit the liquid level state information to the management center server through the satellite network;

[0082] Push valve opening instruction to mobile terminal through mobile application;

[0083] Switch to local ring network to transmit valve opening instruction to execution feedback module when satellite signal is interrupted.

[0084] Multi-path communication module deploys maritime satellite transceiver, transmits liquid level state information to land management center server through Inmarsat satellite network in TCP / IP protocol encapsulation. Land management center server is configured with special data analysis interface to convert liquid level state information into monitoring interface readable data format in real time.

[0085] Module integrates mobile application communication protocol stack, encodes valve opening instruction into JSON format data packet when satellite signal strength is higher than receiving threshold, and pushes it to crew handheld terminal through HTTPS protocol. Crew handheld terminal is installed with ship special control application, and valve opening control parameters and execution confirmation options are displayed after JSON data packet is parsed.

[0086] Local ring network adopts dual-frequency ZigBee mesh topology and is deployed in key areas of ship deck and engine room. When satellite signal strength is continuously lower than receiving threshold, communication controller automatically activates network switching program to re-route valve opening instruction to local ring network. Instruction data is encrypted by AES-256 and transmitted to execution feedback module through the nearest relay node.

[0087] During network switching process, communication quality monitoring unit collects link state data in real time, and when it is detected that transmission delay exceeds the set value, the standby frequency band is immediately used to reconstruct the communication path. Instruction data is cached in the local ring network controller during reconstruction, and is retransmitted according to priority after the path is restored.

[0088] Maritime satellite transceiver and local ring network share physical antenna array, and communication resources are dynamically allocated through software-defined radio technology. Resource scheduling algorithm dynamically adjusts based on signal strength, data packet priority and network load state, so that the transmission of liquid level state information and valve opening instruction always maintains the optimal path.

[0089] Specifically, the ship valve remote control and liquid level remote measurement system of the present application comprises:

[0090] The main control unit receives valve state sensing data and liquid tank liquid level sensing data, calculates the opening degree of the valve state sensing data to generate a valve opening instruction, and sends the valve opening instruction to the execution unit through the local ring network;

[0091] The execution unit receives the valve opening instruction through the local ring network and drives the hydraulic actuator to adjust the valve position.

[0092] The master control unit also receives fire pump pressure sensor data through the local ring network;

[0093] The execution unit also receives fire pump pressure sensor data through the local ring network, and calibrates the valve position in real time according to the fire pump pressure sensor data when driving the hydraulic actuator.

[0094] The master control unit receives valve state sensor data and tank level sensor data through the RS485 bus of the local ring network. When calculating the opening degree of the valve state sensor data, a proportional-integral-derivative algorithm is used to process the angular displacement signal to generate a valve opening instruction including a target opening angle. The generated valve opening instruction is broadcasted to the execution unit through the Ethernet protocol of the local ring network, and a data check code is added during transmission to prevent signal distortion.

[0095] The execution unit receives the valve opening instruction through the data monitoring port of the local ring network. After the target opening angle value is extracted by the instruction analysis module, the hydraulic proportional valve is driven to adjust the oil line pressure, and the hydraulic actuator piston rod displacement is controlled. The piston rod displacement and the valve opening angle establish a linear mapping relationship, realizing accurate adjustment of the valve position.

[0096] The fire pump pressure sensor data is collected by a piezoresistive sensor installed in the engine room pipeline and transmitted to the master control unit through the CAN bus of the local ring network. The data buffer area of the master control unit performs sliding average filtering on the fire pump pressure sensor data to eliminate pressure pulsation noise and generate a stable pressure value data packet.

[0097] The execution unit obtains the fire pump pressure sensor data through the shared memory area of the local ring network. During the driving process of the hydraulic actuator, when it is detected that the fire pump pressure value is lower than the set threshold, the calibration program is automatically triggered. Based on the pressure-flow characteristic curve, the control voltage value of the hydraulic proportional valve is corrected in real time to compensate for the influence of pressure fluctuation on the valve opening control accuracy.

[0098] The ring network adopts a dual-ring redundant topology, and two independent communication paths are established between the master control unit and the execution unit. When the signal quality of the main communication path decreases, the network controller automatically switches to the backup path to transmit data. The path switching process performs seamless connection mechanism to control the valve opening instruction transmission delay within milliseconds.

[0099] The execution monitoring thread of the master control unit periodically scans the execution unit state register. When it detects abnormal valve position feedback data, it immediately sends an instruction to terminate the hydraulic actuator action, and at the same time broadcasts a fault alarm code through the local ring network. The alarm code includes the valve position deviation and the hydraulic system pressure value for reference for maintenance personnel.

[0100] Specifically, the ship valve remote control and liquid level remote measurement system of the application, the execution unit comprises:

[0101] The digital quantity control subunit receives the valve opening instruction, converts the valve opening instruction into a hydraulic pump control signal;

[0102] The analog feedback subunit collects the hydraulic actuator displacement feedback signal and the fire pump pressure sensing data, and generates a valve opening calibration parameter according to the hydraulic actuator displacement feedback signal and the fire pump pressure sensing data;

[0103] The digital quantity control subunit receives the valve opening calibration parameter and corrects the hydraulic pump control signal.

[0104] The digital quantity control subunit receives the valve opening instruction through the Modbus protocol of the local ring network. The instruction analysis module converts the digital instruction signal into a pulse width modulation waveform, and outputs the hydraulic pump control signal through the power amplification circuit. The conversion process adopts a table lookup method to match the opening angle value and the driving voltage curve, so as to maintain the linear correspondence between the control signal and the target opening.

[0105] The hydraulic actuator displacement feedback signal is collected by the LVDT sensor built in the piston rod, and the feedback signal is transmitted in the form of 4-20mA analog current. The analog feedback subunit is configured with a high-precision ADC conversion circuit to synchronously collect the displacement feedback signal and the fire pump pressure sensing data. The collected data is input into the microprocessor after digital filtering, and the valve opening calibration parameter is calculated through a pre-set hydraulic system transfer function.

[0106] When the microprocessor executes the calibration algorithm, a coupling model of the displacement feedback signal and the fire pump pressure sensing data is established. The model output compensation coefficient is used as the valve opening calibration parameter, and the parameter value is transmitted to the data register of the digital quantity control subunit through the CAN bus. The transmission process adopts cyclic redundancy check to ensure data integrity.

[0107] After the digital quantity control subunit receives the valve opening calibration parameter, the signal correction program is started. The correction program superimposes the calibration parameter on the original hydraulic pump control signal to generate a compensated driving voltage waveform. The compensated control signal is output to the hydraulic proportional valve through the isolation amplifier to eliminate the valve positioning deviation caused by pressure fluctuation.

[0108] The control signal correction process is performed in real time, and the hydraulic actuator is triggered once for parameter update every 0.5mm displacement. The displacement is detected by an optical encoder, and the encoder pulse signal triggers the microprocessor interrupt service program to ensure that the correction action is synchronized with the mechanical movement.

[0109] The hydraulic system state monitoring thread continuously records the control signal correction log. The log includes the original control signal waveform, calibration parameter values, and the corrected output signal, and the log data is stored in the ring network shared storage area. Maintenance personnel can access the log through the network interface to analyze the dynamic response characteristics of the hydraulic system.

[0110] Specifically, the ship valve remote control and liquid level remote measurement system of the present application, the dynamic monitoring module is configured to:

[0111] receive actual valve position data and liquid tank liquid level change amount;

[0112] compare the target opening value in the valve opening instruction with the actual valve position data to generate deviation data;

[0113] when the change rate of the liquid tank liquid level change amount exceeds the preset threshold, activate the engine room fire alarm signal;

[0114] store the deviation data, liquid tank liquid level change amount and engine room fire alarm signal to the maintenance database.

[0115] The dynamic monitoring module receives the actual valve position data transmitted by the execution feedback module through the CAN bus interface, and obtains the liquid tank liquid level change amount through the Ethernet link. The actual valve position data includes real-time angle values collected by the hydraulic actuator displacement sensor, and the liquid tank liquid level change amount is derived from the minute sampling data set of the radar liquid level meter.

[0116] The comparison program calls the valve opening instruction in the storage unit to extract the target opening value digital quantity. The microprocessor differentiates the target opening value and the actual valve position data to generate deviation data including angle deviation and time stamp. The calculation process uses a sliding window algorithm to eliminate transient noise interference of the sensor, and the deviation data accuracy is controlled within 0.1 degrees.

[0117] The liquid tank liquid level change rate monitoring unit performs a first derivative operation to analyze the trend of the liquid level change amount in the continuous sampling period. When the derivative operation result exceeds the preset threshold, the digital logic circuit activates the alarm signal generator. The alarm signal generator outputs the engine room fire alarm signal conforming to the MODBUS protocol, which includes the trigger time, cabin number and liquid level change rate value.

[0118] The data archiving engine packages the deviation data, liquid tank liquid level change amount and alarm signal into a structured data packet. The structured data packet adds a cyclic redundancy check code and is written into the time sequence data table of the maintenance database. The database adopts a dual-node hot backup architecture, and automatically switches to the standby node for continuous storage operation when the main node fails.

[0119] The maintenance database configures an automatic cleaning strategy, and the time series data table is updated in a 72-hour period. The cleaning program retains a high-value data segment of 10 minutes before and after the alarm trigger, and the data in the non-alarm period is compressed and stored in the historical storage area. The historical storage area data supports retrieval and analysis according to the ship navigation log time period.

[0120] The database management interface opens an open structured query language access channel, and authorized terminals can call data through a standard database connection protocol. The access request is filtered through the permission verification module, and the chief engineer and above permission accounts can perform original data export operations. The data export format is compatible with industrial standard data analysis tools.

[0121] Specifically, the ship valve remote control and liquid level remote measurement system of the application further comprises a permission management module configured to perform permission verification, and the permission verification comprises:

[0122] Receiving the ballast tank valve control instruction sent by the captain terminal preset by the system, the authorized execution feedback module executes the ballast tank valve control instruction;

[0123] Intercepting the access request of the engine department terminal to the trim alarm parameter in the load calculation module;

[0124] After verifying the identity of the service engineer terminal preset by the system, the data write permission of the maintenance database is opened.

[0125] The permission management module deploys a role-based access control engine, and the engine has a three-level permission strategy library of the captain, the engine department and the service engineer. When the captain terminal sends the ballast tank valve control instruction through the ship internal Ethernet, the instruction message is attached with the digital certificate of the captain. The certificate verification unit uses the RSA-2048 algorithm to verify the validity of the certificate, and sends an authorization token to the execution feedback module after verification.

[0126] The authorization token includes instruction number, timestamp and operation permission code, and a digital signature is generated through the HMAC-SHA256 algorithm. The execution feedback module checks the integrity and timeliness of the token before executing the instruction, and executes the hydraulic actuator control action if the token is valid. The token is valid for 5 minutes, and the expired instruction is automatically discarded.

[0127] When the engine department terminal initiates a data access request, the network sniffer captures the API call message of the load calculation module. The message parser extracts the trim alarm parameter access identifier in the request, and compares it with the engine department access rules in the permission strategy library. When the rule prohibits access to the data field with the identifier ALM_Param, the firewall immediately discards the request packet and generates an interception log.

[0128] Intercept the log record request source IP, target parameter name and intercept time, and write the log into a read-only storage area. The read-only storage area uses a physical write protection switch to prevent privilege escalation attacks from tampering with the log content. The log analysis thread generates a daily access violation statistical report and pushes it to the captain terminal display interface.

[0129] When the service engineer terminal connects the system maintenance port, a two-way authentication process is started. The terminal needs to submit a hardware dongle issued by the ship management center and input a dynamic SMS verification code. The verification server checks the validity of the dynamic code through a time synchronization algorithm and detects whether the device fingerprint code in the dongle is in the authorized list.

[0130] After authentication, the permission management module sends a temporary write permission certificate to the maintenance database. The certificate limits the range of database tables and field lists that the service engineer can edit, and SQL instructions outside the range are filtered by the database driver layer. The permission validity period is dynamically set according to the maintenance order duration, with a maximum of 8 hours.

[0131] The permission change audit module monitors all permission operation records and generates an audit trail including the permission subject, operation object and timestamp. The audit data is stored in a separate secure chip after AES-GCM encryption. The chip physical interface disables the debug mode to prevent unauthorized data export.

[0132] Specifically, the ship valve remote control and liquid level remote measurement system of the present application includes a three-level control node in the feedback module, including a drive node, a deck control node and a cab node:

[0133] The drive node converts the valve opening instruction into a hydraulic actuator displacement amount and outputs it to the hydraulic actuator;

[0134] The deck control node receives operator input instructions through a manual operation interface and generates manual valve control signals according to the input instructions, which are sent to the drive node through a local ring network;

[0135] The cab node receives fire pump pressure sensor data, analyzes the fire pump pressure sensor data to obtain a pressure value, and generates a fire pump start / stop instruction according to the pressure deviation value when the pressure value is below a preset threshold;

[0136] The drive node responds to the manual valve control signal when it receives the manual valve control signal and interrupts the hydraulic actuator displacement amount output;

[0137] The cab node sends the fire pump start / stop instruction to the drive node, and the drive node adjusts the valve opening degree according to the control parameters in the fire pump start / stop instruction.

[0138] The drive node is arranged in the hydraulic control cabinet, and a core processor analyzes a received valve opening degree instruction digital signal. An instruction conversion module adopts a digital-to-analog conversion circuit to linearly map the opening degree angle value to a 0-10V analog voltage signal. The voltage signal drives a proportional electromagnetic valve to adjust the hydraulic oil flow, and controls the displacement amount of the hydraulic actuator piston. A displacement amount feedback sensor monitors the piston stroke in real time, forming a closed-loop control loop.

[0139] The deck control node is arranged on the operation table in the cargo control room, and a control panel with a physical emergency stop button is arranged. When the operator rotates the panel knob, the potentiometer generates an analog voltage signal. The signal conditioning circuit converts the voltage signal into a 4-20mA standard current signal, which is packaged into a manual valve control signal through the RS485 bus. The signal data packet adds the deck node identification code, and is transmitted to the drive node through the local ring network.

[0140] The cab node integrates the fire control system monitoring terminal, and the pressure transmitter continuously collects the fire pump outlet pressure sensing data. The data processing unit performs sliding average filtering on the pressure data, and when the pressure value of 5 consecutive sampling periods is lower than the preset threshold value, the alarm state machine is triggered. The state machine outputs a relay action signal, and generates a fire pump start-stop instruction including the target valve opening degree.

[0141] The drive node sets a priority arbitration mechanism, and when the manual valve control signal and the automatic opening degree instruction are received at the same time, the hydraulic actuator displacement output is interrupted. The interrupt signal triggers the hydraulic latch valve to act, and locks the current piston position. The arbitration logic sets the manual control signal as the highest priority, and covers the automatic control program output value.

[0142] The fire pump start-stop instruction generated by the cab node includes an encrypted verification code, which is transmitted to the drive node through the optical fiber special line. After verifying the validity of the verification code, the drive node starts the linkage control program. The program dynamically calculates the compensation coefficient based on the fire pump pressure sensing data, adjusts the valve opening degree target value, so that the valve opening degree and the fire system pressure establish a cooperative response relationship.

[0143] The three-level node state monitoring data is real-time aggregated to the central log system. The log records the drive node displacement output value, the deck node manual signal strength and the cab node pressure monitoring value. The log data is stored in minutes, supports time axis playback control process, and is used for accident tracing and system optimization.

[0144] Specifically, the ship valve remote control and liquid level remote measurement system of the application is characterized in that the load calculation module is configured to:

[0145] Receive the liquid tank liquid level change amount stored by the dynamic monitoring module from the maintenance database as the input data of the load calculation module;

[0146] Based on the liquid tank level change amount, the real-time load distribution value of the ballast tank is calculated by a finite element grid analysis algorithm;

[0147] The difference between the real-time load distribution value and the target load distribution value is calculated, and the relative deviation percentage is obtained by dividing the difference by the target load distribution value. The relative deviation percentage is compared with the preset threshold value, and when the relative deviation percentage exceeds the preset threshold value, a trimming alarm parameter is generated, and the access interception of the engine department terminal by the authority management module is triggered;

[0148] The generated trimming alarm parameter is sent to the visualization module in real time, and the parameter is dynamically mapped to the cabin distribution graph of the ship control interface by the visualization module, and the alarm area is activated in the cabin distribution graph.

[0149] The load calculation module receives the liquid tank level change amount stored by the dynamic monitoring module from the maintenance database as input data. The maintenance database stores historical liquid level change amounts and associated time stamps, which are derived from the continuous monitoring and archiving of the liquid tank level change amount by the dynamic monitoring module. The load calculation module accesses the maintenance database through a database interface, extracts the liquid tank level change data set, and performs filtering on the data set in the data preprocessing stage to eliminate sensor noise interference and provide a clean data source for subsequent calculations.

[0150] Based on the liquid tank level change amount, the load calculation module calculates the real-time load distribution value of the ballast tank using a finite element grid analysis algorithm. The finite element grid analysis algorithm discretizes the ship structure into independent cabin units, loads the ship waterline parameters and cabin capacity curve data, and performs three-dimensional interpolation operations on the liquid tank level change amount. The interpolation process combines the seawater density compensation coefficient to output a real-time load distribution value digital matrix of the ballast tank, and the matrix elements represent the real-time load state of each cabin unit.

[0151] The load calculation module calculates the difference between the real-time load distribution value and the target load distribution value, and obtains the relative deviation percentage by dividing the difference by the target load distribution value. The relative deviation percentage is compared with the preset threshold value, and when the relative deviation percentage exceeds the preset threshold value, a trimming alarm parameter is generated, and the preset threshold value can be 5%. The trimming alarm parameter includes the deviation amount, cabin identification and adjustment suggestion, and simultaneously triggers the access interception mechanism of the engine department terminal by the authority management module to prevent unauthorized access to the trimming alarm parameter.

[0152] The generated trimming alarm parameter is sent to the visualization module in real time, and the parameter is dynamically mapped to the cabin distribution graph of the ship control interface by the visualization module. The visualization module analyzes the trimming alarm parameter and identifies the alarm area in the cabin distribution graph with a color gradient, with red highlighting indicating that the cabin needs to be adjusted. After the alarm area is activated, the visualization module synchronously updates the color pipeline diagram and the fire fighting system schematic diagram to form a multi-view collaborative display, which assists the operator in quickly locating the trimming anomaly.

[0153] In particular, the ship valve remote control and liquid level remote measurement system of the present application further comprises a visualization module, the visualization module is configured to:

[0154] Receive the actual valve position data sent by the execution feedback module, the engine room fire alarm signal sent by the dynamic monitoring module and the liquid tank liquid level change in the maintenance database, and display the actual valve position data in the ship control interface using a color pipeline diagram;

[0155] Mark the running state of the fire pump sent by the execution feedback module in the fire system schematic diagram of the ship control interface, and activate the alarm area in the cabin distribution diagram of the ship control interface when the liquid tank liquid level change in the maintenance database exceeds the preset threshold.

[0156] The visualization module receives the actual valve position data transmitted by the execution feedback module through the industrial Ethernet protocol, and the data packet contains valve number, opening angle and timestamp information. The engine room fire alarm signal sent by the dynamic monitoring module is received synchronously, and the alarm signal is encoded as MODBUS protocol format, with trigger time and cabin number. The liquid tank liquid level change in the maintenance database is transmitted to the visualization module through the database connection middleware, and the trend calculation is performed on the liquid level change in the data preprocessing link to eliminate transient fluctuation interference.

[0157] In the ship control interface, the graphic rendering engine loads the ballast water system pipeline vector diagram as the color pipeline diagram base. The actual valve position data drives the dynamic rotation of the valve element in the pipeline diagram, and the rotation angle value is mapped to the color gradient filling effect. The opening range is divided into three intervals of low, medium and high, which correspond to blue, yellow and red filling respectively, forming an intuitive valve state visualization display. The refresh rate of the color pipeline diagram is maintained stable through the double buffering rendering mechanism to avoid graphic tearing.

[0158] The fire system schematic diagram is constructed based on a three-dimensional model library, and the visualization module subscribes to the fire pump running state message published by the execution feedback module. The message analysis unit extracts the running mode code and the speed percentage, and drives the color switching logic of the pump model in the schematic diagram. The stop state is displayed in gray, the low speed operation is displayed in green, and the high speed operation is displayed in red. The speed percentage is superimposed on the surface of the pump model in the form of an annular progress bar, and the color of the progress bar changes linearly with the speed.

[0159] When the liquid tank liquid level change in the maintenance database exceeds the preset threshold, the change amount analysis unit sends an alarm trigger signal to the cabin distribution diagram renderer. The renderer uses a color gradient algorithm to map the trim alarm parameters to a warm-toned highlight area in the cabin distribution diagram, and a red color identifies the cabin that needs to be adjusted urgently. The alarm area activation synchronously triggers the data association engine, extracts the current cabin liquid level history curve and the associated valve state, and displays them in the form of a floating window to assist the operator in multidimensional analysis.

[0160] In a second aspect, the present application provides a ship valve remote control and liquid level remote measurement method, applied to the ship valve remote control and liquid level remote measurement system as described, comprising:

[0161] Step 1, obtain valve state sensing data and liquid tank liquid level sensing data, and send the valve state sensing data and the liquid tank liquid level sensing data to step 2 respectively;

[0162] Step 2, receive the valve state sensing data and the liquid tank liquid level sensing data, connect the liquid level sensor, the valve state sensor and the control unit to form a local ring network, and perform in parallel: calculate the opening of the valve state sensing data to generate the valve opening instruction; analyze the state of the liquid tank liquid level sensing data to generate the liquid level state information; and send the valve opening instruction and the liquid level state information to step 3;

[0163] Step 3, receive the valve opening instruction and the liquid level state information, transmit the liquid level state information to the land management center server through the satellite network; when the satellite signal is available, send the valve opening instruction to the mobile terminal through the mobile application; when the satellite signal is interrupted, switch to the local ring network to transmit the valve opening instruction to step 4;

[0164] Step 4, receive the valve opening instruction, drive the hydraulic actuator to adjust the ballast tank valve opening, generate the fire pump start / stop signal according to the ballast tank valve opening value, collect the actual valve position data and the liquid tank liquid level change, and send the actual valve position data and the liquid tank liquid level change to step 5;

[0165] Step 5, receive the actual valve position data and the liquid tank liquid level change, compare the target opening value in the valve opening instruction with the actual valve position data to generate deviation data, when the change rate of the liquid tank liquid level change exceeds the preset threshold, activate the engine room fire alarm signal, store the deviation data, the liquid tank liquid level change and the engine room fire alarm signal to the maintenance database;

[0166] Step 6, call the liquid tank liquid level change in the maintenance database, calculate the real-time load distribution value of the ballast tank, and calculate the relative deviation of the real-time load distribution value relative to the target load distribution value, when the relative deviation is greater than the preset threshold, generate the trim alarm parameter, and map the trim parameter to the cabin distribution map of the ship control interface.

[0167] The present application directly connects the liquid level sensor, valve state sensor and control unit through the local ring network, replacing the existing single-point relay architecture. When the liquid level sensor collects ballast tank liquid level data, it is transmitted in real time to the distributed control module for parallel processing. The module main control unit synchronously receives valve state sensor data and generates instructions using opening degree calculation. The ring topology reduces multi-source data collaborative processing delay to milliseconds, eliminating the problem of "ballast tank liquid level data delay uploading causing loading computer load calculation deviation".

[0168] The multi-path communication module establishes dual channels between the satellite and the local ring network. When the satellite network is normal, liquid level state information is transmitted to the land management center; valve opening degree instructions are pushed to the mobile terminal through the mobile application. When the satellite signal is interrupted, the local ring network is immediately switched to transmit instructions to the execution feedback module. The communication switching process is dynamically adjusted through software-defined radio technology, ensuring that the cabin valve opening degree instruction is always reachable. This mechanism solves the pain point of "insufficient real-time performance of multi-path communication leading to imbalance between fire pump start-stop instructions and pipeline pressure".

[0169] The three-level control nodes of the execution feedback module implement closed-loop control: the drive node converts the opening degree instruction into the displacement of the hydraulic actuator; the deck control node provides a manual intervention channel; the bridge node generates emergency instructions based on fire pump pressure sensor data. The dynamic monitoring module compares the target opening degree value of the valve with the actual position data in real time, and activates the cabin fire alarm signal when the liquid tank liquid level change rate exceeds the threshold. The alarm signal triggers the emergency linkage mechanism of the execution feedback module, making the valve opening degree and the fire system pressure real-time collaborative, eliminating the risk of fire response delay.

[0170] The load calculation module calls the liquid tank liquid level change value in the maintenance database, calculates the real-time load distribution value through finite element grid analysis, and generates trim alarm parameters when the distribution value deviates from the target value by more than 5%. The process integrates historical data and real-time analysis to avoid the failure of existing methods due to data delay. The visualization module activates the alarm area in the distribution map to help operators quickly locate the trim anomaly.

[0171] The authority management module realizes safe execution of key instructions through three-level mechanisms of captain terminal authorization, engine department access interception, and service engineer verification. The execution feedback module only responds to authorized valve control instructions, and the trim alarm parameters of the load calculation module are invisible to the engine department terminal. This design eliminates control errors caused by human errors from the system level, ensuring the safety of ship operation.

[0172] In the ballast tank valve control scene, the annular network directly connects the liquid level sensor and the valve state sensor. The liquid level sensor collects the ballast water tank liquid level data in real time, and the valve state sensor synchronously monitors the valve opening angle. The distributed control module main control unit receives two types of sensing data, and performs opening degree calculation and state analysis in parallel. When the ballast water deployment operation is started, the main control unit processes multi-source data to generate valve opening degree instructions, eliminating the data coordination delay caused by the single-point transfer architecture. The execution unit receives the instructions through the local annular network, drives the hydraulic actuator to adjust the valve, and improves the control precision of the ballast water flow.

[0173] In the scene of unstable satellite signals in ocean navigation, the multi-path communication module automatically switches the transmission channel. When the satellite network is normal, the liquid level state information is transmitted to the land management center; the valve opening degree instruction is pushed to the crew mobile terminal. When the satellite signal strength is lower than the receiving threshold, the local annular network is immediately enabled to transmit the valve opening degree instruction to the execution feedback module. The communication switching process is completed through a dynamic routing protocol, which ensures that the valve opening degree instruction of the engine room is real-time synchronized, and solves the risk of interruption of emergency response of the fire fighting system.

[0174] In the scene of pressure fluctuation of the fire fighting system, the three-level control nodes of the execution feedback module establish a linkage mechanism. The drive node converts the opening degree instruction into the displacement amount of the hydraulic actuator, the deck control node provides a manual override function, and the bridge node monitors the fire pump pressure sensing data. When the engine room pipeline pressure is lower than the safety threshold, the bridge node generates a fire pump start-stop instruction, which is transmitted to the drive node through a fiber optic special line. The drive node adjusts the valve opening degree in real time, so that the fire water flow and the pump pressure are dynamically matched, and the background technology valve position feedback lag problem is eliminated.

[0175] In the ballast water deployment process, the dynamic monitoring module calls the historical data of the maintenance database. The comparison program analyzes the valve target opening value and the actual position data to generate an angle deviation record. When the radar liquid level meter detects a sudden drop in the liquid tank liquid level, the change rate monitoring unit activates the engine room fire alarm signal. The alarm signal is stored in the time series table of the maintenance database in association with the liquid level change amount, providing a complete data chain for load calculation.

[0176] In the cargo hold trimming operation, the load calculation module performs finite element grid analysis. The liquid tank liquid level change amount filtered in the maintenance database is called, and the real-time load distribution is calculated in combination with the ship waterline parameters. When the distribution value deviates from the loading plan by more than the threshold value, a trimming alarm parameter is generated. The parameter is mapped to the cabin distribution map of the ship control interface, and the trimming area is identified by color gradient, solving the problem of unbalanced cargo hold trimming.

[0177] The application is in the scene of ship port maintenance, the permission management module verifies the service engineer identity certificate. After the certificate is verified by the asymmetric encryption algorithm, the open maintenance database write permission is opened. When the chief engineer terminal accesses the trimming alarm parameter, the firewall interception module discards the unauthorized request and generates an audit log. The ballast tank control instruction sent by the captain terminal needs to be attached with a digital signature, and the execution feedback module verifies the effective party to execute the operation.

[0178] The technical features of the application are explained as follows:

[0179] The ring network topology model is constructed by connecting the liquid level sensor group, the valve state sensor group and the control unit through the ring optical fiber network, and realizes the bidirectional transmission of data and the self-healing of faults by adopting the double-ring redundant topology structure; in the application, the model is applied to the distributed control module, so that the sensor data is directly transmitted to the main control unit, the valve state data and the liquid tank liquid level data are processed in parallel, when the node fails, the control instruction is automatically switched to the adjacent node relay to realize the continuous generation of the control instruction; the model processes the valve opening angle data collected by the angular displacement sensor and the liquid surface height data collected by the radar liquid level meter, generates the valve opening degree instruction through Kalman filtering and PID algorithm, and generates the liquid level state information through spectrum analysis, and finally outputs to the multi-path communication module.

[0180] The role-based access control model is constructed by deploying the role-based access control engine through the permission management module, and the three-level permission strategy library of the captain, the chief engineer and the service engineer is built in, and the identity authentication is realized by combining the digital certificate verification and the dynamic SMS verification code; in the application, the model is used to verify the terminal access request, for example, when receiving the ballast tank valve control instruction sent by the captain terminal, the digital certificate validity is verified, the authorized token is generated and sent to the execution feedback module, the access request of the trimming alarm parameter of the chief engineer terminal is intercepted, and the write permission of the service engineer terminal to the maintenance database is opened; the model processes the control instruction, the data access request and the identity certificate sent by the terminal, verifies the certificate through the RSA-2048 algorithm and generates the HMAC-SHA256 digital signature authorized token, and finally outputs the authorized or intercepted decision, the audit log and the temporary write permission certificate.

[0181] The finite element grid analysis algorithm is a numerical calculation method, which discretizes the complex geometric structure into a finite number of simple units for mathematical modeling and solving. In the application, the algorithm is applied to the load calculation module, the ship body is divided into independent cabin units, the ship draft line parameters and the cabin capacity curve data are loaded, the three-dimensional interpolation operation of the liquid tank liquid level change quantity processed by Kalman filtering is performed, the seawater density compensation coefficient is combined to output the real-time load distribution value digital matrix of the ballast tank, and when the distribution value deviates from the target value of the loading plan by more than 5%, the trimming alarm parameter including the trimming suggestion weight is generated.

[0182] The first derivative rate monitoring algorithm identifies trend anomalies by calculating the instantaneous rate of change of consecutive data points. In the invention, the algorithm is executed by the liquid level change rate monitoring unit of the dynamic monitoring module, which performs a first derivative operation on the liquid level change quantity collected by the radar liquid level meter, and triggers the digital logic circuit when the detected liquid level drop rate exceeds the preset threshold of 10 cm / min, activates the cabin fire alarm signal conforming to the MODBUS protocol and records the trigger time and cabin number.

[0183] The Kalman filter algorithm is a recursive optimal estimation algorithm that eliminates measurement noise through prediction and update links. In the invention, the algorithm is integrated into the data preprocessing program, which performs Kalman filtering on the liquid level sampling values to effectively eliminate the liquid surface oscillation noise caused by wave disturbance, generating a stable liquid level data sequence for use by the finite element mesh analysis of the load calculation module, thereby improving the real-time load distribution calculation accuracy.

[0184] The PID control algorithm achieves closed-loop system error correction based on proportional, integral, and derivative links. In the invention, the algorithm is executed by the main control unit of the distributed control module, which processes the valve opening angle signals collected by the angular displacement sensor, generates a valve opening command including the target opening angle through proportional-integral-derivative calculation, drives the hydraulic proportional valve to adjust the oil line pressure, and achieves precise control of the valve position.

[0185] The dynamic routing algorithm optimizes data transmission paths in real time based on network status. In the invention, the algorithm is implemented through the software-defined radio technology of the multi-path communication module, dynamically allocates communication resources based on maritime satellite signal strength, data packet priority, and local ZigBee network load status, and automatically switches to a backup frequency band when the satellite signal strength is lower than -90 dBm, ensuring that the valve opening command completes transmission path reconstruction within 200 ms.

[0186] The color gradient mapping algorithm maps numerical ranges to visual color sequences to enhance data readability. In the invention, the algorithm is invoked by the rendering engine of the visualization module, which converts the trim alarm parameters generated by the load calculation module to color space coordinates, fills the cabin distribution map area with a warm-to-cold color gradient, and highlights the red color to identify the cargo hold positions that need to be adjusted, assisting operators in visually identifying load deviations.

[0187] The double-buffered rendering algorithm avoids graphical display tearing through a double-buffered alternating refresh mechanism. In the invention, the algorithm is deployed in the graphical interface system of the visualization module, with the main buffer displaying real-time valve position data and alarm status, and the auxiliary buffer pre-rendering the next frame of cabin distribution map and color pipeline map. Combined with hardware acceleration technology, the algorithm achieves a 30 frames / second refresh rate, ensuring visual smoothness during zoom operations on the control interface.

Claims

1. A remote control and liquid level telemetry system for a marine valve, characterized by, The system comprises: a data acquisition module that acquires valve state sensor data and tank level sensor data, and sends the valve state sensor data and the tank level sensor data to a distributed control module respectively; the distributed control module receives the valve state sensor data and the tank level sensor data, connects the level sensor, the valve state sensor and the control unit to form a local ring network through a ring network, calculates the opening of the valve state sensor data to generate a valve opening instruction, analyzes the state of the tank level sensor data to generate tank level state information, and sends the valve opening instruction and the tank level state information to a multi-path communication module; the multi-path communication module receives the valve opening instruction and the tank level state information, transmits the tank level state information to a land management center server through a satellite network, sends the valve opening instruction to a mobile terminal through a mobile application when the satellite signal is available, and switches to the local ring network to transmit the valve opening instruction to an execution feedback module when the satellite signal is interrupted; the execution feedback module receives the valve opening instruction, drives the hydraulic actuator to adjust the ballast tank valve opening, generates a fire pump start-stop signal according to the ballast tank valve opening value, acquires actual valve position data and tank level change amount, and sends the actual valve position data and the tank level change amount to a dynamic monitoring module; the dynamic monitoring module receives the actual valve position data and the tank level change amount, compares the target opening value in the valve opening instruction with the actual valve position data to generate deviation data, activates the engine room fire alarm signal when the change rate of the tank level change amount exceeds a preset threshold, and stores the deviation data, the tank level change amount and the engine room fire alarm signal in a maintenance database; a load calculation module calls the tank level change amount in the maintenance database, calculates the real-time load distribution value of the ballast tank, and calculates the relative deviation of the real-time load distribution value relative to the target load distribution value, generates a trim alarm parameter when the relative deviation is greater than a preset threshold, and maps the trim parameter to a cabin distribution map of a ship control interface.

2. The remote control and level telemetry system for marine valves according to claim 1, characterized in that, The multi-path communication module is configured to: transmit the tank level state information to the management center server through the satellite network; push the valve opening instruction to the mobile terminal through the mobile application; switch to the local ring network to transmit the valve opening instruction to the execution feedback module when the satellite signal is interrupted.

3. The remote control and level telemetry system for marine valves according to claim 2, wherein, The distributed control module comprises: a master control unit that receives the valve state sensor data and the tank level sensor data, calculates the opening of the valve state sensor data to generate a valve opening instruction, and sends the valve opening instruction to an execution unit through the local ring network; the execution unit receives the valve opening instruction through the local ring network, and drives the hydraulic actuator to adjust the valve position; the master control unit also receives fire pump pressure sensor data through the local ring network; the execution unit also receives the fire pump pressure sensor data through the local ring network, and adjusts the valve position in real time according to the fire pump pressure sensor data when driving the hydraulic actuator.

4. The remote control and level telemetry system for marine valves according to claim 3, wherein, The execution unit comprises: a digital control subunit that receives the valve opening instruction and converts the valve opening instruction into a hydraulic pump control signal; The analog quantity feedback subunit collects the hydraulic actuator displacement feedback signal and the fire pump pressure sensing data, and generates a valve opening degree calibration parameter according to the hydraulic actuator displacement feedback signal and the fire pump pressure sensing data; The digital quantity control subunit receives the valve opening degree calibration parameter and corrects the hydraulic pump control signal.

5. The remote control and level telemetry system for marine valves according to claim 4, wherein, The dynamic monitoring module is configured to: receive actual valve position data and tank liquid level change amount; compare the target opening value in the valve opening degree instruction with the actual valve position data to generate deviation data; when the change rate of the tank liquid level change amount exceeds a preset threshold, activate the engine room fire alarm signal; store the deviation data, the tank liquid level change amount and the engine room fire alarm signal to the maintenance database.

6. The remote control and level telemetering system for marine valves according to claim 5, characterized in that, The permission management module is further configured to perform permission verification, which includes: receiving a ballast tank valve control instruction sent by the captain terminal, and authorizing the feedback module to execute the ballast tank valve control instruction; intercepting the access request of the engine department terminal to the trim alarm parameter in the load calculation module; after verifying the identity of the system preset service engineer terminal, opening the data write permission of the maintenance database.

7. The remote control and level telemetry system for marine valves according to claim 6, wherein, The execution feedback module includes three control nodes, including a drive node, a deck control node and a bridge node: The drive node converts the valve opening degree instruction into a hydraulic actuator displacement amount and outputs it to the hydraulic actuator. The deck control node receives the operator input instruction through the manual operation interface, generates a manual valve control signal according to the input instruction, and sends it to the drive node through the local ring network. The bridge node receives the fire pump pressure sensing data, analyzes the fire pump pressure sensing data to obtain the pressure value, and generates a fire pump start-stop instruction according to the pressure deviation value when the pressure value is lower than the preset threshold. The drive node responds to the manual valve control signal when it receives the manual valve control signal, and interrupts the hydraulic actuator displacement amount output. The bridge node sends the fire pump start-stop instruction to the drive node, and the drive node adjusts the valve opening degree according to the control parameter in the fire pump start-stop instruction.

8. The remote control and level telemetry system for marine valves according to claim 7, wherein, The load calculation module is configured to: receive the tank liquid level change amount stored by the dynamic monitoring module from the maintenance database as input data of the load calculation module; based on the tank liquid level change amount, calculate the real-time load distribution value of the ballast tank by a finite element grid analysis algorithm; calculate the difference between the real-time load distribution value and the target load distribution value, and divide the difference by the target load distribution value to obtain the relative deviation percentage; compare the relative deviation percentage with the preset threshold, and when the relative deviation percentage exceeds the preset threshold, generate a trim alarm parameter and trigger the permission management module to intercept the access of the engine department terminal; send the generated trim alarm parameter to the visualization module in real time, and dynamically map the parameter to the cabin distribution map of the ship control interface through the visualization module, and activate the alarm area in the cabin distribution map.

9. The remote control and level telemetry system for marine valves according to claim 8, wherein, The visualization module is further configured to: The actual valve position data sent by the execution feedback module, the engine room fire alarm signal sent by the dynamic monitoring module and the liquid tank level change in the maintenance database are received, and the actual valve position data is displayed in the ship control interface using a color pipeline diagram; The running state of the fire pump sent by the execution feedback module is marked in the fire fighting system schematic diagram of the ship control interface, and when the liquid tank level change in the maintenance database exceeds the preset threshold, the alarm area is activated in the cabin distribution diagram of the ship control interface.

10. A method for remotely controlling a valve and remotely measuring a liquid level of a ship, applied to the system for remotely controlling a valve and remotely measuring a liquid level of a ship according to any one of claims 1 to 9, characterized by, Comprise: Step 1, obtain valve state sensing data and liquid tank level sensing data, and send the valve state sensing data and the liquid tank level sensing data to step 2 respectively; Step 2, receive the valve state sensing data and the liquid tank level sensing data, connect the liquid level sensor, the valve state sensor and the control unit to form a local ring network, and perform in parallel: calculate the opening of the valve state sensing data to generate a valve opening instruction; analyze the state of the liquid tank level sensing data to generate liquid level state information; and send the valve opening instruction and the liquid level state information to step 3; Step 3, receive the valve opening instruction and the liquid level state information, transmit the liquid level state information to the land management center server through the satellite network; when the satellite signal is available, send the valve opening instruction to the mobile terminal through the mobile application; when the satellite signal is interrupted, switch to the local ring network to transmit the valve opening instruction to step 4; Step 4, receive the valve opening instruction, drive the hydraulic actuator to adjust the ballast tank valve opening degree, generate a fire pump start-stop signal according to the ballast tank valve opening degree value, collect actual valve position data and liquid tank level change, and send the actual valve position data and the liquid tank level change to step 5; Step 5, receive the actual valve position data and the liquid tank level change, compare the target opening value in the valve opening instruction with the actual valve position data to generate deviation data, activate the engine room fire alarm signal when the change rate of the liquid tank level change exceeds the preset threshold, store the deviation data, the liquid tank level change and the engine room fire alarm signal to the maintenance database; Step 6, call the liquid tank level change in the maintenance database, calculate the real-time load distribution value of the ballast tank, and calculate the relative deviation of the real-time load distribution value relative to the target load distribution value, generate a trimming alarm parameter when the relative deviation is greater than the preset threshold, and map the trimming parameter to the cabin distribution diagram of the ship control interface.

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