Cabin assembly, ship, adjustment control method and device

Abstract

The invention relates to the technical field of ship cabin automatic control, and provides a cabin assembly, a ship and an adjustment control method and device. The cabin assembly comprises a base and a cabin, the base is arranged on the ship, and the cabin is movably connected to the base; the double-shaft rotary table is connected to the cabin, the double-shaft rotary table comprises a transverse rolling rotary table and a pitching rotary table, the transverse rolling rotary table is used for adjusting the transverse rolling angle of the cabin, and the pitching rotary table is used for adjusting the pitching angle of the cabin; the posture detection device is used for detecting poses of a ship and a cabin and comprises a first posture detector and a second posture detector, the first posture detector is arranged on the ship, the second posture detector is arranged on the cabin, and the automatic stability augmentation controller is arranged in the double-shaft rotary table and used for controlling the automatic stability augmentation controller to be in a state of being in a state of being in a state of being in a state of being in a state of being in a state of being in a state of being in a state of being in a state of being in a state of being in a state The horizontal rolling rotary table and the pitching rotary table are arranged on the base and electrically connected with the first pose detector and the second pose detector respectively, and the driving device is connected to the horizontal rolling rotary table and the pitching rotary table. By adjusting the attitude of the cabin in real time, pitching and rolling of the ship are counteracted, and the stability of the cabin is improved.

Description

Technical Field

[0001] This invention relates to the field of ship cabin automatic control technology, specifically to a cabin component, a ship, an adjustment and control method, and a device. Background Technology

[0002] Currently, in related technologies, ships are often affected by wind and waves when sailing at sea, causing them to pitch and roll. To solve this problem, traditional methods mostly rely on the cushioning devices inside the cabin for adjustment, but these cannot offset the impact of ship rolling on the cabin in real time, and cannot fundamentally eliminate the impact of ship rolling on the cabin. Summary of the Invention

[0003] A first aspect of this invention provides a cockpit assembly for installation on a ship. The cockpit assembly includes: a base and a cockpit, the base being disposed on the ship and the cockpit movably connected to the base; a dual-axis turntable connected to the cockpit for adjusting the cockpit's attitude, the dual-axis turntable including a roll turntable and a pitch turntable, the roll turntable for adjusting the cockpit's roll angle and the pitch turntable for adjusting the cockpit's pitch angle; and an attitude detection device for detecting the attitude of the ship and the cockpit, the attitude detection device including a first attitude detector and a second attitude detector, the first attitude detector... The first attitude detector is installed on the ship to detect the ship's attitude data. The second attitude detector is installed in the cockpit to detect the cockpit's attitude data. The automatic stabilization controller is installed inside the dual-axis turntable and is electrically connected to the first and second attitude detectors respectively. It is used to receive the attitude data from the first and second attitude detectors and output control commands based on the attitude data. The drive unit is connected to the roll turntable and the pitch turntable and is used to drive the roll turntable and the pitch turntable to rotate according to the control commands of the automatic stabilization controller to adjust the cockpit's attitude.

[0004] In addition, the cockpit assembly in the above embodiments provided by the present invention may also have the following additional technical features:

[0005] In some embodiments, the cockpit assembly may optionally include a filter, disposed on the pose detection device, and connected to the first pose detector and the second pose detector respectively, for filtering the attitude data of the ship and the attitude data of the cockpit.

[0006] In some embodiments, the ship's attitude data may optionally include roll angle, roll rate, pitch angle, and pitch rate; the cockpit's attitude data may include roll angle, roll rate, pitch angle, and pitch rate.

[0007] A second aspect of the present invention provides a ship that includes a cabin assembly as described in the above embodiments.

[0008] A third aspect of this invention provides a control method for adjusting a cockpit assembly, used to adjust and control the cockpit assembly as described in the above embodiments. The control method for adjusting the cockpit assembly includes: detecting the ship's attitude and the cockpit's attitude using a pose detection device to obtain the ship's attitude data and the cockpit's attitude data; filtering the ship's attitude data and the cockpit's attitude data using a filter; receiving the ship's attitude data and the cockpit's attitude data through an automatic stabilization controller, calculating and outputting control commands based on the target attitude data of the cockpit, the ship's attitude data, and the cockpit's attitude data; and controlling a drive device to drive a dual-axis turntable according to the control commands to adjust the cockpit's attitude.

[0009] In addition, the control method for adjusting the cockpit assembly in the above embodiments provided by the present invention may also have the following additional technical features:

[0010] In some embodiments, optionally, the pose of the ship and the pose of the cabin are detected by a pose detection device to obtain the attitude data of the ship and the attitude data of the cabin. Specifically, this includes: detecting the attitude data of the ship by a first pose detector and detecting the attitude data of the cabin by a second pose detector.

[0011] In some embodiments, optionally, control commands are calculated and output based on the target attitude data of the cockpit, the attitude data of the ship, and the attitude data of the cockpit. Specifically, the automatic stabilization controller calculates the cockpit's position angle based on the ship's attitude data and the difference between the cockpit's attitude data and the target attitude data, and generates control commands.

[0012] In some embodiments, optionally, according to control commands, the drive device is controlled to drive the dual-axis turntable to adjust the cockpit's attitude, specifically including: according to control commands from the automatic stabilization controller, the drive device is controlled to drive the roll turntable and pitch turntable of the dual-axis turntable to adjust the roll angle and pitch angle of the cockpit.

[0013] In some embodiments, the control method for adjusting the cockpit components may further include: the automatic stabilization controller analyzes the ship's rolling trend through a predictive algorithm, generates and outputs control commands, and controls the drive device to adjust the cockpit's attitude.

[0014] A fourth aspect of this invention provides a control device for adjusting a cockpit assembly. The control device includes: a detection unit for detecting the ship's attitude and the cockpit's attitude using a pose detection device to obtain the ship's attitude data and the cockpit's attitude data; a filtering unit for filtering the ship's attitude data and the cockpit's attitude data using a filter; a control unit for receiving the ship's attitude data and the cockpit's attitude data through an automatic stabilization controller, calculating and outputting control commands based on the target attitude data of the cockpit, the ship's attitude data, and the cockpit's attitude data; and an execution unit for controlling a drive device to drive a dual-axis turntable according to the control commands to adjust the cockpit's attitude.

[0015] The beneficial effects of this invention are as follows:

[0016] As can be seen from the above scheme, the present invention installs a dual-axis turntable with adjustable pitch and roll rotational degrees of freedom, an automatic stabilization controller, and an attitude detection device (i.e., an electronic gyro horizon) on the cockpit. The electronic gyro horizon is used to measure the real-time attitude data of the cockpit and the ship. The automatic stabilization controller calculates and outputs control commands based on the real-time attitude data, and controls the drive device (i.e., the power system) to drive the dual-axis turntable to turn in real time, so as to adjust the attitude of the cockpit, thereby counteracting the pitch and roll of the ship, improving the stability of the cockpit, and ensuring that the cockpit maintains a horizontal state (i.e., the target attitude). Attached Figure Description

[0017] Figure 1 This is one of the structural schematic diagrams of the cockpit assembly provided in the embodiments of this application;

[0018] Figure 2 A second schematic diagram of the cockpit assembly provided in the embodiments of this application;

[0019] Figure 3 The third schematic diagram of the cockpit assembly provided in the embodiments of this application;

[0020] Figure 4 Fourth schematic diagram of the cockpit assembly provided in the embodiments of this application;

[0021] Figure 5 A schematic diagram of the circuit structure of the automatic stability booster controller in the cockpit assembly provided in the embodiments of this application;

[0022] Figure 6 This is a structural schematic diagram of a ship provided in an embodiment of this application;

[0023] Figure 7 A flowchart illustrating the control method for adjusting the cockpit assembly provided in an embodiment of this application;

[0024] Figure 8A structural block diagram of the control device for adjusting the cockpit assembly provided in the embodiments of this application;

[0025] Figure 9 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application.

[0026] in, Figure 1 and Figure 9 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0027] 100 Cockpit assembly, 110 Base, 120 Cockpit, 130 Dual-axis turntable, 132 Roll turntable, 134 Pitch turntable, 140 Attitude detection device, 142 First attitude detector, 144 Second attitude detector, 150 Automatic stabilization controller, 160 Drive unit, 170 Filter, 200 Ship, 300 Control device for adjusting cockpit assembly, 310 Detection unit, 320 Filtering unit, 330 Control unit, 340 Actuation unit, 400 Electronic equipment, 402 Processor, 404 Memory. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0029] The following reference Figures 1 to 9 The present application provides a detailed description of the cockpit assembly 100, the ship 200, the control method for adjusting the cockpit assembly, the control device 300 for adjusting the cockpit assembly, the electronic device 400, and the storage medium provided in the embodiments of this application through specific implementations and application scenarios.

[0030] See Figures 1 to 4As shown, a first aspect of the present invention provides a cockpit assembly 100, which is installed on a ship 200. The cockpit assembly 100 includes: a base 110 and a cockpit 120, the base 110 being disposed on the ship 200 and the cockpit 120 being movably connected to the base 110; a dual-axis turntable 130 connected to the cockpit 120 for adjusting the position and attitude of the cockpit 120, the dual-axis turntable 130 including a roll turntable 132 and a pitch turntable 134, the roll turntable 132 being used to adjust the roll angle of the cockpit 120 and the pitch turntable 134 being used to adjust the pitch angle of the cockpit 120; and a position and attitude detection device 140 for detecting the position and attitude of the ship 200 and the cockpit 120, the position and attitude detection device 140 including a first position detector 142 and a second position detector 143. The sensors 144 include a first attitude detector 142 mounted on the ship 200 to detect the attitude data of the ship 200, and a second attitude detector 144 mounted on the cockpit 120 to detect the attitude data of the cockpit 120. An automatic stabilization controller 150 is located inside the dual-axis turntable 130 and is electrically connected to the first attitude detector 142 and the second attitude detector 144 respectively. It receives the attitude data from the first attitude detector 142 and the second attitude detector 144 and outputs control commands based on the attitude data. A drive device 160 is connected to the roll turntable 132 and the pitch turntable 134 and drives the roll turntable 132 and the pitch turntable 134 to rotate according to the control commands of the automatic stabilization controller 150, so as to adjust the attitude of the cockpit 120.

[0031] The cockpit assembly 100 provided by this invention specifically relates to a fixed gyro-assisted automatic stabilization cockpit implemented using mechanical or electronic gyro horizon technology. It comprises a dual-axis turntable 130 with adjustable pitch and roll degrees of freedom, an automatic stabilization controller 150, and an attitude detection device 140 (i.e., an electronic gyro horizon) mounted on the cockpit 120. The electronic gyro horizon measures the real-time attitude data of the cockpit 120 and the ship 200. The automatic stabilization controller 150 calculates and outputs control commands based on the real-time attitude data, controlling the drive unit 160 (i.e., the power system) to drive the dual-axis turntable 130 in real-time to adjust the attitude of the cockpit 120, thereby counteracting the pitch and roll of the ship 200, improving the stability of the cockpit 120, and ensuring that the cockpit 120 maintains a horizontal state (i.e., the target attitude). This reduces the impact of ship swaying on the occupants of the cockpit 120.

[0032] Specifically, such as Figure 1As shown, the cockpit assembly 100 includes a base 110, a cockpit 120, a dual-axis turntable 130, an attitude detection device 140, an automatic stabilization controller 150, and a drive device 160. The base 110 is connected to the vessel 200, and the cockpit 120 is movably connected to the base 110 to fix the cockpit assembly 100 and to adjust the movement of the cockpit 120. The dual-axis turntable 130 is connected to the cockpit 120 and is used to adjust the attitude of the cockpit 120. The dual-axis turntable 130 includes a roll turntable 132 and a pitch turntable 134. The roll turntable 132 is used to adjust the roll angle of the cockpit 120, and the pitch turntable 134 is used to adjust the pitch angle of the cockpit 120. By setting up a dual-axis turntable 130, the horizontal and vertical angles of the cockpit 120 can be adjusted. This allows for real-time countermeasures against the effects of the ship 200's rolling motion on the cockpit 120, ensuring the work efficiency and stability of the crew and equipment under adverse sea conditions and reducing the impact of ship rolling motion on the personnel in the cockpit 120. The attitude detection device 140 is used to detect the attitude of the ship 200 and the cockpit 120. The attitude detection device 140 includes a first attitude detector 142 and a second attitude detector 144. The first attitude detector 142 is mounted on the ship 200 to detect the attitude data of the ship 200, and the second attitude detector 144 is mounted on the cockpit 120 to detect the attitude data of the cockpit 120. Specifically, the first attitude detector 142 is used to measure the roll angle, roll rate, pitch angle, and pitch rate of the ship 200 at the position where the cabin 120 is located. The second attitude detector 144 is used to measure the current roll angle, roll rate, pitch angle, and pitch rate of the cabin 120 in real time. By setting the first attitude detector 142 and the second attitude detector 144, the attitude data of the ship 200 and the cabin 120 can be detected in real time, so as to adjust the cabin 120 in real time and reduce the impact of ship rolling on the occupants of the cabin 120. An automatic stabilization controller 150 is housed inside the dual-axis turntable 130 and electrically connected to the first attitude detector 142 and the second attitude detector 144. It receives attitude data from the first attitude detector 142 and the second attitude detector 144, and calculates the required adjustment angle for the cabin 120 based on the attitude data of the ship 200, the cabin 120, and the target attitude data of the cabin 120. It then outputs control commands to control the dual-axis turntable 130 to adjust the cabin 120, ensuring that the cabin 120 remains in the target attitude and minimizing the impact of ship roll on the occupants. Typically, the target attitude is set to 0 degrees, meaning the cabin 120 is in a horizontal position.The drive unit 160 is connected to the roll turntable 132 and the pitch turntable 134. The drive unit 160 can be driven by a motor. The drive unit 160 is used to drive the roll turntable 132 and the pitch turntable 134 to rotate according to the control command of the automatic stabilization controller 150, so as to adjust the position and attitude of the cockpit 120, so as to ensure that the cockpit 120 always maintains the target attitude and reduce the impact of the ship's rolling on the personnel in the cockpit 120.

[0033] Specifically, in related technologies, ships are often affected by wind and waves while sailing at sea, causing them to pitch (rolling forward and backward) and roll (swaying from side to side). When the ship's rolling angle exceeds a certain range, the swaying of the cabins can cause discomfort to the passengers, and in severe cases, may trigger seasickness, vomiting, and other physiological reactions, especially when both pitch and roll exceed 5 degrees. This swaying not only affects the physical condition of the crew but also adversely impacts the operation of precision instruments and the execution of long-term missions on board.

[0034] Traditional methods for addressing this issue often rely on cabin cushioning devices or medications to alleviate symptoms, failing to fundamentally eliminate the physical effects of ship rolling. Therefore, an effective technological means is urgently needed to counteract the effects of ship rolling on the cabin in real time, ensuring the efficiency and stability of crew and equipment in adverse sea conditions.

[0035] In response to the above problems, such as Figure 2 , Figure 3 and Figure 4 As shown, the present invention provides a cockpit assembly 100, which realizes the function of a fixed gyroscope-based automatic stabilization cockpit by integrating mechanical and electronic gyro horizon technologies. Specifically, the core of the cockpit assembly 100 lies in the coordinated operation of its dual-axis turntable 130 system, posture detection device 140, and automatic stabilization controller 150.

[0036] The dual-axis turntable 130 includes a roll turntable 132 and a pitch turntable 134, which can adjust the roll angle and pitch angle of the cockpit 120 respectively, thereby ensuring that the cockpit 120 can adjust its attitude in real time when facing the rolling of the ship 200. This allows the cockpit 120 to maintain a relatively stable horizontal state when the ship 200 is affected by wind and waves and experiences pitching and rolling.

[0037] The attitude detection device 140 consists of a first attitude detector 142 installed on the ship 200 and a second attitude detector 144 installed on the cockpit 120. It can measure and transmit attitude data of the ship 200 and the cockpit 120 in real time. These data include key parameters such as roll angle, roll rate, pitch angle and pitch rate, providing accurate input information for the automatic stability controller 150.

[0038] The automatic stabilization controller 150, acting as the "brain" of the cockpit assembly 100, is responsible for receiving attitude data from the pose detection device 140 and calculating the angle that the cockpit 120 needs to adjust based on this data and the preset target attitude of the cockpit 120 (usually a horizontal state, i.e., 0-degree attitude). The controller then outputs corresponding control commands to the drive unit 160.

[0039] The drive unit 160, according to the instructions of the automatic stabilization controller 150, drives the dual-axis turntable 130 to perform steering operations in real time, thereby adjusting the position and attitude of the cockpit 120. This process is dynamic and continuous, ensuring that the cockpit 120 remains stable when facing the rolling of the ship 200.

[0040] The cockpit assembly 100 provided by the present invention integrates a dual-axis turntable 130, a position and posture detection device 140, and an automatic stabilization controller 150, thereby effectively counteracting the swaying of the ship 200, improving the stability of the cockpit 120, and ensuring the comfort and work efficiency of the personnel in the cockpit 120 under harsh sea conditions.

[0041] Compared with the prior art, the present invention has the following advantages:

[0042] a) Real-time dynamic stabilization: The system can accurately counteract pitch and roll in real time based on the actual attitude of the ship, thereby improving cabin stability.

[0043] b) Improved comfort: By counteracting hull rolling in real time, it reduces seasickness among passengers, especially suitable for ships sailing for long periods in rough seas.

[0044] c) Simple structure and easy maintenance: Based on the principle of UAV gimbal, it adopts a combination of mechanical and electronic methods, resulting in a relatively simple structure, high reliability, and easy maintenance.

[0045] d) Wide applicability: This stabilization system can be used on various types of ships, especially in applications requiring high-precision attitude control, such as maritime patrol and scientific research vessels.

[0046] In specific applications, the vessel 200 can be a ship, the attitude detection device 140 can be a mechanical / electronic gyro horizon, and the drive device 160 can be a power system.

[0047] See Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in one embodiment of this application, the cockpit assembly 100 further includes a filter 170, which is disposed on the pose detection device 140 and connected to the first pose detector 142 and the second pose detector 144 respectively, for filtering the attitude data of the ship 200 and the attitude data of the cockpit 120.

[0048] In this embodiment, such as Figure 2 and Figure 3 As shown, due to the complex and ever-changing marine environment, the attitude detection device 140 may be subject to various interferences during the measurement process, such as wave fluctuations and mechanical vibrations. These interferences will cause the measured attitude data to contain a certain amount of noise. If these noisy data are used directly for attitude control, the cockpit 120 may not be adjusted accurately enough, or even shake, affecting the stability of the cockpit 120 and the comfort of passengers.

[0049] Therefore, the present invention incorporates a filter 170 in the cockpit assembly 100, specifically a Kalman filter. The filter 170 can perform frequency analysis on the input signal, filtering out signals above or below a certain frequency, thereby retaining useful signals and removing noise interference. In this embodiment, the filter 170 filters the attitude data of the ship 200 and the cockpit 120, effectively removing high-frequency noise and improving the accuracy and reliability of the data. The filtered attitude data is then transmitted to the automatic stabilization controller 150 for calculation and analysis. Based on this more accurate data, the automatic stabilization controller 150 can more precisely calculate the angle that the cockpit 120 needs to adjust and output corresponding control commands to the drive device 160. Thus, the cockpit assembly 100 can more accurately adjust the attitude of the cockpit 120, achieving a better stabilization effect.

[0050] In one embodiment of this application, the attitude data of the ship 200 includes roll angle, roll rate, pitch angle and pitch rate; the attitude data of the cabin 120 includes roll angle, roll rate, pitch angle and pitch rate.

[0051] In this embodiment, the attitude data of the ship 200 reflects the dynamic changes of the ship 200 under the influence of external factors such as wind and waves during its navigation at sea, while the attitude data of the cockpit 120 reflects the current state of the cockpit 120 relative to the ship 200. By collecting and monitoring this attitude data in real time, the pose detection device 140 can accurately capture minute changes in the ship 200 and the cockpit 120. Subsequently, the filter 170 filters these data to remove noise interference, ensuring the accuracy and reliability of the data. The automatic stabilization controller 150 calculates the angle that the cockpit 120 needs to adjust based on the filtered attitude data and a preset target attitude of the cockpit 120 (usually a horizontal state). This calculation process considers the differences between the current attitude of the ship 200, the current attitude of the cockpit 120, and the target attitude, thereby ensuring that the adjusted cockpit 120 can counteract the rolling of the ship 200 to the greatest extent. Finally, the drive unit 160 will drive the dual-axis turntable 130 to perform steering operations in real time according to the control instructions of the automatic stability controller 150, and adjust the roll angle and pitch angle of the cockpit 120 to keep the cockpit 120 in a relatively stable state.

[0052] According to a second aspect of the invention, such as Figure 6 As shown, a ship 200 is also proposed, including a cabin assembly 100 as described in the above embodiments.

[0053] The vessel 200 provided in this application has all the beneficial effects of the cabin 120 because it includes the cabin assembly 100 of the above embodiments, which will not be described again here.

[0054] According to a third aspect of the invention, such as Figure 7 As shown, a control method for adjusting the cockpit assembly is also proposed for adjusting and controlling the cockpit assembly as described in the above embodiments. The control method for adjusting the cockpit assembly includes: detecting the ship's attitude and the cockpit's attitude through a pose detection device to obtain the ship's attitude data and the cockpit's attitude data; filtering the ship's attitude data and the cockpit's attitude data through a filter; receiving the ship's attitude data and the cockpit's attitude data through an automatic stabilization controller, calculating and outputting control commands based on the target attitude data of the cockpit, the ship's attitude data, and the cockpit's attitude data; and controlling the drive device to drive the dual-axis turntable according to the control commands to adjust the cockpit's attitude.

[0055] like Figure 7 As shown, this embodiment of the invention provides a control method for adjusting a cockpit component, which may include the following steps:

[0056] S502. The attitude of the ship and the attitude of the cabin are detected by the attitude detection device to obtain the attitude data of the ship and the attitude data of the cabin.

[0057] S504. Filter the ship's attitude data and the cabin's attitude data using a filter;

[0058] S506. Receives ship attitude data and cabin attitude data through the automatic stability augmentation controller, calculates and outputs control commands based on the target attitude data of the cabin, the attitude data of the ship, and the attitude data of the cabin.

[0059] S508. According to the control command, the control drive device drives the dual-axis turntable to adjust the cockpit's position and attitude.

[0060] The control method for adjusting cockpit components in this application achieves precise adjustment of cockpit components by integrating multiple stages such as pose detection, data filtering, attitude calculation and control command output, and drive execution. This method not only improves cockpit stability but also significantly enhances passenger comfort and safety during maritime navigation.

[0061] Specifically, the method first uses a pose detection device, including a first pose detector and a second pose detector respectively installed on the ship and the cockpit, to detect and acquire the attitude data of the ship and the cockpit in real time. This data includes the ship's roll angle, roll rate, pitch angle, and pitch rate, as well as the cockpit's roll angle, roll rate, pitch angle, and pitch rate, providing basic information for subsequent attitude adjustments.

[0062] Next, the acquired attitude data is filtered to remove noise and interference, ensuring data accuracy and reliability. Then, the automatic stabilization controller receives the filtered attitude data and calculates the required adjustment angle based on the target attitude data of the cockpit (usually horizontal) and the actual attitude data of the ship and cockpit. The controller then outputs corresponding control commands, which include the specific parameters and action requirements for adjusting the cockpit attitude. Finally, based on the control commands output by the automatic stabilization controller, the drive unit drives the dual-axis turntable in real time to perform steering operations, adjusting the roll and pitch angles of the cockpit to achieve stable cockpit attitude adjustment. During this process, the coordinated work of the drive unit and the dual-axis turntable ensures that the cockpit can respond quickly and accurately to control commands, thereby maintaining a stable attitude. The control method for adjusting cockpit components in this application achieves precise adjustment of cockpit components through steps such as precise pose detection, data filtering, attitude calculation and control command output, and drive execution. This method not only improves cockpit stability but also provides passengers with a safer and more comfortable experience.

[0063] In some embodiments, optionally, the pose of the ship and the pose of the cabin are detected by a pose detection device to obtain the attitude data of the ship and the attitude data of the cabin. Specifically, this includes: detecting the attitude data of the ship by a first pose detector and detecting the attitude data of the cabin by a second pose detector.

[0064] In this embodiment, the process of detecting the ship's pose and the cabin's pose using a pose detection device to obtain the ship's attitude data and the cabin's attitude data is refined into two independent but coordinated steps: first, the ship's attitude data is specifically detected by a first pose detector; second, the cabin's attitude data is independently detected by a second pose detector.

[0065] Specifically, the first attitude detector is typically installed on a stable part of the ship, accurately capturing dynamic changes such as roll and pitch caused by factors like waves and wind, and outputting key attitude data including roll angle, roll rate, pitch angle, and pitch rate. This data reflects the overall motion state of the ship while sailing at sea. The second attitude detector is installed inside the cockpit or on a closely connected structure to detect real-time attitude changes of the cockpit relative to the ship or a fixed reference frame. It captures attitude changes such as roll and pitch that may occur in the cockpit due to the ship's rolling motion, and outputs attitude data including roll angle, roll rate, pitch angle, and pitch rate. This data directly reflects the current actual attitude of the cockpit. Both attitude detectors ensure stable and reliable attitude data even in complex and changing marine environments. They transmit the detected data to filters for further processing in real time via wired or wireless means.

[0066] In some embodiments, optionally, control commands are calculated and output based on the target attitude data of the cockpit, the attitude data of the ship, and the attitude data of the cockpit. Specifically, the automatic stabilization controller calculates the cockpit's position angle based on the ship's attitude data and the difference between the cockpit's attitude data and the target attitude data, and generates control commands.

[0067] In this embodiment, the process of calculating and outputting control commands based on the target attitude data of the cockpit, the attitude data of the ship, and the attitude data of the cockpit is specified as follows: The automatic stabilization controller first calculates the difference between the ship's attitude data, the cockpit's attitude data, and the target attitude data. This difference reflects the deviation between the current cockpit attitude and the target attitude. Next, based on this difference, the automatic stabilization controller calculates and determines the angles required to adjust the cockpit's attitude, that is, the roll angle and pitch angle required to adjust the cockpit to achieve the target attitude. Finally, based on these calculation results, the automatic stabilization controller generates and outputs corresponding control commands.

[0068] Specifically, the automatic stability augmentation controller, as the core of the entire control system, not only receives and processes attitude data from the attitude detection device in real time, but also quickly and accurately calculates the required cockpit angle based on preset target attitude data and generates corresponding control commands. By calculating the difference between the ship's and cockpit's attitude data and the target attitude data, and generating control commands based on this difference, the automatic stability augmentation controller achieves precise control of the cockpit's attitude. This process not only improves cockpit stability but also provides passengers with a safer and more comfortable sailing experience.

[0069] In some embodiments, optionally, according to control commands, the drive device is controlled to drive the dual-axis turntable to adjust the cockpit's attitude, specifically including: according to control commands from the automatic stabilization controller, the drive device is controlled to drive the roll turntable and pitch turntable of the dual-axis turntable to adjust the roll angle and pitch angle of the cockpit.

[0070] In this embodiment, the process of adjusting the cockpit attitude according to control commands is detailed as follows: First, the automatic stabilization controller generates corresponding control commands based on the calculated angle that the cockpit needs to adjust. Then, these control commands are transmitted to the drive unit, which precisely drives the roll and pitch turntables of the dual-axis turntable according to the command requirements. The roll turntable is driven to adjust the cockpit's roll angle to match the target attitude; the pitch turntable is driven to adjust the cockpit's pitch angle, also achieving the target attitude. As an actuator, the drive unit can not only quickly respond to the commands of the automatic stabilization controller but also precisely control the dual-axis turntables according to the command requirements, thereby achieving precise adjustment of the cockpit attitude. The drive unit precisely drives the roll and pitch turntables of the dual-axis turntable according to the control commands of the automatic stabilization controller, realizing the adjustment of the cockpit's roll and pitch angles. This process not only improves the accuracy and stability of cockpit attitude control but also provides passengers with a safer and more comfortable flight experience.

[0071] In some embodiments, the control method for adjusting the cockpit components may further include: the automatic stabilization controller analyzes the ship's rolling trend through a predictive algorithm, generates and outputs control commands, and controls the drive device to adjust the cockpit's attitude.

[0072] In this embodiment, the automatic stability augmentation controller not only generates control commands based on real-time attitude data but also incorporates a prediction algorithm. This algorithm comprehensively considers the ship's historical roll data, current environmental parameters (such as wind speed and wave height), and potential future changes. Through complex mathematical models and calculations, it predicts the ship's roll trend over a future period. This prediction provides the automatic stability augmentation controller with more comprehensive and accurate information, enabling it to react in advance and generate control commands that better reflect future realities.

[0073] Specifically, the prediction algorithm employs advanced technologies such as time series analysis, machine learning, or deep learning. These technologies can extract the patterns and characteristics of ship rolling by training and learning from large amounts of historical data, thereby achieving accurate prediction of future rolling trends. Upon receiving the prediction results, the automatic stabilization controller calculates the required cockpit angle in advance based on the predicted future rolling trend and generates corresponding control commands. These commands are then transmitted to the drive unit, which precisely controls the dual-axis turntable according to the command requirements to achieve advance adjustment of the cockpit attitude.

[0074] In practical applications, the specific implementation of this invention is as follows:

[0075] The mechanical cockpit assembly includes a dual-axis turntable and a standard cockpit. The dual-axis turntable consists of a roll turntable and a pitch turntable, each with two degrees of rotational freedom, used to counteract the ship's pitch and roll movements, respectively. The roll turntable executes roll control commands, adjusting the cockpit's roll attitude angle in real time, while the pitch turntable executes pitch control commands, adjusting the cockpit's pitch attitude angle in real time. This dual-axis turntable is rigidly connected to the cockpit and can quickly and precisely adjust the cockpit's attitude under controller commands, making it opposite to the ship's rolling motion, thereby maintaining cockpit balance.

[0076] There are two types of mechanical / electronic gyro horizon instruments. One type is installed inside the cockpit to measure the cockpit's current roll angle, roll rate, pitch angle, and pitch rate in real time. The other type is installed on the ship to measure the ship's roll angle, roll rate, pitch angle, and pitch rate at the location of the cockpit on the ship.

[0077] The power system provides the necessary power for the stability augmentation device to ensure its rapid response to the ship's rolling motion. The power system is driven by an electric motor to ensure that the stability augmentation device can work continuously in complex sea conditions.

[0078] The automatic stabilization controller is installed inside the dual-axis turntable. Based on a P-PID cascaded PID controller, it calculates and outputs control commands based on real-time attitude data. The controller uses attitude data transmitted from a gyro-level horizon sensor; all measurements are filtered by a Kalman filter to ensure smoothness and accuracy. Then, based on the P-PID cascaded PID controller, the target attitude of the cockpit is set to 0 degrees. The controller calculates the control commands to adjust the cockpit attitude based on the difference between the actual and target attitudes. Furthermore, the controller can analyze the ship's roll trend in real time using a ship roll prediction algorithm and employ feedforward control to drive the stabilization device to make corresponding adjustments, ensuring the cockpit remains level.

[0079] Specifically, the controller structure used in this invention is as follows: Figure 5 As shown, the control method of the present invention includes the following steps:

[0080] 1. Attitude measurement, taking roll as an example, the principles of pitch and roll are the same. The current roll angle θ and roll angular velocity of the cockpit are measured by mechanical / electronic gyro horizon instruments respectively. The ship's roll angle θ1 and roll rate at the location of the cockpit on the ship All measurements are filtered by a Kalman filter to prevent noise interference and ensure the smoothness and accuracy of the measurement signal.

[0081] 2. Control calculation: The automatic stabilization controller uses a P-PID cascade controller based on the attitude measurement data. The P-attitude angle controller and the PID attitude angular velocity controller are respectively used. The difference between the target attitude angle and the measured attitude angle is passed through the P-stage to generate the target angular velocity. The difference between the target attitude angle and the measured attitude angular velocity is then passed through the PID controller to generate the control adjustment command.

[0082] 3. Attitude adjustment: Based on the instructions of the automatic stabilization controller, the two-degree-of-freedom stabilization devices are driven to adjust the attitude and counteract the impact of the ship's rolling on the cockpit.

[0083] 4. Real-time feedback: Based on feedback data from the attitude sensors, the automatic stabilization controller continuously adjusts the operating state of the stabilization device to ensure the cockpit remains stable at all times. Through the above process, closed-loop control of the fixed gyro-based automatic stabilization cockpit is completed, maintaining the attitude angle near 0 degrees.

[0084] like Figure 8As shown, a fourth aspect of the present invention provides a control device 300 for adjusting a cockpit assembly. The control device 300 includes: a detection unit 310, used to detect the pose of a ship 200 and a cockpit 120 through a pose detection device 140 to obtain attitude data of the ship 200 and the cockpit 120; a filtering unit 320, used to filter the attitude data of the ship 200 and the cockpit 120 through a filter 170; a control unit 330, used to receive the attitude data of the ship 200 and the cockpit 120 through an automatic stabilization controller 150, and calculate and output control commands based on the target attitude data of the cockpit 120, the attitude data of the ship 200, and the attitude data of the cockpit 120; and an execution unit 340, used to control a drive device 160 to drive a dual-axis turntable 130 according to the control commands to adjust the pose of the cockpit 120.

[0085] Specifically, firstly, the detection unit 310 detects the pose of the ship 200 and the cabin 120 in real time through the pose detection device 140 and transmits the data to the filtering unit 320; then, the filtering unit 320 filters the received data to remove noise and interference; next, the control unit 330 calculates and outputs control commands based on the filtered data and the preset target pose data of the cabin 120; finally, the execution unit 340 precisely controls the drive device 160 to drive the dual-axis turntable 130 according to the control commands, thereby adjusting the pose of the cabin 120.

[0086] like Figure 9 As shown, a fifth aspect of the present invention provides an electronic device 400, including a memory 404, a processor 402, and a computer program stored in the memory 404 and executable on the processor 402. When the processor 402 executes the program, it implements the steps of the control method for adjusting the cockpit assembly of any of the above embodiments.

[0087] A sixth aspect of the present invention provides a storage medium having a computer program stored thereon, which, when executed by a processor 402, implements the steps of the control method for adjusting the cockpit assembly described in the above embodiments.

[0088] In this application, the term "multiple" refers to two or more unless otherwise expressly defined. The terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0089] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. 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.

[0090] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A cockpit assembly (100), characterized in that, The cockpit assembly (100) is for installation on a vessel (200), and the cockpit assembly (100) includes: A base (110) and a cabin (120), the base (110) being disposed on the vessel (200) and the cabin (120) being movably connected to the base (110); A dual-axis turntable (130) is connected to the cockpit (120) and is used to adjust the position and attitude of the cockpit (120). The dual-axis turntable (130) includes a roll turntable (132) and a pitch turntable (134). The roll turntable (132) is used to adjust the roll angle of the cockpit (120), and the pitch turntable (134) is used to adjust the pitch angle of the cockpit (120). A pose detection device (140) is used to detect the pose of the ship (200) and the cabin (120). The pose detection device (140) includes a first pose detector (142) and a second pose detector (144). The first pose detector (142) is disposed on the ship (200) and is used to detect the pose data of the ship (200). The second pose detector (144) is disposed on the cabin (120) and is used to detect the pose data of the cabin (120). An automatic stabilization controller (150) is disposed inside the dual-axis turntable (130) and electrically connected to the first pose detector (142) and the second pose detector (144) respectively. It is used to receive the pose data of the first pose detector (142) and the second pose detector (144) and output control commands according to the pose data. A drive unit (160) is connected to the roll turntable (132) and the pitch turntable (134) and is used to drive the roll turntable (132) and the pitch turntable (134) to rotate according to the control command of the automatic stabilization controller (150) so as to adjust the position of the cockpit (120).

2. The cockpit assembly (100) according to claim 1, characterized in that, The cockpit assembly (100) also includes: A filter (170) is provided in the pose detection device (140) and is connected to the first pose detector (142) and the second pose detector (144) respectively, for filtering the attitude data of the ship (200) and the attitude data of the cabin (120).

3. The cockpit assembly (100) according to claim 1 or 2, characterized in that, The attitude data of the vessel (200) includes roll angle, roll rate, pitch angle, and pitch rate; The attitude data of the cockpit (120) includes roll angle, roll rate, pitch angle and pitch rate.

4. A vessel (200), characterized in that, Includes the cockpit assembly (100) as described in any one of claims 1 to 3.

5. A control method for adjusting cockpit components, characterized in that, The cockpit assembly used in any one of claims 1 to 3, wherein the method for controlling the adjustment of the cockpit assembly comprises: The pose detection device detects the pose of the ship and the pose of the cabin, thereby obtaining the attitude data of the ship and the attitude data of the cabin. The attitude data of the ship and the attitude data of the cabin are filtered by a filter; The automatic stability controller receives the attitude data of the ship and the attitude data of the cockpit, and calculates and outputs control commands based on the target attitude data of the cockpit, the attitude data of the ship and the attitude data of the cockpit. According to the control command, the drive device is controlled to drive the dual-axis turntable to adjust the position and attitude of the cockpit.

6. The control method for adjusting the cockpit assembly according to claim 5, characterized in that, The step of detecting the pose of the ship and the cockpit using the pose detection device to obtain the ship's attitude data and the cockpit's attitude data specifically includes: The attitude data of the ship is detected by the first pose detector, and the attitude data of the cockpit is detected by the second pose detector.

7. The control method for adjusting the cockpit assembly according to claim 5, characterized in that, The step of calculating and outputting control commands based on the target attitude data of the cockpit, the attitude data of the ship, and the attitude data of the cockpit specifically includes: The automatic stabilization controller calculates the cockpit's position angle based on the ship's attitude data and the difference between the cockpit's attitude data and the target attitude data, and generates control commands.

8. The control method for adjusting the cockpit assembly according to claim 5, characterized in that, The step of controlling the drive device to drive the dual-axis turntable according to the control command to adjust the cockpit's position and attitude specifically includes: According to the control command of the automatic stability controller, the drive device is controlled to drive the roll turntable and the pitch turntable in the dual-axis turntable to adjust the roll angle and pitch angle of the cockpit.

9. The control method for adjusting the cockpit assembly according to any one of claims 5 to 8, characterized in that, The control method for the adjustable cockpit assembly also includes: The automatic stabilization controller analyzes the ship's rolling trend through a predictive algorithm, generates and outputs control commands, and controls the drive device to adjust the cockpit's position and attitude.

10. A control device for adjusting a cockpit assembly, characterized in that, The control device for the adjustable cockpit assembly includes: The detection unit is used to detect the pose of the ship and the pose of the cabin through the pose detection device, and to obtain the attitude data of the ship and the attitude data of the cabin. A filtering unit is used to filter the attitude data of the ship and the attitude data of the cabin through a filter. The control unit is used to receive the attitude data of the ship and the attitude data of the cockpit through the automatic stability controller, and calculate and output control commands based on the target attitude data of the cockpit, the attitude data of the ship and the attitude data of the cockpit. An execution unit is used to control the drive device to drive the dual-axis turntable according to the control command, so as to adjust the position and posture of the cockpit.

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