Control method, electronic equipment and storage medium

Abstract

The invention provides a control method, an electronic device and a storage medium, the method is applied to a first device of a ship, the first device is in communication connection with a second device, and the method comprises the steps of determining a ship state corresponding to the ship in response to a remote control request; entering a remote control mode under the condition that the ship state meets the mode switching condition, and establishing a multi-link communication network between the first equipment and the second equipment; based on the multi-link communication network, sending related data of the ship to the second equipment, and receiving an operation instruction fed back by the second equipment based on the related data; and controlling ship operation based on the operation instruction. According to the method, the remote control efficiency and the system response capability can be improved.

Description

Technical Field

[0001] This application relates to the field of remote control of ships, and more particularly to a control method, electronic device and storage medium. Background Technology

[0002] Current ship remote control systems primarily rely on a single communication link (such as 4G / 5G or satellite communication) for ship-to-shore data transmission, and integrate independent intelligent navigation, ship handling, and remote monitoring modules in a loosely coupled manner. However, this approach is prone to problems such as control failure due to link interruptions and low system coordination efficiency (e.g., high command latency due to inconsistent interfaces and protocols), affecting the efficiency of ship remote control and system responsiveness. Summary of the Invention

[0003] This application discloses a control method, electronic device, and storage medium, which solves the technical problems of low remote control efficiency and untimely system response in current ship remote control systems.

[0004] This application provides a control method applied to a first device on a ship, wherein the first device is communicatively connected to a second device. The method includes: responding to a remote control request, determining the ship's corresponding state; entering a remote control mode when the ship's state meets mode switching conditions, and establishing a multi-link communication network between the first device and the second device; sending relevant data of the ship to the second device based on the multi-link communication network, and receiving operation instructions from the second device based on the relevant data; and controlling the ship's operation based on the operation instructions.

[0005] In some embodiments of this application, the method further includes: determining whether the ship's state meets the mode switching conditions, including: acquiring navigation data corresponding to the ship, perception data of the ship's navigation environment, and equipment data corresponding to the ship; determining a first detection result corresponding to the navigation data, a second detection result corresponding to the perception data, and a third detection result corresponding to the equipment data; if the first detection result indicates that the navigation data is within a preset navigation threshold range, the second detection result indicates that the navigation environment conforms to a preset environment, and the third detection result indicates that the state of the equipment within the ship conforms to a preset state, then it is determined that the ship's state meets the mode switching conditions; if the first detection result indicates that the navigation data is not within a preset navigation threshold range, or the second detection result indicates that the navigation environment does not conform to the preset environment, or the third detection result indicates that the state of the equipment within the ship does not conform to the preset state, then it is determined that the ship's state does not meet the mode switching conditions.

[0006] In some embodiments of this application, the step of sending relevant ship data to the second device based on the multi-link communication network and receiving operation instructions fed back by the second device based on the relevant data includes: sending the relevant data and receiving the operation instructions using a first link in the multi-link communication network; determining the remaining link communication network in the event of a failure of the first link; determining a second link from the remaining link communication network, and sending the relevant data and receiving the operation instructions using the second link.

[0007] In some embodiments of this application, controlling the ship's operation based on the operation instructions includes: obtaining engine telegraph data and rudder command data from the operation instructions; verifying the engine telegraph data and the rudder command data to generate a verification result; if the verification result indicates that the verification is qualified, generating a control command based on the engine telegraph data and the rudder command data; obtaining rudder command information, engine command information, and propulsion command information based on the control command; and controlling the corresponding control equipment within the ship based on the rudder command information, engine command information, and propulsion command information.

[0008] In some embodiments of this application, after entering the remote control mode, the method further includes: exiting the remote control mode if the ship status does not meet the mode switching conditions; exiting the remote control mode in response to fault information of either the first device or the second device; and exiting the remote control mode if all the multi-link communication networks fail.

[0009] In some embodiments of this application, the first device is communicatively connected to the intelligent workstation of the ship. The first device includes a first host and a second host. The method further includes: sending a first heartbeat signal to the intelligent workstation using the first host, and sending a second heartbeat signal to the intelligent workstation using the second host; if feedback from the intelligent workstation regarding the first heartbeat signal and the second heartbeat signal is received, then the first host is designated as the master station and the second host as the slave station; the slave station is a backup device for the master station.

[0010] In some embodiments of this application, the method further includes: within a preset period, if feedback on the first heartbeat signal is received from the intelligent workstation, but no feedback on the second heartbeat signal is received, then the first host is designated as the master station; if feedback on the second heartbeat signal is received from the intelligent workstation, but no feedback on the first heartbeat signal is received, then the second host is designated as the master station.

[0011] In some embodiments of this application, the method further includes: constructing a test field between the first device, the second device, and a preset test auxiliary vessel, wherein the test auxiliary vessel is connected to the first device and the second device respectively through a multi-link communication network; receiving situation information fed back by the test auxiliary vessel based on control information sent by the first device and guidance information sent by the second device; obtaining test results based on the situation information, wherein the test results include various performance indicators of the vessel in remote control mode.

[0012] This application also provides an electronic device, which includes a processor and a memory, wherein the processor is used to implement the control method when executing a computer program stored in the memory.

[0013] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the control method described above.

[0014] In the control method provided in this application, in response to a remote control request, the ship's status is determined to assess whether the ship meets the mode switching conditions for entering remote control mode, thereby mitigating the risk of mode incompatibility after entering remote control mode. After the ship enters remote control mode, a multi-link communication network is established between the first and second devices, eliminating single points of failure and improving the reliability and continuity of ship-to-shore communication. Based on the multi-link communication network, ship operation data is sent to the second device, and operation commands based on the operation data are received from the second device, thereby achieving the goal of remotely controlling the first device using the second device and improving the system's responsiveness. The first device can control the ship's operation based on the operation commands, thus improving the efficiency of remote control. Attached Figure Description

[0015] Figure 1 This is a schematic diagram illustrating an application scenario of the control method provided in the embodiments of this application.

[0016] Figure 2 This is a diagram showing the communication connection between the first device, the intelligent workstation, and the operating device provided in the embodiments of this application.

[0017] Figure 3 This is a flowchart of the control method provided in the embodiments of this application.

[0018] Figure 4 This is a schematic diagram of a multi-link communication network provided in an embodiment of this application.

[0019] Figure 5 This is a network security architecture diagram provided in the embodiments of this application.

[0020] Figure 6 This is a video surveillance image of a ship provided in an embodiment of this application.

[0021] Figure 7 This is a schematic diagram of the interaction between the first host and the second host provided in the embodiments of this application.

[0022] Figure 8 This is a schematic diagram of the interaction between the first host and the second device provided in the embodiments of this application.

[0023] Figure 9 This is a schematic diagram of the interaction between the ship's end and the shore end provided in an embodiment of this application.

[0024] Figure 10 This is a flowchart of a control method provided in another embodiment of this application. Detailed Implementation

[0026] For ease of understanding, some concepts related to the embodiments of this application are illustrated and explained by way of example for reference.

[0027] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0028] Current ship remote control systems primarily rely on a single communication link (such as 4G / 5G or satellite communication) for ship-to-shore data transmission. If this single communication link is interrupted due to signal coverage issues, weather conditions, or equipment failure, control failure and data interruption will occur immediately. Furthermore, the intelligent navigation system, ship control system (main engine, steering gear, bow thrusters), and remote control system within current ship remote control systems are often designed and developed independently. The lack of standardized interfaces and data protocols between these systems makes efficient and low-latency data sharing difficult. The transfer of control between different modes (local, autonomous, remote) lacks a smooth, safe, and standardized process, typically relying on manual judgment and operation, resulting in high latency and a high risk of errors.

[0029] In addition, current ship remote control systems also suffer from problems such as unsafe control handover (e.g., lack of automated status assessment and synchronization mechanisms) and insufficient overall reliability (e.g., lack of redundancy in key equipment), which affect the efficiency of ship remote control and system responsiveness.

[0030] Therefore, to address the technical problems of low remote control efficiency and untimely system response in current ship remote control systems, embodiments of this application provide a control method, electronic device, and storage medium. These components ensure compatibility in entering remote control mode based on ship status and ensure reliable communication between ship and shore through a multi-link communication network, thereby improving remote control efficiency and system responsiveness. The application scenarios of the control method of this application are described below.

[0031] Figure 1 This is a schematic diagram illustrating an application scenario of the control method provided in the embodiments of this application. For example... Figure 1 As shown, the first device 10 on the ship (also known as the ship end) and the second device 20 on the shore are connected through a multi-link communication network. This multi-link communication network uses the QUIC (Quick UDP Internet Connection) protocol to ensure low latency and channel multiplexing of the connection. It can include multi-domain communication such as MESH self-organizing network communication, 4G / 5G communication, Beidou satellite communication, etc.

[0032] The first device 10 and the second device 20 can be computer devices with at least partially identical device structures, such as computers, servers, and other computer devices. In one example, the first device 10 and the second device 20 can be computer devices that employ 14-nanometer technology, are ultra-low power, 64-bit multi-core processors, fully support the latest Intel 6th / 7th generation Core i7 / 5 / 3 desktop multi-core processors, are equipped with the Q170 industrial-grade chipset, support dual-channel DDR4 laptop memory, with a maximum single-channel support of 16GB, and provide powerful computing performance and extreme image processing capabilities.

[0033] The first device 10 and the second device 20 may include, but are not limited to, processors, memory, displays, I / O interfaces, expansion interfaces, power supplies, etc.

[0034] The processor features an Intel 6th or 7th generation Core™ i3 / i5 / i7 series CPU with an LGA1151 socket, supporting fanless passive cooling at 35W TDP, and active cooling with a PWM fan in 35W or 65W TDP modes. The chipset is based on the Intel Skylake Q170 series, providing stable platform support and expandability. The system is equipped with AMI BIOS, supports Advanced Power Management (ACPI) features, and can monitor CPU temperature, fan speed, and system voltage in real time to ensure high reliability and stability of hardware operation.

[0035] The first device 10 and the second device 20 can be equipped with dual-channel DDR4 SO-DIMM memory slots, supporting frequencies of 1866 / 2133 / 2400 / 2666 MHz, operating at 1.2V, with a maximum capacity of 16GB per memory module and expandable up to 32GB. For storage, they provide one hot-swappable 2.5-inch hard drive bay (supporting hard drives from 5 to 9.5mm thick), one internal 2.5-inch hard drive bay (supporting hard drives from 5 to 9.5mm thick), and one internal M.2 interface (22×42mm, supporting SATA 3.0 protocol) to meet various storage configuration needs.

[0036] The monitor's display functionality is provided by the Intel® HD Graphics chipset integrated into the processor, supporting the DirectX 12 graphics interface. For video output, it features three interfaces: a DisplayPort (DP) interface, supporting a maximum resolution of 4096×2304, 24-bit color depth, and a 60Hz refresh rate; a DVI-D interface, supporting a maximum resolution of 1920×1200 and a 30Hz refresh rate; and a VGA interface, supporting a maximum resolution of 2048×1536.

[0037] Both the first device 10 and the second device 20 are equipped with dual wired network ports. LAN1 uses an Intel Ethernet Connection 1210-AT controller, and LAN2 uses an Intel Ethernet Connection 1219-LM controller, both supporting Intel AMT 11.6 remote management technology. For wireless connectivity, a MINI-PCIE interface is provided, which can be installed at half height or full height, supports 802.11b / g / n protocols, and can be equipped with optional 3G or 4G modules. A SIM card slot is also provided for mobile network access.

[0038] The first device 10 and the second device 20 provide a rich array of I / O interfaces, including six USB 3.0 ports to meet the needs of high-speed data transmission; they are also equipped with four DB9 RS232 serial interfaces, of which COM1 and COM2 can be configured through the BIOS to support multiple communication protocols such as RS485, RS422 or RS232, providing a flexible connection solution for industrial applications.

[0039] The first device 10 and the second device 20 provide a rich set of expansion interface options, including GPIO and PCIe. The GPIO interface can be equipped with one 10-pin terminal, supporting 4 inputs and 4 outputs by default. DI is active high by default, and DO is low. Its input / output mode can be configured via BIOS. Alternatively, a 20-pin terminal can be equipped, supporting 8 inputs and 8 outputs by default, with the same level characteristics and configuration. In addition, DSUB type interfaces are also available: one is a 15-pin DSUB, providing 4 opto-isolated inputs (0V~40V) and 4 relay-isolated outputs (supporting AC 120V / 0.5A or DC 24V / 1A); the other is a 37-pin DSUB, providing 8 opto-isolated inputs (0~40V), 8 relay-isolated outputs (AC 120V / 0.5A or DC 24V / 1A), and 8 opto-isolated outputs (24V@10mA). The PCIe expansion section offers a variety of combination options, including one MXM 3.0 interface (supporting four Gigabit Ethernet ports and one DSUB-37 expansion), one PCIe x16 plus one PCIe x4, one PCIe 3.0 x16 plus three PCIe, or two PCIe 3.0 x8 plus two PCIe.

[0040] The first device 10 and the second device 20 are powered by direct current (DC) power and connected via a 4-pin 5.08 Phoenix terminal block with a lock hole. They support a wide voltage input from 18V to 36V and come standard with a 19V / 6.32A adapter. They support Windows 7 / 8.1 / 10 64-bit, Linux, and other operating systems.

[0041] like Figure 1 As shown, the first device 10 is connected to both the intelligent workstation 30 and the operating device 40. (Combined with...) Figure 2 Describe the communication connection relationship between the first device 10, the intelligent workstation 30, and the operating device 40.

[0042] like Figure 2 As shown, the first device 10 includes a first host (such as...) Figure 2 The collaborative control host 1 (HLD-MCU770) and the second host (as shown) are shown. Figure 2 The collaborative control host 2 shown is an HLD-MCU 770. The intelligent workstation 30 includes at least one intelligent workstation, a ship integration platform, and an integrated navigation system switch. The control equipment 40 includes at least one radar, rudder, main engine remote control, and side thruster, etc.

[0043] like Figure 2As shown, the collaborative control host 1 HLD-MCU 770 and collaborative control host 2 HLD-MCU 770 interact through a KVM module. They also interact with the intelligent workstation 30 and the operating device 40 through intelligent switching system switch 1 and intelligent system switch 2. Furthermore, to effectively control the operation of the operating device 40, a serial port conversion module, a CAN conversion module, a digital input / output conversion module, an analog input / output conversion module, and an emergency stop unit can be installed between the intelligent system switch and the operating device 40. These are described in detail below. Figure 2 The various parts shown.

[0044] The HLD-PCU600 power supply unit features multiple protection functions, including short-circuit protection, overload protection, and overvoltage protection. The input voltage can be set to 220V AC / 24V DC, the output voltage to 24V DC, and the operating temperature to -30℃ to 70℃.

[0045] The KVM module integrates a 17-inch wide-temperature, high-brightness LED display, an ultra-thin keyboard, and a touchpad, employing a drawer-style installation structure to effectively save space. This module supports direct management of up to four servers and can be cascaded to support up to 128 devices. It offers four switching modes: OSD, hotkeys, buttons, and remote control, and supports synchronized audio switching. Its display can operate stably in a wide temperature range of -30℃ to 70℃, with a maximum resolution of 1280×1024@60Hz, a brightness of 350cd / m², and a contrast ratio of 800:1. The device is compatible with multiple operating systems, including DOS, Windows, WinNT, Unix, Linux, Solaris, and Mac. It operates on AC 90–264V or DC 12V, with a total power consumption of 23W and mechanical dimensions of 600×444×444mm.

[0046] The intelligent system switch supports plug-and-play operation and features auto-negotiation and full-duplex / half-duplex auto-adaptation, enabling efficient connection of internet devices. It has a switching capacity of 4.8 Gbps, a packet forwarding rate of 3.6 Mpps, a 256KB packet buffer, and an 8K MAC address table, supporting large packet transmissions up to 2048 bytes. Functionally, it includes 802.3x flow control, 802.1p CoS priority identification, loop detection, and automatic MDI / MDI-X line sequence adaptation, and features a fanless, silent design. It operates at 100-240V AC, 50 / 60Hz, with an operating temperature range of 0°C to 50°C, a storage temperature range of -40°C to 70°C, and an operating humidity range of 10% to 95% (non-condensing).

[0047] The serial port conversion module uses a high-performance 32-bit Arm Cortex-M7 core CPU with a main frequency of up to 528MHz, and has a built-in hardware watchdog to ensure stable operation. The module provides eight RS-485 / 422 serial ports, with electrical isolation voltages between ports up to 2KVAC / 3KVDC. It supports a baud rate range of 600~460800bps, and the data bits, stop bits, and parity bits are flexibly configurable. Its dual 10 / 100M adaptive Ethernet ports (RJ45 interfaces) have 1.5KV isolation protection, support static IP or DHCP address acquisition, and have a built-in TCP / IP protocol stack. The operating mode and data transmission method can be configured via a web interface.

[0048] In terms of reliability, the serial port converter module features high-level protection for its power supply, network port, and serial port: it supports ESD contact discharge ±8kV / air discharge ±15kV, surge immunity up to ±4kV (power supply / communication port), and EFT immunity. The module supports multiple network protocols and transparent transmission modes, including TCP Server / Client, UDP, and Modbus RTU / ASCII to Modbus TCP conversion, with an average transmission latency of less than 10ms. It provides 16KB network buffer and 1.5KB serial port buffer. Its operating voltage range is wide, from 85~264VAC or 110~370VDC, with a power consumption of only 4.5W. It can operate stably in a wide temperature range of -40℃ to +85℃ and a humidity range of 5% to 95% (non-condensing). Its dimensions are 440mm × 210mm × 44mm.

[0049] The CAN conversion module integrates one 10 / 100M adaptive Ethernet interface (RJ45 type, with 2KV electromagnetic isolation) and one or two CAN-bus interfaces (using 2EDG 90° terminals, supporting signal lines CANOH, CANOL, CAN1H, and CAN1L, with an isolation strength of 2.5KV and a baud rate range of 5k~1000kbps). The module is equipped with a mature TCP / IP protocol stack, enabling seamless data transmission between CAN and Ethernet. It supports multiple operating modes such as TCP Server, TCP Client, and UDP. Each CAN port allows for the configuration of six IP segments and the simultaneous establishment of up to 100 TCP or UDP connections. Users can flexibly configure parameters using the ZnetCom configuration tool on the Windows platform.

[0050] The CAN conversion module boasts excellent electromagnetic compatibility: it supports electrostatic discharge immunity of ±8kV for contact discharge and ±15kV for air discharge; electrical fast transient / burst immunity of ±2kV for both power and signal ports; and surge immunity of ±2kV for the power port and ±1kV for the signal port. The module operates on a wide voltage range of 9~24V, with a typical power consumption of 3350mW. It can operate stably within a wide temperature range of -40℃ to 85℃, and its storage temperature is also -40℃ to 85℃, making it suitable for harsh industrial environments and automotive network environments.

[0051] The digital input / output (DI) module features 4 digital inputs (DI) and 4 digital outputs (DO). All signal connections use Phoenix terminals. DI supports dry contact level input, incorporates digital filtering (6 sampling cycles), and has a sampling frequency up to 1kHz. DO uses C-type relay outputs with a contact capacity of 30V / 3A. The module provides one 10 / 100M Ethernet port with a transmission distance of up to 100 meters, supports the standard Modbus TCP protocol, and can operate in TCP Server or Client mode, easily connecting to SCADA systems, PLCs, or HMI devices.

[0052] The digital-to-analog converter module also provides one RS485 serial interface, supporting cascading with Conexant I / O devices of the same series, facilitating the expansion of digital or analog signal acquisition. The power input is 9~27V DC, with a typical power consumption of 280mA@12V DC. It adopts DIN rail or positioning hole mounting methods, and its mechanical dimensions are 75×105×30mm. The product can operate stably in environments with temperatures ranging from -40℃ to 85℃ and humidity levels from 5% to 95% (non-condensing), and its storage temperature range is -60℃ to 125℃, making it suitable for various industrial monitoring and automation scenarios.

[0053] The analog-to-analog converter module provides 4 differential inputs (AI) and 4 differential outputs (AO). AI supports 0-20mA / 4-20mA current or 0-5V / 0-10V voltage signals with an acquisition accuracy of 1‰, 16-bit resolution, input impedance of 240Ω for current and 10KΩ for voltage, channel isolation of 350VDC, and an acquisition frequency of at least 20Hz. AO supports the same signal range with an output accuracy of 3‰ and 12-bit resolution. All signals are connected via Phoenix terminals, providing high channel isolation and interference immunity.

[0054] The module integrates one 10 / 100M Ethernet port and one RS485 interface, supporting the standard Modbus TCP protocol (TCPServer / Client mode, maximum 10 TCP connections) and Modbus RTU protocol. Up to 16 similar modules can be cascaded via RS485, significantly expanding I / O capacity, enabling bidirectional transparent transmission between serial port and Ethernet, and seamless integration with PLC, HMI, or SCADA systems. It operates on 9~27V DC power, with a maximum current ≤100mA@12V DC, and can operate stably in a wide temperature range of -40℃ to 85℃ and a humidity range of 5% to 95% (non-condensing). It supports DIN rail or positioning hole mounting, and its dimensions are 75×105×38mm (excluding terminals).

[0055] The shore-based system also includes an electronic chart workstation, a communication workstation (SNS), standard cabinets, 4G / 5G routers, a FU handwheel, and a vehicle telegraph. Figure 1 (Not shown), the second device 20 can be connected to the electronic chart workstation, the CONNING workstation (SNS), the standard cabinet, the 4G / 5G router, the FU handwheel, and the vehicle telegraph, respectively.

[0056] Electronic chart workstations are mainly used for route design, course and track monitoring, automatic storage of the ship's track, re-demonstration of historical voyages, automatic navigation alarms, quick query of various information, real-time display of ship dynamics, radar ARPA target overlay, AIS target overlay, etc., which makes it easier for crew members to grasp the entire navigation status and increases navigation safety.

[0057] The electronic chart workstation features dual-channel DDR4 SO-DIMM memory slots, supporting frequencies of 1866 / 2133 / 2400 / 2666MHz, with a maximum single-module capacity of 16GB, expandable up to 32GB. Storage configuration includes one hot-swappable 2.5-inch hard drive bay (supporting hard drives from 5 to 9.5mm thick), one internal 2.5-inch hard drive bay, and one M.2 SATA 3.0 interface (22×42mm). The display unit uses a 26-inch marine-grade LCD screen (HLD-DU135) with a resolution of 1920×1200, and is equipped with a dedicated keyboard and trackball (HLD-IU600) for human-machine interaction.

[0058] In terms of networking, it is equipped with dual gigabit Ethernet ports (Intel Ethernet Connection 1210-AT and 1219-LM controllers, supporting Intel AMT 11.6 remote management) and a MINI-PCIE interface (supporting 802.11b / g / n and optional 3G / 4G modules, equipped with a SIM card slot). I / O interfaces include six USB 3.0 ports and four DB9 RS232 serial ports (COM1 / COM2 can be configured via BIOS to support RS485 / RS422 / RS232 protocols). It adopts a wide-voltage DC power input (18~36V DC, standard 19V 6.32A adapter), connected via Phoenix connectors, supporting Windows 7 / 8.1 / 10 64-bit and Linux operating systems, meeting the high reliability requirements of maritime navigation.

[0059] The CONNING workstation is the core information display and alarm management terminal for ship navigation. It centrally displays key navigation data in real time, such as ship's heading, speed above land / water, course, water depth, wind speed and direction, current speed and direction, main engine and propeller speed, rudder angle, and waypoint. It also provides functions for presenting, processing, and managing active and historical alarms. It supports connection with BNWAS (Bridgeway Navigation Alarm System) and can automatically escalate unprocessed alarms that have exceeded the time limit.

[0060] The CONNING workstation employs a dual-channel DDR4 memory architecture, supporting frequencies of 1866 / 2133 / 2400 / 2666 MHz, expandable up to 32GB. The storage system includes one hot-swappable 2.5-inch hard drive bay, one internal 2.5-inch hard drive bay, and one M.2 SATA 3.0 interface. The device features a 26-inch marine-grade high-brightness LCD display (1920×1200) and a dedicated keyboard and trackball human-machine interface. For networking, it is equipped with dual Gigabit Ethernet cards (Intel Ethernet Connection 1210-AT and 1219-LM, supporting Intel AMT 11.6 remote management) and a MINI-PCIE wireless module (optional 3G / 4G, including a SIM card slot). Interfaces provide six USB 3.0 ports and four configurable serial ports (supporting RS232 / 485 / 422), using a wide-voltage 18~36V DC power input, compatible with Windows and Linux operating systems, meeting the requirements of high-reliability marine environments.

[0061] The FU handwheel is a follow-up control device in the steering system. When the system is in "FU" mode, turning the handwheel to a specified angle will drive the rudder to rotate synchronously. Its working principle is to convert the rotation angle of the handwheel into an electrical signal and transmit it to the rudder controller, thereby achieving precise control of the rudder angle and ensuring that the rudder's stopping position is completely consistent with the handwheel's set angle. This handwheel has dimensions of 192×192×240 mm, weighs no more than 5 kg, and has an IP23 protection rating, effectively preventing the intrusion of solid foreign objects and minor water splashes, making it suitable for marine driving environments.

[0062] The vehicle telegraph uses high-reliability LEDs to indicate parking space status. The system is based on a PIC series microcontroller, featuring a simple design that requires only a 5-core cable to connect the transmitter and receiver, significantly saving installation space and cable costs. Its workflow is as follows: the central processing unit monitors the parking space signals from the transmitter and receiver in real time and displays the position status via LED indicators. If the parking spaces are inconsistent, the transmitter's indicator flashes to indicate the target position, while the receiver's indicator remains constantly lit to show the actual position, simultaneously triggering a step-out audible and visual alarm. When the parking spaces are consistent, the corresponding indicator remains constantly lit. The parking space signal uses a level transmission method, with the following voltage ranges for each position: forward / reverse positions cover the 0~5V range (e.g., "Forward 5" > 4.79V, "Reverse 5" 0~0.21V), parking spaces are 2.27~2.69V, ready spaces are 2.69~3.11V, and completed spaces are 1.85~2.27V. The measured voltage values ​​closely match the design values, ensuring the accuracy and reliability of command transmission.

[0063] Figure 3 This is a flowchart of a control method provided in an embodiment of this application, applied to a computer device (e.g., Figure 1 In the first device 10). Depending on different needs, the order of steps in this flowchart can be changed, and some steps can be omitted.

[0064] Step S301: In response to the remote control request, determine the ship status corresponding to the ship.

[0065] In some embodiments of this application, the first device is communicatively connected to the smart workstation. Users can trigger remote control requests on the smart workstation through clicks, touches, or other operations. Alternatively, users can trigger remote control requests on the smart workstation through physical manipulation. This application does not limit the generation process of remote control requests.

[0066] After receiving a remote control request from the intelligent workstation, the first device can check the ship's status, providing data support for subsequent determination of whether the ship meets the conditions for mode switching. The first device can perform ODC checks to determine the ship's status, acquire navigation data, the ship's perception data of the navigation environment, and the ship's corresponding equipment data, and determine the ship's status through navigation data, perception data, and equipment data.

[0067] The navigation data includes, but is not limited to, heading, speed, route, positioning, and track. Sensing data includes, but is not limited to, navigation area, vessel density, water depth, weather and sea conditions, visibility, number of surrounding vessels, and wave height. Equipment data includes, but is not limited to, operational data from main engines, generators, shafting, sensors, and other equipment.

[0068] The navigation data is inspected. If the heading, speed, route, position, and track are within the preset navigation threshold range, the first inspection result indicates that the navigation data is within the preset navigation threshold range. If any of the heading, speed, route, position, or track is outside the preset navigation threshold range, the first inspection result indicates that the navigation data is outside the preset navigation threshold range.

[0069] The perceived data is analyzed. For example, if there are no restricted areas within 6 nautical miles of the ship, the number of obstacles within 6 nautical miles of the ship does not exceed the threshold (e.g., 15), the current water depth meets the ship's draft requirements, and the current comprehensive meteorological and sea state assessment is below level 4, then the second detection result indicates that the navigation environment meets the preset environment. If there are restricted areas within 6 nautical miles of the ship, or the number of obstacles within 6 nautical miles of the ship exceeds the threshold (e.g., 15), or the current water depth does not meet the ship's draft requirements, or the current comprehensive meteorological and sea state assessment is above level 4, then the second detection result indicates that the navigation environment does not meet the preset environment.

[0070] Testing equipment data can be understood as testing the health status of the equipment within the ship. For example, if the main engine, generator, shafting, sensors, and other equipment are operating normally, the third test result indicates that the equipment within the ship is in a state that meets the preset requirements. If any of the main engine, generator, shafting, or sensors malfunctions, the third test result indicates that the equipment within the ship is not in a state that meets the preset requirements.

[0071] Step S302: If the ship's status meets the mode switching conditions, enter the remote control mode and establish a multi-link communication network between the first device and the second device.

[0072] In some embodiments of this application, the vessel supports multiple modes, such as local control mode, autonomous navigation mode, and remote control mode. This application does not limit the number of each mode. The local control mode has greater control authority than the autonomous navigation mode and the remote control mode.

[0073] During operation, the vessel operates under local control mode. In autonomous navigation mode, the primary equipment, based on surrounding situational awareness information and a pre-set activation route, autonomously determines the vessel's real-time navigation trajectory and outputs heading and speed control commands to the vessel's test and coordination control system. The test and coordination control system is responsible for translating the corresponding control commands into specific maneuvering commands that can be executed by the vessel's control devices, including steering commands for the autopilot, engine remote control commands, and thruster information, and performs closed-loop management of the maneuvering implementation.

[0074] In remote control mode, the first device can send relevant ship data to the second device, such as the ship's control status, route information, surrounding situation information, real-time sensor status, and video information. The first device can receive operating commands from the second device based on the relevant data, thereby enabling remote control of the ship from the shore.

[0075] When the vessel enters autonomous navigation mode or remote control mode, it monitors the vessel's navigation data, sensing data, and equipment data in real time. When a situation occurs that affects navigation safety, it issues an alarm message, causing the operator to switch to local control mode. This mode can be switched using the local control button on the mode selection switch.

[0076] In other embodiments of this application, the multiple modes supported by the ship can be provided by different manufacturers through clients. Each client-provided mode has a corresponding control algorithm. Based on the ship's operating mode, the corresponding control algorithm is invoked for control. When the first device determines that the ship's state meets the mode switching conditions, it selects a target remote control mode from multiple remote control modes, interacts with the second device based on the target remote control mode, and controls the ship's operation based on the control algorithm corresponding to the target remote control mode.

[0077] In one example, there are remote control modes A provided by client A, remote control mode B provided by client B, and remote control mode C provided by client C. If remote control mode A is selected, the ship establishes a multi-link communication network between the first and second devices based on remote control mode A, and executes subsequent steps, such as step S303.

[0078] In some embodiments of this application, if a first detection result indicates that the navigation data is within a preset navigation threshold range, a second detection result indicates that the navigation environment conforms to a preset environment, and a third detection result indicates that the status of the equipment within the ship conforms to a preset status, then it is determined that the ship's status meets the mode switching conditions. If a first detection result indicates that the navigation data is not within the preset navigation threshold range, or a second detection result indicates that the navigation environment does not conform to the preset environment, or a third detection result indicates that the status of the equipment within the ship does not conform to the preset status, then it is determined that the ship's status does not meet the mode switching conditions.

[0079] Once the mode switching conditions are met, the vessel enters remote control mode. This means the remote control request carries the user-selected remote control mode, the vessel's status is determined, and the vessel enters the user-selected remote control mode once the mode switching conditions are met.

[0080] When the vessel enters remote control mode, a multi-link communication network is established between the first device and the second device. The second device is a computer that provides the remote control mode selected by the user. For example, if the remote control mode selected by the user is pre-provided by client A, then the first device can establish a multi-link communication network with the second device associated with client A.

[0081] In some embodiments of this application, the multi-link communication network includes MESH self-organizing network communication, 4G / 5G communication, BeiDou satellite communication, etc. Combined with... Figure 4 As shown, both the first and second devices are equipped with MESH networking equipment, PGY 5G industrial networking equipment, and satellite equipment. A MESH self-organizing network communication link is established between the MESH networking equipment of the first and second devices. A 4G / 5G communication link is established between the PGY 5G industrial networking equipment of the first and second devices. A BeiDou satellite communication link is established between the satellite equipment of the first and second devices.

[0082] Multi-link communication networks employ the QUIC (Quick UDP Internet Connection) protocol to ensure low latency and channel multiplexing. To implement QUIC-based multi-link data interaction technology, QUIC API interface modules are configured in both the first and second devices to handle underlying QUIC communication functions such as link connection, encryption, connection migration, congestion control, and flow control algorithms. Based on the QUIC API interface modules, a multi-link data interaction service program is designed. This program calls the QUIC API interface to complete the basic data interaction functions between the first and second devices. It can also utilize other data interfaces or network communication bus methods to achieve data forwarding and other functions.

[0083] The QUIC API interface is invoked, transmitting the IP address and port of the second device (e.g., the QUIC API interface of the second device) to it. This establishes a multi-link communication network between the first device and the second device. It is understood that the interface settings of the first and second devices are identical; therefore, the settings of the second device's QUIC API interface will not be described again. Additionally, the ship's DSCP API interface can be invoked to establish communication links between the first device and other clients for data forwarding.

[0084] In some embodiments of this application, the first device can establish a multi-link communication network with the second device through a collaborative control system. The collaborative control system includes devices such as an aggregation switch, UPS power supply and battery pack, firewall, and smart router. The collaborative control system is used for data standardization, lightweighting, and encryption.

[0085] Ships can also establish multi-link communication networks with other vessels through a collaborative control system. The ship, shore-based vessels, and other ships are all equipped with collaborative control systems, which establish multi-link communication networks. For example... Figure 5 The diagram shows the network security architecture of a collaborative control system for ships, shore-based systems, and other vessels. The collaborative control system includes at least one aggregation switch, firewall, and intelligent router.

[0086] In other embodiments of this application, if the ship's status does not meet the mode switching conditions, the remote control mode is exited. When the ship's status meets the mode switching conditions, the first device sends a start command to the second device, and the first device receives feedback from the second device in response to the start command. Furthermore, to avoid false connections, secondary confirmation from the user is required, which can be performed at the smart workstation. Therefore, when the first device receives feedback from the second device in response to the start command and a confirmation command generated by the user's confirmation operation, the ship enters the remote control mode and establishes a multi-link communication network between the first and second devices.

[0087] If the first device receives a response from the second device in response to the start command indicating a refusal to connect, it exits the remote control mode. If the first device receives a response from the second device in response to the start command indicating an agreement to connect, and the user executes a confirmation command to generate a confirmation operation, the vessel enters the remote control mode and establishes a multi-link communication network between the first and second devices.

[0088] Step S303: Based on the multi-link communication network, send relevant ship data to the second device, and receive operation instructions from the second device based on the relevant data.

[0089] In some embodiments of this application, when one link fails, other communication links can be used to avoid communication interruption caused by link failure, thereby effectively improving communication quality and reliability. In one example, the multi-link communication network includes a first link and a second link. The first link is used to send relevant data and receive operation instructions. If a failure of the first link is detected, a second link is determined from the remaining link communication network, and the second link is used to send relevant data and receive operation instructions.

[0090] The first device can periodically send relevant ship data to the second device. This data includes, but is not limited to, the ship's navigation status, such as the ship's main engine (e.g., the first device) speed, rudder angle, speed, and heading, as well as video data of the ship's surroundings. The first device receives operating commands from the second device based on the relevant data. These commands can be generated by the user at the shore-based workstation via the second device, and they carry engine telegraph data and rudder command data. The rudder command data can use RSA statements according to the IEC61162-1 and NMEA0183 standards.

[0091] Step S304: Control the ship's operation based on the operation command.

[0092] In some embodiments of this application, the remote control system of the second device continuously monitors video surveillance, nautical charts, the collaborative control host, and the database system. For example, the monitored data includes, but is not limited to: obtaining target tracking information (TTM, TTD statements) from radar ARPA; receiving target data from other vessels (VDM, VDO, etc. statements) from AIS; and core navigation information provided by ECDIS and GPS, including waypoints (RTE, WPL statements), the vessel's latitude and longitude position (RMC, GGA, GLL statements), ground speed (RMC, VTG statements), and precise UTC time (ZDA statements). Simultaneously, the log provides water speed (VBW, VLW statements), and the gyro provides heading, course (HDT, THS, VHW statements), and rate of turn (ROT statements). Environmental monitoring data includes true / relative wind speed and direction measured by a meteorological instrument (MWV statements) and water depth data obtained by an ECHO sounder (DPT, DBT statements). In addition, the system monitors the ship's maneuvering status, such as the rudder angle of the rudder angle indicator (RAIS) (RSA statement), rudder command (ROA statement), and pitch and roll data from the motion sensor (HRM, HPM statements), and receives navigation safety warning information in real time (ALR, NRM, NRX statements).

[0093] The first device can control the maneuvering equipment based on operational commands triggered by monitored data and video feeds. It acquires engine telegraph data and rudder command data from the operational commands, verifies this data (including validity verification), and generates a verification result. If the verification result indicates successful verification, the first device converts the engine telegraph data and rudder command data into executable commands for the ship, recorded as control commands. Based on the control commands, it obtains rudder command information, engine command information, and propulsion command information. Using this information, it controls the corresponding maneuvering equipment within the ship; the propulsion command can also be a side thruster command.

[0094] Taking the control equipment, including the main engine, rudder, and propulsion system, as an example, the speed and direction of the rudder are controlled according to rudder command information, the operation of the main engine is controlled according to vehicle command information, and the operation of the propulsion system is controlled according to propulsion / side thrust commands. Additionally, video monitoring can be displayed on the shore, such as... Figure 6 The image shown is a video surveillance view. The first device can receive operation commands sent by the second device, including monitoring view commands. For example, in response to a monitoring view command, the first device switches its viewing angle from 112.5° on each side to monitor a 180° view on both sides.

[0095] Onboard the ship, a smart workstation displays the ship's real-time dynamics. This includes displaying the ship's operating mode; access control; route information such as route origin, destination, turning point, turning radius, design speed, and estimated arrival time; sensor information such as weather information, ship position information, speed and heading, draft, propeller speed, and rudder angle; and the ship's current control status: navigation status, remote control status, anchoring status, and berthing status.

[0096] In one example, if any device on the ship is detected to be malfunctioning, an alarm message is issued or the remote control mode is exited. If either the first or second device malfunctions, an alarm message is issued or the remote control mode is exited. If all multi-link communication networks fail, an alarm message is issued or the remote control mode is exited.

[0097] Through the above embodiments, in response to a remote control request, the ship's status is determined to assess whether the ship meets the mode switching conditions for entering remote control mode, thereby mitigating the risk of mode incompatibility after entering remote control mode. After the ship enters remote control mode, a multi-link communication network is established between the first and second devices, eliminating single points of failure and improving the reliability and continuity of ship-to-shore communication. Based on the multi-link communication network, ship operation data is sent to the second device, and operation commands based on the operation data are received from the second device, thereby achieving the goal of remotely controlling the first device using the second device and improving the system's responsiveness. The first device can control the ship's operation based on the operation commands, thus improving the efficiency of remote control.

[0098] In other embodiments of this application, in order to avoid problems such as data loss or untimely command reception affecting remote control efficiency, the first device may include a first host and a second host, with the first host or the second host serving as the master station and another non-master station host serving as a backup device.

[0099] In one embodiment, a first host sends a first heartbeat signal to the intelligent workstation, and a second host sends a second heartbeat signal to the intelligent workstation. If feedback from the intelligent workstation regarding the first heartbeat signal and the second heartbeat signal is received, then the first host is designated as the master station and the second host as the slave station. The slave station serves as a backup device for the master station.

[0100] In remote control mode, the first master unit can periodically send a first heartbeat signal to the intelligent workstation, and the second master unit can periodically send a second heartbeat signal to the intelligent workstation. The master and slave units can be dynamically switched to ensure communication between the first and second devices. Within a preset period, if feedback on the first heartbeat signal is received from the intelligent workstation, but no feedback on the second heartbeat signal is received, it indicates a potential fault in the second master unit. In this case, the first master unit is designated as the master station, and a warning message indicating a potential fault in the second master unit is issued. Conversely, if feedback on the second heartbeat signal is received from the intelligent workstation, but no feedback on the first heartbeat signal is received, it indicates a potential fault in the first master unit. In this case, the second master unit is designated as the master station, and a warning message indicating a potential fault in the first master unit is issued.

[0101] Combination Figure 7As shown, the first device includes a first host and a second host. The first host is connected to the intelligent navigation workstation host 1, and the second host is connected to the intelligent navigation workstation host 2. Both the intelligent navigation workstation host 1 and the intelligent navigation workstation host 2 can be intelligent workstations. The first host and the second host synchronize data through a redundant network. The first device can be either the first host or the second host. The first device receives control requests sent by the intelligent workstation according to the course plan, and feeds back to the intelligent workstation whether to enter remote control mode based on the control requests. After confirming entry into remote control mode, the first device receives execution commands sent by the intelligent workstation and feeds back the execution status to the intelligent workstation based on meteorological information, navigation information, planned route, surrounding target information, and ship attitude information. The first device can also output steering command information, vehicle command information, and propulsion command information to control the autopilot, main engine remote control, propulsion / side thrust, etc.

[0102] Combination Figure 8 As shown, after determining that the first host is the master station, a link communication network is established between the first host and the second device. For example... Figure 8 As shown, the first host can send sensor information to the second device. This sensor information may include navigation information, video information, surrounding target information, and ship attitude information. The user can operate the steering wheel (e.g., rudder command data), the engine telegraph (e.g., engine telegraph data), and plan the route from a shore-based workstation, generating operational data. The second device generates operational commands based on the sensor information and operational data, and sends these commands to the first host. The first host generates control commands based on the received operational commands, and uses these commands to control the autopilot, main engine remote control, propulsion / side thrusters, etc.

[0103] To better understand, Figure 3 The illustrated embodiments, in conjunction with Figure 9 Describe the equipment structure at the ship's end and the shore end, as well as the interaction between the ship's end and the shore end. For example... Figure 9As shown, a multi-link communication network establishes a connection between the shore and the ship. The ship's end includes an intelligent navigation system, a dual-redundant collaborative control main engine (also known as the primary device), a dual-redundant video server, and an intelligent engine room. The intelligent navigation system includes a radar (Radio Detection and Ranging, RADAR), an electronic chart display and information system (ECDIS), a ship navigation system (SNS), an autopilot, and a main engine remote control. The intelligent navigation system is connected to the electronic chart display and information system (ECDIS), automatic radar plotting aid (ARPA), global positioning system (GPS), log (LOG), gyrocompass (GYRO), depth sounder, meteorological sensor (MWV), and automatic identification system (AIS). The collaborative control host is dual-redundant and connected to the intelligent navigation system via a shipboard switch. The video server is also dual-redundant and connected to the Closed-Circuit Television (CCTV) system, and is further dual-redundantly connected to the collaborative control host via an aggregation switch. The shipboard intelligent engine room displays real-time monitoring data and video feeds of the vessel. Monitoring data is determined by the intelligent navigation system, and monitoring video is determined by the dual-redundant video server.

[0104] The shore-based system comprises a remote control unit, a data monitoring unit, and a shore-based intelligent engine room. The remote control unit includes a dual-redundant collaborative control host (also known as a secondary device), a command acquisition unit, a FU remote control handwheel, a vehicle telegraph, an ECDIS system, an SNS system, and a control station. The data monitoring unit includes dual-redundant video servers, which display the vessel's surrounding environment in real-time via CCTV. The shore-based intelligent engine room displays real-time monitoring data and video of the vessel.

[0105] Remote control can be achieved between the ship and the shore via a multi-link communication network, allowing for control of the vessel's operation based on monitoring data and video. Communication between the ship and the shore can also be established via radio waves using VHF signals from both ends.

[0106] Figure 10 This is a flowchart of a control method provided in another embodiment of this application. When executing... Figure 3 Prior to the illustrated embodiment, a test auxiliary ship pair, such as... Figure 1 The remote control function of the ship shown was tested, and it can also perform actions such as... Figure 3 The process of the illustrated embodiment utilizes a test auxiliary ship such as Figure 1 The remote control function of the vessel shown was tested. Figure 9 As shown, the steps include the following.

[0107] Step S1101: Construct a test field between the first device, the second device, and a preset test auxiliary vessel. The test auxiliary vessel is connected to the first device and the second device respectively through a multi-link communication network.

[0108] In some embodiments of this application, a test field is constructed between the first device, the second device, and a preset test auxiliary vessel, such as... Figure 5 As shown, a test auxiliary vessel (such as...) is established. Figure 5 A multi-link communication network between other ships in the vessel, the first device, and the second device.

[0109] Step S1102: Receive situation information fed back by the test auxiliary vessel based on control information sent by the first device and guidance information sent by the second device.

[0110] In some embodiments of this application, the test support vessel can operate according to control information sent by the first device. This control information may include, but is not limited to, heading, speed, rudder angle, engine speed command (main engine speed command), and lateral thrust command. The test support vessel can also operate in conjunction with guidance information sent by the second device. This guidance information includes, but is not limited to, test start / stop commands, scenario switching commands, role assignment (such as designating the primary vessel), test script triggering, and test phase transitions. The test support vessel sends situational information to both the first and second devices based on the control information and the guidance information.

[0111] The situational information received by the first device includes environmental situation, dynamic target situation, and the ship's own situation. Environmental situation includes meteorological and sea state data (wind speed and direction, visibility, wave rating), hydrological data (water depth, current speed and direction), and electronic chart markers (restricted areas, locations of obstructions). Dynamic target situation includes radar ARPA targets: test auxiliary vessel position, speed, course, CPA / TCPA (closest encounter distance / time); AIS targets: static information of other vessels (ship name, dimensions) and dynamic trajectories; and electro-optical observation data: images of surrounding vessels and obstacles captured by visible light / infrared cameras. The ship's own situation includes vessel position (GPS), course (compass), speed (speed log), rudder angle, main engine speed, thruster status, and engine room equipment health status (main engine, generator, shafting alarms).

[0112] Step S1103: Obtain test results based on situational information.

[0113] In some embodiments of this application, the test results include various performance indicators of the ship in remote control mode, such as autonomous navigation (No mode) performance, remote control reliability, and safety mechanism verification.

[0114] Autonomous navigation (No mode) performance: Route tracking accuracy: deviation between the actual trajectory and the preset route (e.g., the tolerance radius of the turning point); Collision avoidance effectiveness: recognition rate of other vessel dynamics and rationality of avoidance decisions (e.g., advance turning distance); Anomaly response speed: the delay from detecting a risk (e.g., the approach of an obstacle) to triggering an ODC check (must be ≤3 seconds, performance indicators in document 8.1).

[0115] Remote control reliability: Control command latency: End-to-end delay from shore-based command to ship execution (steering command / vehicle command conversion ≤ 3 seconds); Multi-link communication robustness: Command packet loss rate during 4G / 5G and satellite link switching (QUIC protocol ensures low latency).

[0116] Security mechanism verification: ODC inspection pass rate: percentage of scenarios that meet autonomous navigation conditions (e.g., sea state ≤ 4, other vessel density threshold); permission switching reliability: success rate and response time of one-click takeover of control on the ship (control application process).

[0117] The above embodiments can be used to test the ship's autonomous navigation (No mode) performance, remote control reliability, and safety mechanism verification.

[0118] This application also provides a computer-readable storage medium storing a computer program, which includes program instructions. When the program instructions are executed, the method implemented can refer to the methods in the above embodiments of this application.

[0119] The computer-readable storage medium can be the internal memory of the electronic device described in the above embodiments, such as the hard disk or memory of the electronic device. Alternatively, the computer-readable storage medium can be an external storage device of the electronic device, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., provided on the electronic device.

[0120] In some embodiments, a computer-readable storage medium may include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function, etc.; and the stored data area may store data created based on the use of the electronic device, etc.

[0121] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0122] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0123] In the embodiments provided in this application, it should be understood that the disclosed apparatus / terminal devices and methods can be implemented in other ways. For example, the apparatus / terminal device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0124] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0125] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A control method applied to a first device on a ship, characterized in that, The first device and the second device are communicatively connected, and the method includes: In response to a remote control request, determine the ship status corresponding to the ship; When the ship's status meets the mode switching conditions, it enters the remote control mode and establishes a multi-link communication network between the first device and the second device. Based on the multi-link communication network, the relevant data of the ship is sent to the second device, and operation instructions are received from the second device based on the relevant data. The ship's operation is controlled based on the aforementioned operating instructions.

2. The control method according to claim 1, characterized in that, The method further includes: determining whether the ship's status meets the mode switching conditions, including: Acquire the navigation data corresponding to the vessel, the vessel's perception data of the navigation environment, and the equipment data corresponding to the vessel; Determine the first detection result corresponding to the navigation data, the second detection result corresponding to the sensing data, and the third detection result corresponding to the device data; If the first detection result indicates that the navigation data is within a preset navigation threshold range, the second detection result indicates that the navigation environment meets the preset environment, and the third detection result indicates that the status of the equipment inside the ship meets the preset status, then it is determined that the ship status meets the mode switching conditions. If the first detection result indicates that the navigation data is not within the preset navigation threshold range, or the second detection result indicates that the navigation environment does not meet the preset environment, or the third detection result indicates that the status of the equipment inside the ship does not meet the preset status, then it is determined that the ship status does not meet the mode switching conditions.

3. The control method according to claim 1, characterized in that, The step of sending relevant ship data to the second device based on the multi-link communication network, and receiving operation instructions from the second device based on the relevant data, includes: The relevant data is transmitted and the operation instructions are received using the first link in the multi-link communication network. If the first link fails, determine the remaining link communication network; A second link is determined from the remaining link communication network, and the relevant data is sent and the operation instructions are received using the second link.

4. The control method according to claim 1, characterized in that, The control of the ship's operation based on the operation instructions includes: Obtain the engine telegraph data and steering command data from the aforementioned operation instructions; The vehicle telegraph data and the steering command data are verified, and verification results are generated. If the verification result indicates that the verification is qualified, a control command is generated based on the vehicle telegraph data and the steering command data; Based on the control commands, steering command information, vehicle command information, and propulsion command information are obtained; Based on the steering command information, the vehicle command information, and the propulsion command information, the corresponding control equipment inside the ship is controlled.

5. The control method according to claim 1, characterized in that, After entering the remote control mode, the method further includes: If the ship's status does not meet the mode switching conditions, exit the remote control mode; In response to a fault message from either the first device or the second device, exit the remote control mode; If all of the multi-link communication networks fail, exit the remote control mode.

6. The control method according to claim 1, characterized in that, The first device is communicatively connected to the ship's intelligent workstation. The first device includes a first host and a second host. The method further includes: The first host sends a first heartbeat signal to the intelligent workstation, and the second host sends a second heartbeat signal to the intelligent workstation. If the intelligent workstation receives feedback on the first heartbeat signal and feedback on the second heartbeat signal, then the first host is designated as the master station and the second host as the slave station; the slave station is a backup device for the master station.

7. The control method according to claim 6, characterized in that, The method further includes: If, within a preset period, feedback on the first heartbeat signal is received from the intelligent workstation, but no feedback on the second heartbeat signal is received, then the first host will be designated as the master station. If the intelligent workstation receives feedback on the second heartbeat signal but does not receive feedback on the first heartbeat signal, then the second host will be designated as the master station.

8. The control method according to claim 1, characterized in that, The method further includes: A test field is constructed between the first device, the second device, and a preset test auxiliary vessel, wherein the test auxiliary vessel is connected to the first device and the second device respectively through a multi-link communication network; The test auxiliary vessel receives situational information fed back based on control information sent by the first device and guidance information sent by the second device. The test results are obtained based on the situation information, and the test results include various performance indicators of the ship in remote control mode.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory storing a computer program, and the processor implementing the control method as described in any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction, which, when executed by a processor, implements the control method as described in any one of claims 1 to 8.

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