Ship anti-shaking bed system and ship

Abstract

The invention belongs to the technical field of ship equipment, and discloses a ship anti-shaking bed system and a ship. The ship anti-shaking bed system is arranged on a ship body and connected with a bed body; comprising a sensing mechanism used for collecting attitude data of the ship body in real time; the control mechanism is in communication connection with the sensing mechanism, and the control mechanism is used for receiving the attitude data collected by the sensing mechanism and processing the attitude data to generate a compensation instruction; and the executing mechanism is connected to the bed body, the executing mechanism is in communication connection with the control mechanism, and the executing mechanism is used for receiving the compensation instruction generated by the control mechanism and driving the bed body to perform compensation motion which is opposite to the shaking direction of the ship body but equal to the shaking amplitude of the ship body according to the compensation instruction. A set of real-time active shake compensation mechanism is constructed, and irregular shake generated by the ship body can be directly counteracted through an active reverse compensation mode, so that a stable sleep environment is created for personnel on the ship.

Description

Technical Field

[0001] This invention relates to the field of marine equipment technology, and in particular to a marine anti-sway bed system and a ship. Background Technology

[0002] During various maritime operations and voyages, crew members and passengers need to stay on board ships for extended periods. Sleep, a fundamental physiological need for ensuring physical and mental health, restoring energy, and maintaining efficient work performance, is severely disrupted by the continuous rocking of the ship during navigation. Ships are affected by environmental factors such as waves, tides, and wind, resulting in six degrees of freedom of motion, including rolling, pitching, and swaying. This irregular rocking disrupts sleep cycles, reduces deep sleep and REM sleep time, and can trigger or worsen motion sickness. In the long term, it can also lead to irritability, anxiety, poor concentration, and impaired judgment. In severe sea conditions, it can even cause passengers to fall from their beds, resulting in secondary injuries.

[0003] Currently, the core methods for mitigating ship rolling focus on macroscopic anti-roll designs at the hull level, such as installing anti-roll fins and configuring anti-roll tanks to reduce the overall ship rolling amplitude. However, these macroscopic anti-roll designs are costly to implement, place high demands on ship modification and maintenance costs, and are difficult to completely eliminate localized rolling within cabins, especially the rolling problem in the bunk area, which remains unresolved.

[0004] Therefore, there is an urgent need to propose a ship anti-sway bed system and a ship to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a ship anti-sway bed system and a ship, which establishes a real-time active sway compensation mechanism. Through active reverse compensation, it can directly counteract the irregular swaying generated by the ship itself, keeping the bed stable and thus creating a stable sleeping environment for the crew, effectively ensuring the sleep quality and physical and mental health of the crew.

[0006] Based on the above concept, the technical solution adopted by this invention is as follows:

[0007] In a first aspect, the present invention provides a ship anti-sway bed system, which is installed on the ship body and connected to the bed body; the ship anti-sway bed system includes:

[0008] Sensing mechanisms are used to collect attitude data of the ship's body in real time;

[0009] A control mechanism is communicatively connected to the sensing mechanism. The control mechanism is used to receive attitude data collected by the sensing mechanism and process it to generate compensation commands.

[0010] An actuator is connected to the bed body and is communicatively connected to the control mechanism. The actuator is used to receive the compensation command generated by the control mechanism and drive the bed body to perform a compensation movement that is opposite to the swaying direction of the ship body but equal in swaying amplitude according to the compensation command.

[0011] In some embodiments, the actuator includes a universal joint connected to the bottom of the bed. The universal joint includes a first rotating member, a second rotating member, and a third rotating member connected in series. The first rotating member is configured to drive the bed to rotate about a vertical direction, the second rotating member is configured to drive the bed to tilt forward and backward, and the third rotating member is configured to drive the bed to tilt left and right.

[0012] In some embodiments, the actuator further includes a servo motor and a servo driver, the servo driver being communicatively connected between the control mechanism and the servo motor, and the gimbal being connected to the output end of the servo motor.

[0013] In some embodiments, the sensing mechanism includes an inertial measurement unit, which includes a three-axis gyroscope and a three-axis accelerometer. The three-axis gyroscope is used to measure the rotational angular velocity of the ship body, and the three-axis accelerometer is used to measure the acceleration of the ship body.

[0014] In some embodiments, the sensing mechanism further includes a preprocessing unit for preprocessing the raw data measured by the inertial measurement unit. The preprocessing unit includes a zero-bias correction module and a scale factor correction module.

[0015] In some embodiments, the control mechanism includes an embedded microcontroller, which includes a baseboard and a core board. The core board is connected to the baseboard, and the baseboard is provided with a peripheral interface for connecting to external devices.

[0016] In some embodiments, the control algorithm of the embedded microcontroller includes a sensor fusion algorithm and a servo control algorithm. The sensor fusion algorithm uses a Kalman filter algorithm, and the servo control algorithm uses a PID algorithm.

[0017] In some embodiments, the software of the embedded microcontroller adopts a real-time operating system. The software of the embedded microcontroller is built on the real-time operating system and includes a high-frequency interrupt task module, a core control task module, a communication task module, and a status monitoring task module. The high-frequency interrupt task module is used to periodically read the data collected by the sensing mechanism. The core control task module is used to execute the control algorithm of the embedded microcontroller. The communication task module is used to communicate bidirectionally with the actuator. The status monitoring task module is used to detect the safety status of the actuator and manage the system state machine.

[0018] In some embodiments, the ship anti-sway bed system further includes a power supply and safety mechanism, which is electrically connected to the sensing mechanism, the control mechanism, and the actuator, respectively. The power supply and safety mechanism includes a power management module, a protection circuit, a physical limit switch, an emergency stop button, and a fail-safe mechanism.

[0019] In a second aspect, the present invention provides a ship, including a ship body and a ship anti-sway bed system as described in any one of the first aspects.

[0020] The beneficial effects of this invention are:

[0021] The ship anti-sway bed system and ship provided by this invention construct a real-time active sway compensation mechanism through the coordinated operation of sensing, control, and execution mechanisms. The sensing mechanism can accurately collect the ship's attitude data in real time, providing reliable data for compensation movements; the control mechanism quickly processes the collected attitude data and generates compensation commands, ensuring the timeliness and accuracy of the compensation actions; the execution mechanism, according to the compensation commands, drives the bed to perform compensation movements in the opposite direction and with the same amplitude as the ship's sway. Through this active, reverse compensation method, the irregular swaying generated by the ship can be directly offset, keeping the bed stable and creating a stable sleeping environment for the crew, effectively ensuring their sleep quality and physical and mental health. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the bed frame and universal joint from one perspective provided in an embodiment of the present invention;

[0024] Figure 2This is a schematic diagram of the bed and universal joint structure from another perspective provided by an embodiment of the present invention.

[0025] In the picture:

[0026] 100. Bed frame; 200. Universal frame. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0029] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0030] In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0031] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0032] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0033] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0034] like Figure 1 and Figure 2 As shown, this embodiment provides a ship, including the ship body and a ship anti-sway bed system.

[0035] The ship anti-sway bed system is installed on the ship's hull and connected to the bed. The ship anti-sway bed system is used to reduce the swaying amplitude of the bed and provide the crew with a stable sleeping environment close to land.

[0036] The ship's anti-sway bed system includes a sensing mechanism, a control mechanism, and an actuator.

[0037] The sensing mechanism is used to collect the ship's attitude data in real time. The control mechanism is communicatively connected to the sensing mechanism, and is used to receive the attitude data collected by the sensing mechanism and process it to generate compensation commands. The actuator is connected to the bed and is communicatively connected to the control mechanism. The actuator is used to receive the compensation commands generated by the control mechanism and, according to the compensation commands, drive the bed to perform a compensating movement that is opposite to the direction of the ship's sway but with the same amplitude.

[0038] When the ship itself sways, the sensor first collects the ship's attitude data in real time, then transmits the attitude data to the control mechanism. The control mechanism processes the attitude data and generates compensation commands. Upon receiving the compensation commands, the actuator begins to move the bed, causing it to perform a compensating movement that is opposite to the direction of the ship's sway but with the same amplitude. In this way, by actively compensating for the sway in a localized manner, the ship's sway is effectively counteracted.

[0039] The ship anti-sway bed system and ship provided in this embodiment construct a real-time active sway compensation mechanism through the coordinated operation of sensing, control, and execution mechanisms. The sensing mechanism can accurately collect the ship's attitude data in real time, providing reliable data for compensation movements; the control mechanism quickly processes the collected attitude data and generates compensation commands, ensuring the timeliness and accuracy of the compensation actions; the execution mechanism, according to the compensation commands, drives the bed to perform compensation movements in the opposite direction and with the same amplitude as the ship's sway. Through this active, reverse compensation method, the irregular swaying generated by the ship can be directly counteracted, keeping the bed stable and creating a stable sleeping environment for the crew, effectively ensuring their sleep quality and physical and mental health.

[0040] like Figure 1 and Figure 2 As shown, in some embodiments, the actuator includes a universal joint 200 connected to the bottom of the bed frame 100. The universal joint 200 includes a first rotating member, a second rotating member, and a third rotating member connected in series. The first rotating member is configured to drive the bed frame to rotate in a vertical direction (i.e., the bed frame rotates horizontally), the second rotating member is configured to drive the bed frame to tilt forward and backward (e.g., the head of the bed tilts up and the foot of the bed lowers), and the third rotating member is configured to drive the bed frame to tilt left and right (e.g., the left side of the bed frame tilts up and the right side of the bed lowers). That is, the universal joint 200 is a three-axis mechanical frame, with the three rotating axes being the yaw axis, pitch axis, and roll axis. Each axis can be controlled independently, and the control algorithm is relatively easy to implement. Each axis can typically achieve a rotation angle of more than ±30°, with a large range of motion and a large compensation range.

[0041] With this setup, a three-axis universal joint 200, consisting of a first rotating component, a second rotating component, and a third rotating component connected in series, is used to control the horizontal rotation, forward and backward tilting, and left and right tilting of the bed 100, respectively. This perfectly matches the yaw, pitch, and roll sway dimensions of the ship's body, fully adapting to the sway amplitude of the ship's body under different sea conditions. This achieves all-round, high-precision compensation for the sway of the bed 100, effectively ensuring that the bed 100 always remains stable.

[0042] Optionally, the 200 gimbal is made of aerospace-grade aluminum alloy, such as 6061 or 7075 aerospace-grade aluminum alloy, which has high specific strength, is lightweight and corrosion resistant.

[0043] Optionally, the first, second, and third rotating components all adopt square tube or profile structures, with reinforcing ribs at key connections. Each rotating component is equipped with a crossed roller bearing, which has a compact internal structure and can simultaneously withstand radial force, axial force, and overturning moment, exhibiting extremely high rigidity and making it suitable for rotary motion scenarios.

[0044] In some embodiments, the actuator further includes a servo motor and a servo driver. The servo driver is communicatively connected between the control mechanism and the servo motor, and the gimbal 200 is connected to the output of the servo motor. The servo driver accurately receives and parses the compensation commands issued by the control mechanism, and then converts the commands into precise drive signals for the servo motor, which in turn directly drives the gimbal 200 to perform actions.

[0045] Because servo motors have the characteristics of fast response speed, high positioning accuracy and strong operation stability, and with the closed-loop control capability of servo drives, they can correct the rotation angle and speed of the three axes of the universal joint 200 in real time, ensuring that the compensation movement of the bed 100 corresponds to and is precisely synchronized with the sway of the ship body in terms of direction and amplitude, avoiding the problem of poor compensation effect caused by drive lag or insufficient accuracy.

[0046] The servo motor selection is based on the maximum torque Tmax calculated through static analysis. An AC servo motor is chosen because it has strong overload capacity, good control performance, and high reliability. The selection steps are as follows: determine the load's moment of inertia J; determine the maximum angular acceleration α (set according to the frequency and amplitude of the waves to be compensated); calculate the required torque T = J × α, and multiply by a safety factor of 1.5~2; select a servo motor with a rated torque and speed matching based on T and the required speed. Well-known brands such as Panasonic, Mitsubishi, and Delta can be considered. The servo motor drives the rotating shaft through a planetary gear reducer to obtain a large output torque and ensure smooth and precise motion. The servo motor output shaft and rotating shaft are connected by a high-strength expansion sleeve, which facilitates installation and ensures good alignment.

[0047] The servo driver is selected to be a product that matches the servo motor. It receives pulse / direction signals or analog voltage (±10V) signals from the control mechanism and completes the current loop and speed loop control inside the servo motor. This system adopts the "position control mode", in which the control mechanism issues pulse commands to control the rotation angle of the servo motor.

[0048] In some embodiments, the sensing mechanism includes an inertial measurement unit (IMU), which includes a three-axis gyroscope and a three-axis accelerometer. The three-axis gyroscope is used to measure the rotational angular velocity of the ship's body, and the three-axis accelerometer is used to measure the acceleration of the ship's body.

[0049] The sensing mechanism is used to collect the ship's attitude data in real time, including roll, pitch, and yaw angles. By setting the inertial measurement unit as the core component of the sensing mechanism, its onboard three-axis gyroscope and three-axis accelerometer can accurately capture the ship's rotational angular velocity and acceleration data, respectively. These two types of data can comprehensively and in real time reflect the ship's swaying state in the three dimensions of yaw, pitch, and roll, providing complete data support for the control mechanism to assess the ship's attitude.

[0050] For example, to ensure the accuracy and stability of data acquisition, the inertial measurement unit can be an industrial-grade or tactical-grade module, such as the ADIS16470 from Analog Devices. This module integrates a three-axis gyroscope (±500° / s range) and a three-axis accelerometer (±18g range), with built-in calibration and temperature compensation functions. It can output high-precision angular velocity and acceleration data through the SPI interface, and its performance is far superior to that of consumer-grade inertial measurement unit modules.

[0051] Furthermore, in some embodiments, the sensing mechanism further includes a preprocessing unit for preprocessing the raw data measured by the inertial measurement unit. The preprocessing unit includes a zero-bias correction module and a scale factor correction module. Zero-bias correction measures the output value when the system is stationary and subtracts it as a zero-bias quantity. Scale factor correction ensures that the output voltage is accurately proportional to the actual physical quantity, thereby providing a reliable data foundation for subsequent data processing.

[0052] In some embodiments, the control mechanism includes an embedded microcontroller (MCU), which includes a baseboard and a core board. The core board is connected to the baseboard, and the baseboard is provided with peripheral interfaces for connecting external devices. This configuration, employing an embedded microcontroller and a separate baseboard and core board structure, leverages the high-speed computing power of the embedded microcontroller to quickly process the attitude data transmitted by the sensing mechanism and generate precise compensation commands, ensuring timely system response. Furthermore, the baseboard provides all peripheral interfaces, facilitating debugging and upgrades. Additionally, if the core board fails, it can be replaced individually, reducing maintenance costs.

[0053] Optionally, the control algorithm of the embedded microcontroller includes a sensor fusion algorithm and a servo control algorithm. The sensor fusion algorithm adopts the Kalman filter algorithm, and the servo control algorithm adopts the PID algorithm.

[0054] With this setup, the embedded microcontroller incorporates a sensor fusion algorithm that integrates Kalman filtering and a PID servo control algorithm. The former can accurately filter and fuse multi-dimensional data such as angular velocity and acceleration collected by the inertial measurement unit, effectively eliminating data noise and correcting measurement deviations to obtain the ship's precise real-time attitude angle. The latter can quickly calculate and generate appropriate compensation commands based on the precise attitude angle and perform closed-loop control of the servo motors of the actuators to ensure that the speed and angle of the bed's 100° compensation motion are precisely matched with the ship's sway, significantly improving the accuracy and stability of the system's active compensation.

[0055] For example, the embedded microcontroller selected is STMicroelectronics' STM32H7 series (such as STM32H743 / 750). This series of embedded microcontrollers is based on the ARM Cortex-M7 core, with a main frequency of up to 400MHz or more. It has a double-precision floating-point unit (FPU) and DSP instruction set, which can efficiently perform Kalman filtering and PID calculations. Its rich peripherals (multi-channel SPI, CANFD, UART, PWM / TIMER) fully meet the needs of connecting inertial measurement units, servo drivers and peripheral devices.

[0056] For example, the sensor fusion algorithm employs a Kalman filter algorithm, whose state vector includes three attitude angles (roll angle θ, pitch angle φ, and yaw angle ψ) and three gyroscope biases (gyro_bias_x, gyro_bias_y, and gyro_bias_z). State prediction is performed based on the angular velocities measured by the gyroscopes using the state equation, i.e., X... k =A×X k-1 +B×u k +w (process noise); then, using the observation equations, when the system acceleration is not large, the pitch and roll angles are corrected using the gravity direction measured by the accelerometer, and the yaw angle is corrected using the magnetometer (if equipped), i.e., Z. k =H×X k +v (observation noise). The algorithm iteratively executes two steps: "prediction-update". In the prediction step, the current attitude is calculated based on gyroscope data. In the update step, the predicted value is corrected using the observations from the accelerometer or magnetometer, and the gyroscope's zero bias is estimated. By adjusting the covariance matrix of process noise and observation noise, the algorithm balances the confidence in the model prediction and sensor measurements, thereby obtaining an accurate attitude angle.

[0057] The servo control algorithm employs a PID control algorithm. Its input is the error e(t) between the desired angle and the current angle (calculated using inverse kinematics and inertial measurement unit data), and its output is the command to control the motor. The continuous-time form is u(t) = Kp × e(t) + Ki × ∫e(t)dt + Kd × de(t) / dt, where the proportional term (P) generates a control action proportional to the error, accelerating the response; the integral term (I) eliminates steady-state error and combats persistent disturbances; and the derivative term (D) predicts the error change trend, suppresses overshoot, and improves stability. In the microcontroller, the continuous PID needs to be discretized, and due to the different dynamic characteristics of the three axes, three sets of PID parameters need to be tuned separately. Parameter tuning can be performed using a trial-and-error method or the Ziegler-Nichols rule.

[0058] In some embodiments, the software of the embedded microcontroller adopts a real-time operating system (such as FreeRTOS). The software of the embedded microcontroller is built on the real-time operating system and includes a high-frequency interrupt task module, a core control task module, a communication task module, and a status monitoring task module. The high-frequency interrupt task module (highest priority) is used to periodically read the data collected by the sensing mechanism. The core control task module is used to execute the control algorithm of the embedded microcontroller. The communication task module is used for bidirectional communication with the actuator. The status monitoring task module (lowest priority) is used to detect the safety status of the actuator (such as limit switch, emergency stop, etc.) and manage the system state machine (such as standby, running, fault, calibration).

[0059] In some embodiments, the ship anti-sway bed system further includes a power supply and safety mechanism, which is electrically connected to the sensing mechanism, control mechanism, and actuator mechanism, respectively, to provide power to the other mechanisms and ensure the safe operation of the system.

[0060] Specifically, the power supply and safety mechanism includes a power management module, protection circuits, physical limit switches, emergency stop buttons, and fail-safe mechanisms.

[0061] The power management module converts the ship's 24VDC power supply into various voltages required by the system, such as 5V and 3.3V for the controller and sensors, and ±12V for the operational amplifier. Protection circuits include reverse connection protection, overvoltage and overcurrent protection, and ESD protection, ensuring the system is not damaged in case of power abnormalities or electromagnetic interference. Physical limit switches are installed at both ends of each rotating axis to rigidly prevent overtravel; a more conservative movement range can also be set in the software, forming dual limit protection. The system has multiple emergency stop buttons, which immediately cut off the motors and stop all motor movement upon triggering. The fail-safe mechanism immediately puts the system into a fault state when abnormalities such as triggering limit switches, emergency stops, communication interruptions, or motor overload occur, stopping all motor movement and automatically and slowly restoring the bed to the horizontal locked position while simultaneously triggering audible and visual alarms to ensure user safety.

[0062] The working principle of the ship anti-roll bed system provided in this embodiment is as follows:

[0063] The ship's anti-sway bed system adopts the classic negative feedback closed-loop control principle, and its working process is as follows:

[0064] S1. Sensing: An inertial measurement unit fixed to the ship's body measures the ship's roll, pitch, and yaw angles in real time and transmits the data to the control mechanism.

[0065] S2. Calculation: The embedded microcontroller of the control mechanism reads the data from the inertial measurement unit, filters and fuses the raw data to obtain an accurate and drift-free current attitude of the ship body. The goal of the embedded microcontroller is to keep the bed 100 always horizontal, that is, the target attitude angle (φ, θ, ψ) is always (0°, 0°, 0°). The calculation error is calculated as: target attitude - current attitude of the ship body. The error is input into the PID controller to calculate the control quantity (torque or angle command) of the servo motor required to eliminate the error.

[0066] S3, Execution: Control commands are sent to the servo driver, which drives the servo motor to move, and through the universal joint 200, drives the bed 100 to produce a compensating motion opposite to the swaying of the ship body.

[0067] S4. Feedback and Correction: In theory, the bed 100 should return to a horizontal position after compensation; alternatively, a second inertial measurement unit can be installed on the bed 100 as a feedback sensor to form a closed-loop system, further correcting the compensation error and improving accuracy.

[0068] The entire "perception-computation-execution" cycle runs continuously at an extremely high frequency (>200Hz), thereby achieving dynamic balance and allowing the bed 100 to "suspend" in a stable state on the sea surface.

[0069] According to experimental verification, the ship anti-sway bed system provided in this embodiment can reduce the sway amplitude of the bed body by more than 80% in sea states of 3-4, providing crew members with a stable sleeping environment close to land.

[0070] Specifically, test condition one:

[0071] The embedded microcontroller selected is an STM32H743, and the servo motor is a Panasonic A6 series AC servo motor. Based on static analysis, the load moment of inertia J = 0.5 kg·m², the maximum angular acceleration α = 10 rad / s², and the required torque T = J × α = 5 N·m. Multiplying by a safety factor of 1.5, a servo motor with a rated torque of 8 N·m is selected, paired with a Panasonic A6 series servo driver and a planetary gear reducer with a reduction ratio of 1:10. The PID controller parameters for the three axes are tuned as follows: P parameters are 2.5, 2.3, and 2.0; I parameters are 0.1, 0.08, and 0.05; and D parameters are 0.05, 0.04, and 0.03.

[0072] At this time, the ship's anti-sway bed system reduced the bed's sway amplitude by 85% in sea state 3-4, with a closed-loop response time of 40ms, a load capacity of 150kg, and stable and reliable operation.

[0073] Test Condition Two:

[0074] The embedded microcontroller selected is an STM32H750. In the software, the PID parameters are adjusted as follows: P parameters are 2.6, 2.4, and 2.1; I parameters are 0.12, 0.1, and 0.06; and D parameters are 0.06, 0.05, and 0.04. The servo motor is a Mitsubishi J4 series AC servo motor with a rated torque of 10 N·m, paired with a Mitsubishi J4 series servo driver and a planetary gear reducer with a reduction ratio of 1:8.

[0075] At this time, the ship's anti-sway bed system reduced the bed's sway amplitude by 82% in sea state 3-4, with a closed-loop response time of 45ms and a load capacity of 160kg, meeting the usage requirements.

[0076] The principle of the ship anti-sway bed system provided in this embodiment is expandable. For example, it can also be applied in special scenarios such as precision experiments on research vessels, wounded patient care on medical ships, and high-end cabins on luxury cruise ships, and has broad application prospects.

[0077] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

[0078] In the description of this specification, references to terms such as "some embodiments," "other embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A ship anti-sway bed system, characterized in that, The anti-sway bed system is installed on the ship's hull and connected to the bed hull; the ship anti-sway bed system includes: Sensing mechanisms are used to collect attitude data of the ship's body in real time; A control mechanism is communicatively connected to the sensing mechanism. The control mechanism is used to receive attitude data collected by the sensing mechanism and process it to generate compensation commands. An actuator is connected to the bed body and is communicatively connected to the control mechanism. The actuator is used to receive the compensation command generated by the control mechanism and drive the bed body to perform a compensation movement that is opposite to the swaying direction of the ship body but equal in swaying amplitude according to the compensation command.

2. The ship anti-sway bed system according to claim 1, characterized in that, The actuator includes a universal joint connected to the bottom of the bed. The universal joint includes a first rotating member, a second rotating member, and a third rotating member connected in series. The first rotating member is configured to drive the bed to rotate in a vertical direction, the second rotating member is configured to drive the bed to tilt forward and backward, and the third rotating member is configured to drive the bed to tilt left and right.

3. The ship anti-sway bed system according to claim 2, characterized in that, The actuator also includes a servo motor and a servo driver, the servo driver being communicatively connected between the control mechanism and the servo motor, and the universal joint being connected to the output end of the servo motor.

4. The ship anti-sway bed system according to claim 1, characterized in that, The sensing mechanism includes an inertial measurement unit, which includes a three-axis gyroscope and a three-axis accelerometer. The three-axis gyroscope is used to measure the rotational angular velocity of the ship body, and the three-axis accelerometer is used to measure the acceleration of the ship body.

5. The ship anti-sway bed system according to claim 4, characterized in that, The sensing mechanism further includes a preprocessing unit, which is used to preprocess the raw data measured by the inertial measurement unit. The preprocessing unit includes a zero bias correction module and a scale factor correction module.

6. The ship anti-sway bed system according to claim 1, characterized in that, The control mechanism includes an embedded microcontroller, which includes a baseboard and a core board. The core board is connected to the baseboard, and the baseboard is provided with a peripheral interface for connecting external devices.

7. The ship anti-sway bed system according to claim 6, characterized in that, The control algorithm of the embedded microcontroller includes a sensor fusion algorithm and a servo control algorithm. The sensor fusion algorithm uses a Kalman filter algorithm, and the servo control algorithm uses a PID algorithm.

8. The ship anti-sway bed system according to claim 6, characterized in that, The embedded microcontroller's software uses a real-time operating system. Based on this real-time operating system, the embedded microcontroller's software includes a high-frequency interrupt task module, a core control task module, a communication task module, and a status monitoring task module. The high-frequency interrupt task module is used to periodically read the data collected by the sensing mechanism. The core control task module is used to execute the embedded microcontroller's control algorithm. The communication task module is used for bidirectional communication with the actuator. The status monitoring task module is used to detect the safety status of the actuator and manage the system state machine.

9. The ship anti-sway bed system according to any one of claims 1 to 8, characterized in that, The ship anti-sway bed system also includes a power supply and safety mechanism, which is electrically connected to the sensing mechanism, the control mechanism, and the actuator. The power supply and safety mechanism includes a power management module, a protection circuit, a physical limit switch, an emergency stop button, and a fail-safe mechanism.

10. A ship, characterized in that, Includes the ship body and the ship anti-sway bed system according to any one of claims 1 to 9.

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