Ship power failure emergency rudder angle back transmission system and method based on acoustic power telephone line

Abstract

The application discloses a kind of ship power failure emergency rudder angle back system and method based on acoustic force telephone line, comprising: sending end module is used to collect actual rudder angle information, actual rudder angle information is converted into data modulation signal, and data modulation signal is coupled to the communication line of acoustic force telephone module;Acoustic force telephone module is used to transmit mixed signal to receiving end module;Mixed signal includes the voice signal generated by rudder engine and bridge talk and data modulation signal;Receiving end module is used to separate voice signal and data modulation signal from mixed signal, and demodulates and checks data modulation signal, outputs and displays actual rudder angle information.The application retains original acoustic force telephone voice call function, realizes the reliable back of local mechanical rudder angle from rudder engine to bridge in power failure emergency steering condition, so as to reduce mishearing, delay and repeated confirmation caused by oral report rudder angle, improve emergency steering coordination efficiency and safety.

Description

Technical Field

[0001] This invention relates to the field of ship emergency steering and emergency communication technology, and in particular to a ship power failure emergency rudder angle feedback system and method based on acoustic telephone lines. Background Technology

[0002] Ships are typically equipped with steering gear systems, rudder angle indication systems, compass systems, and acoustic telephone systems. Under normal navigation conditions, the bridge obtains rudder angle information through an electronic rudder angle display device, obtains heading information through an electric compass, magnetic compass, or other compass devices, and controls the ship's course through automatic or manual steering equipment.

[0003] When the ship's main power supply is normal, the electronic rudder angle display on the bridge can display the actual deflection angle of the rudder blades in real time, and the bridge watch personnel can directly implement steering control based on the rudder angle and heading displays. However, in the event of a power outage, the original electronic rudder angle display on the bridge may fail, especially when emergency manual steering is activated, in which case the bridge can no longer rely on the original electrical rudder angle feedback link to obtain the actual rudder angle.

[0004] In contrast, within the steering gear room, mechanical rudder angle indicators can usually still directly display the actual rudder angle. These indicators are typically located near the top of the rudder stock or handle, and include a pointer that rotates with the stock or handle, as well as a fixed scale marked with left and right rudder angles. Even in the event of a complete power failure, as long as there is adequate lighting or emergency lighting, personnel on the engine room can still visually read the rudder angle. Therefore, the mechanical rudder angle indicator is the most direct and reliable source of rudder angle information during emergency steering operations in the event of a power outage.

[0005] In actual emergency steering operations, the bridge can usually still obtain heading information through the ship's existing compass system. Therefore, the key steering information truly missing from the bridge during a power outage is not the heading, but rather the actual mechanical rudder angles at the local rudder control station. Current technology typically relies on voice-activated telephones, with personnel at the rudder control station verbally reporting rudder angle information such as "left rudder angle [number] degrees," "right rudder angle [number] degrees," and "return to zero." However, this approach has the following problems: (1) The existing method of verbally reporting rudder angle information by relying on voice-activated telephone has problems such as noise interference, mishearing, delay and low information transmission efficiency; (2) The electronic rudder angle display device on the bridge may fail during emergency steering operations when the ship loses power, and the bridge cannot intuitively and continuously obtain the actual local mechanical rudder angle information between the steering gears; (3) Existing ship control networks, rudder angle feedback links and digital communication systems usually rely on stable power supply, and it is difficult to continue to provide reliable engine side rudder angle information to the bridge under power failure conditions. Summary of the Invention

[0006] This invention provides a ship power outage emergency rudder angle feedback system and method based on a voice-activated telephone line to overcome the above-mentioned technical problems.

[0007] To achieve the above objectives, the technical solution of the present invention is as follows: A ship power failure emergency rudder angle feedback system based on a sound-powered telephone line includes: a transmitting module, a sound-powered telephone module, a receiving module, a first power supply unit, and a second power supply unit; The transmitting module is located between the servo motors and is used to collect actual servo angle information, convert the actual servo angle information into a data modulation signal, and couple the data modulation signal to the communication line of the acoustic telephone module. The data modulation signal and the voice signal generated by the communication between the servo motor and the control console are located in different frequency bands; The transmitting module includes: a rudder angle acquisition unit, a data processing unit, a modulation unit, and a coupling injection unit; The rudder angle acquisition unit acquires the actual rudder angle information displayed on the local mechanical rudder angle indicator in the rudder gear room in a non-intrusive manner; The data processing unit is used to convert the actual rudder angle information into a data frame of a preset format. The modulation unit is used to convert the data frame into a data modulation signal that is higher than the upper limit of the effective frequency band of the speech signal; The coupling injection unit is used to couple the data modulation signal to the communication line of the acoustic telephone module; The first power supply unit is used to supply power to the transmitting module in the event of a power outage; The first power supply unit includes a friction drive wheel and a permanent magnet micro generator. The friction drive wheel is connected to the manual steering wheel and the permanent magnet micro generator respectively. Under the drive of the manual steering wheel, the permanent magnet micro generator generates electricity to power the transmitting module. The voice-activated telephone module is used to transmit a mixed signal to the receiving module; the mixed signal includes voice signals generated from communication between the servo motors and the control console, as well as the data modulation signal; The receiving module is located on the control panel and is used to separate the voice signal and the data modulation signal from the mixed signal, demodulate and verify the data modulation signal, and output and display the actual rudder angle information. The receiving module includes: a signal separation unit, a demodulation unit, a display unit, and a rectification and energy storage unit; The signal separation unit is used to separate the speech signal from the mixed signal and extract the data modulation signal in the preset data frequency band. When it is determined that there is a valid data modulation signal in the preset data frequency band, a wake-up signal is sent to the demodulation unit so that the demodulation unit can enter the working state. The signal separation unit includes a low-pass filter branch, a band-pass filter branch, and a wake-up detection unit; the band-pass filter branch is connected to the wake-up detection unit and the demodulation unit, respectively. The low-pass filter branch is used to separate the speech signal from the mixed signal; The bandpass filter branch is used to separate a preset data frequency band from the mixed signal; The wake-up detection unit is also connected to the demodulation unit and is used to extract the amplitude envelope of the preset data frequency band, compare the amplitude envelope with the preset wake-up threshold, and send a wake-up signal to the demodulation unit when the amplitude of the preset data frequency band exceeds the preset wake-up threshold and reaches the preset duration. The demodulation unit is used to demodulate the data modulation signal to recover the actual rudder angle information, and to verify the validity of the actual rudder angle information according to a preset verification field. If the verification is successful, the unit sends the valid actual rudder angle information to the display unit; if the verification fails, the unit sends an error reminder to the display unit. The display unit is used to visually display valid actual rudder angle information or abnormal alerts; The rectifier energy storage unit is connected to the voice-powered telephone module with high input impedance. It is used to rectify the voice signal and / or data modulation signal and store the rectified electrical energy in an energy storage capacitor or supercapacitor. When the energy storage voltage reaches a preset threshold, the stored electrical energy is used to assist the display unit in performing a refresh operation. The second power supply unit is used to supply power to the receiving module in the event of a power outage.

[0008] Furthermore, the coupling injection unit employs an audio coupling transformer. The primary side of the audio coupling transformer receives the data modulation signal from the modulation unit, and the secondary side is connected to the sound-powered telephone module, thereby coupling the data modulation signal into the communication line of the sound-powered telephone module.

[0009] A method for transmitting rudder angle during a ship's power outage based on a sound-powered telephone line, implemented using the aforementioned system, includes: S1. In the emergency steering condition of the ship during power failure, the actual rudder angle information displayed on the local mechanical rudder angle indicator in the rudder gear room is collected by the transmitting module, the actual rudder angle information is converted into a data modulation signal, and the data modulation signal is coupled to the communication line of the acoustic telephone module. S2. The mixed signal is transmitted to the receiving module via the acoustic telephone module; the mixed signal includes the voice signal generated by the communication between the servos and the control console, as well as the data modulation signal. S3. The audio signal is separated from the mixed signal by the receiving module, and the data modulation signal in the preset data frequency band is extracted. When it is determined that there is a valid data modulation signal in the preset data frequency band, the data modulation signal is demodulated and verified, and the actual rudder angle information is output and displayed to assist the bridge operator in completing emergency steering in the event of a power failure.

[0010] Furthermore, the transmitting module includes: a rudder angle acquisition unit, a data processing unit, a modulation unit, and a coupling injection unit; The rudder angle acquisition unit acquires the actual rudder angle information displayed on the local mechanical rudder angle indicator in the rudder gear room in a non-intrusive manner; The data processing unit is used to convert the actual rudder angle information into a data frame of a preset format. The modulation unit is used to convert the data frame into a data modulation signal that is higher than the upper limit of the effective frequency band of the speech signal; The coupling injection unit is used to couple the data modulation signal to the communication line of the acoustic telephone module.

[0011] Furthermore, the receiving module includes: a signal separation unit, a demodulation unit, a display unit, and a rectification and energy storage unit; The signal separation unit is used to separate the speech signal from the mixed signal and extract the data modulation signal in the preset data frequency band. When it is determined that there is a valid data modulation signal in the preset data frequency band, a wake-up signal is sent to the demodulation unit so that the demodulation unit can enter the working state. The signal separation unit includes a low-pass filter branch, a band-pass filter branch, and a wake-up detection unit; the band-pass filter branch is connected to the wake-up detection unit and the demodulation unit, respectively. The low-pass filter branch is used to separate the speech signal from the mixed signal; The bandpass filter branch is used to separate a preset data frequency band from the mixed signal; The wake-up detection unit is also connected to the demodulation unit and is used to extract the amplitude envelope of the preset data frequency band, compare the amplitude envelope with the preset wake-up threshold, and send a wake-up signal to the demodulation unit when the amplitude of the preset data frequency band exceeds the preset wake-up threshold and reaches the preset duration. The demodulation unit is used to demodulate the data modulation signal to recover the actual rudder angle information, and to verify the validity of the actual rudder angle information according to a preset verification field. If the verification is successful, the unit sends the valid actual rudder angle information to the display unit; if the verification fails, the unit sends an error reminder to the display unit. The display unit is used to visually display valid actual rudder angle information or abnormal alerts; The rectifier energy storage unit is connected to the voice-powered telephone module with high input impedance. It is used to rectify the voice signal and / or data modulation signal and store the rectified electrical energy in an energy storage capacitor or supercapacitor. When the energy storage voltage reaches a preset threshold, the stored electrical energy is used to assist the display unit in performing a refresh operation.

[0012] Furthermore, in the event of a power outage and emergency steering, the first power supply unit supplies power to the transmitting module. The first power supply unit includes a friction drive wheel and a permanent magnet micro generator. The friction drive wheel is connected to the manual steering wheel and the permanent magnet micro generator respectively. Under the drive of the manual steering wheel, the permanent magnet micro generator generates electricity, thereby supplying power to the transmitting module.

[0013] The present invention has the following beneficial effects: (1) To achieve reliable transmission of key rudder angle information under emergency steering conditions during power outages: This invention does not rely on the power supply link of the original electronic rudder angle display system, but directly re-collects the actual rudder angle information from the rudder gear station and transmits it back to the bridge through the sound-powered telephone module. (2) Retain the original voice function of the sound power telephone: The present invention uses a data modulation signal of a different frequency band than the voice signal, and transmits voice and rudder angle data in parallel in the same sound power telephone line through frequency division multiplexing, without destroying the original emergency communication function of the existing sound power telephone; (3) Reduce the risk of mishearing due to verbal reporting: Compared with the method of verbally reporting the rudder angle by relying solely on the telephone, the present invention directly displays the rudder angle data, which helps to reduce mishearing, missed hearing and repeated confirmation in noisy environments.

[0014] In summary, this invention focuses on solving the key pain point of the bridge's inability to obtain real-time information on the mechanical rudder angles between servos. The technology has clear boundaries and the implementation logic is well-defined. While retaining the original voice communication function of the telephone, it achieves reliable transmission of local mechanical rudder angles between servos to the bridge during power outage emergency steering operations. This reduces mishearing, delays, and repeated confirmations caused by verbal rudder angle reports, thereby improving the efficiency and safety of emergency steering coordination. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of a ship power outage emergency rudder angle feedback system based on a sound-powered telephone line, as described in this invention. Figure 2 This is a schematic diagram of the structure of the transmitting module in an embodiment of the present invention; Figure 3 This is a schematic diagram of the receiver module in an embodiment of the present invention; Figure 4 This is a schematic diagram of the signal spectrum distribution on the voice-powered telephone line in an embodiment of the present invention; Figure 5 This is a schematic diagram of the data frame format in an embodiment of the present invention; Figure 6 This is a schematic diagram of the interface of the display unit in an embodiment of the present invention; Figure 7 This is a circuit diagram of the coupling injection unit connected to the acoustic telephone line in an embodiment of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] The acoustic telephone system, as an existing emergency communication link that can still function during ship power outages, has traditionally been primarily used for voice calls. Under normal use, acoustic telephone lines mainly carry signals within the voice frequency band, while frequency resources above the effective voice frequency band are typically unused. If, without disrupting the original voice call function of the acoustic telephone, the local mechanical rudder angle information between the steering gears can be converted into a data modulation signal located outside the voice frequency band and multiplexed onto the acoustic telephone line for transmission, then reliable transmission of critical rudder angle information during power outage emergency steering operations can be achieved without adding a new main communication cable or relying on the power supply of the existing electronic rudder angle display system.

[0019] Based on the above findings, this embodiment provides a ship power failure emergency rudder angle feedback system based on a sound-powered telephone line. This system enables the feedback of local mechanical rudder angle information between steering gears to the bridge during ship power failure emergency steering operations, using a sound-powered telephone line. Figure 1 As shown, the ship's emergency rudder angle feedback system for power outages includes: a transmitting module, a sound-powered telephone module, a receiving module, a first power supply unit, and a second power supply unit. The transmitting module is located between the servo motors and is used to collect actual servo angle information, convert the actual servo angle information into a data modulation signal, and couple the data modulation signal to the communication line of the acoustic telephone module. The data modulation signal and the voice signal generated by the communication between the servo motor and the control console are located in different frequency bands; The first power supply unit is used to supply power to the transmitting module in the event of a power outage; The first power supply unit includes a friction drive wheel and a permanent magnet micro generator. The friction drive wheel is connected to the manual steering wheel and the permanent magnet micro generator respectively. Under the drive of the manual steering wheel, the permanent magnet micro generator generates electricity to power the transmitting module. The voice-activated telephone module is used to transmit a mixed signal to the receiving module; the mixed signal includes voice signals generated from communication between the servo motors and the control console, as well as the data modulation signal; The receiving module is located on the control panel and is used to separate the voice signal and the data modulation signal from the mixed signal, demodulate and verify the data modulation signal, and output and display the actual rudder angle information. The second power supply unit is used to supply power to the receiving module in the event of a power outage.

[0020] In a specific embodiment, the transmitting module includes: a rudder angle acquisition unit, a data processing unit, a modulation unit, and a coupling injection unit; The rudder angle acquisition unit acquires the actual rudder angle information displayed on the local mechanical rudder angle indicator between the rudders in a non-invasive manner; preferably, the rudder angle acquisition unit detects the position of the pointer of the mechanical rudder angle indicator relative to the scale plate and / or the angular change of the relevant rotating parts in a non-invasive manner to obtain the actual rudder angle information.

[0021] Preferably, the rudder angle acquisition unit can adopt Hall effect, photoelectric, infrared or other non-invasive sensing methods.

[0022] The data processing unit is used to convert the actual rudder angle information into a data frame of a preset format. Preferably, the data frame includes at least a portion of a frame header, rudder angle field, frame sequence number, status field, check field, and frame tail. In practice, the data frame format can also be trimmed or extended as needed.

[0023] The modulation unit is used to convert the data frame into a data modulation signal higher than the upper limit of the effective frequency band of the voice signal. Preferably, frequency shift keying modulation is used; more preferably, modulation is performed at a frequency in the range of 4000Hz to 4500Hz. Other modulation methods suitable for low-speed, high-reliability audio data transmission can also be used, as long as it is outside the voice band and can be transmitted through a voice telephone line.

[0024] The coupling injection unit is used to couple the data modulation signal to the communication line of the acoustic telephone module. Preferably, an audio coupling transformer or a capacitor isolation coupling method is used to couple the data modulation signal to the communication line of the acoustic telephone module to achieve electrical isolation and functional compatibility with the original acoustic telephone circuit.

[0025] In this embodiment, the first power supply unit is a miniature power generation device mechanically coupled to the human steering device; in another specific embodiment, an independent backup battery, supercapacitor or other energy storage device may also be used.

[0026] In this embodiment, the transmitting end is powered by manual steering with synchronous power generation, backup battery or energy storage device, and the receiving end is powered by low power standby and rectified energy storage, which is suitable for various emergency steering scenarios when power is lost.

[0027] In a specific embodiment, the receiving module includes: a signal separation unit, a demodulation unit, a display unit, and a rectification and energy storage unit; The signal separation unit is used to separate the speech signal from the mixed signal and extract the data modulation signal in the preset data frequency band. When it is determined that there is a valid data modulation signal in the preset data frequency band, a wake-up signal is sent to the demodulation unit so that the demodulation unit can enter the working state.

[0028] In a specific embodiment, the signal separation unit includes a low-pass filter branch, a band-pass filter branch, and a wake-up detection unit; the band-pass filter branch is connected to the wake-up detection unit and the demodulation unit, respectively. The low-pass filter branch is used to separate the speech signal from the mixed signal; The bandpass filter branch is used to separate a preset data frequency band from the mixed signal; The wake-up detection unit is also connected to the demodulation unit and is used to extract the amplitude envelope of the preset data frequency band, compare the amplitude envelope with the preset wake-up threshold, and send a wake-up signal to the demodulation unit when the amplitude of the preset data frequency band exceeds the preset wake-up threshold and reaches the preset duration.

[0029] Specifically, the bandpass filter branch is connected to the wake-up detection unit and the demodulation unit respectively. That is, the data modulation signal is simultaneously input to the wake-up detection unit and the demodulation unit. However, the demodulation unit is in a low-power standby state when it is not woken up. At this time, the data signal is fed back to the demodulation unit but is not processed. It will only start working after being woken up.

[0030] Specifically, the bandpass filter branch first selects a preset data frequency band from the mixed signal of the audio-visual telephone line. The selection of the data frequency band is mainly determined by the passband parameters of the bandpass filter, such as 4000 Hz. The frequency is 4500 Hz, and its output is connected to the data input terminals of the wake-up detection unit and the demodulation unit, respectively. In order to reduce the probability of false wake-ups caused by voice harmonics, transient interference, etc., a wake-up preamble signal of preset duration can be sent before each data frame.

[0031] The demodulation unit is used to demodulate the data modulation signal to recover the actual rudder angle information, and to verify the validity of the actual rudder angle information according to a preset verification field. If the verification is successful, the unit sends the valid actual rudder angle information to the display unit; if the verification fails, the unit sends an error reminder to the display unit. The display unit is used to visually display valid actual rudder angle information or abnormal alerts. Preferably, an electronic ink screen is used, but a low-power liquid crystal screen or other statically held low-power display devices may also be used.

[0032] The rectifier energy storage unit is connected to the voice-powered telephone module with high input impedance. It is used to rectify the voice signal and / or data modulation signal and store the rectified electrical energy in an energy storage capacitor or supercapacitor. When the energy storage voltage reaches a preset threshold, the stored electrical energy is used to assist the display unit in performing a refresh operation.

[0033] Specifically, the rectifier energy storage unit adopts a high input impedance and current limiting design to reduce its impact on the original voice calls and data transmission of the voice-activated telephone. It rectifies the AC signal in the voice-activated telephone line and slowly stores the small amount of electrical energy obtained in an energy storage capacitor or supercapacitor. When the energy storage voltage reaches a preset threshold, it can be used as an auxiliary energy source for the receiver for short-term high-power operations such as refreshing the e-ink screen.

[0034] In this embodiment, the second power supply unit can be a long-life primary lithium battery to maintain low-power standby for the demodulation unit and the wake-up detection unit. The electrical energy stored in the rectifier energy storage unit is mainly used to share the instantaneous power consumption during e-ink screen refresh.

[0035] In this embodiment, the acoustic telephone module is an acoustic telephone line, which is an existing emergency communication cable on the ship, used to simultaneously carry voice signals and data modulation signals. The voice signal is located within the traditional effective frequency band of voice, while the data modulation signal is located outside the voice frequency band, in order to achieve frequency division multiplexing and parallel transmission.

[0036] Specifically, the workflow of the system proposed in this embodiment is as follows: When the ship is under normal power supply conditions, the system can be in standby mode; When the ship experiences a power outage and requires emergency steering, personnel on the engine side of the steering gear room steer using a manual steering device. The transmitting module, supported by the first power supply unit, collects the actual rudder angle information displayed on the mechanical rudder angle indicator in the steering gear room, processes and modulates the data, and then couples it into the acoustic telephone line. The receiver module on the bridge side separates the voice signal and data modulation signal from the same acoustic telephone line, demodulates and recovers the actual rudder angle information, and displays it on the display unit. Throughout the process, the original voice call function of the acoustic telephone remains available, thus realizing a composite emergency steering support of "voice communication + rudder angle display".

[0037] Specifically, the system proposed in this embodiment enables the bridge to directly read the local mechanical rudder angle between the rudders during emergency steering in the event of a power outage, without affecting the original voice function of the voice-activated telephone, thereby improving steering coordination efficiency and safety.

[0038] This embodiment also proposes a method for emergency rudder angle feedback in ship power outages based on acoustic telephone lines, including: S1. In the emergency steering condition of a ship power failure, the actual rudder angle information displayed on the local mechanical rudder angle indicator in the steering gear room is collected through the transmitting module; the actual rudder angle information is converted into a data modulation signal, and the data modulation signal is coupled to the communication line of the acoustic telephone module; S2. The mixed signal is transmitted to the receiving module via the acoustic telephone module; the mixed signal includes the voice signal generated by the communication between the servos and the control console, as well as the data modulation signal. S3. The audio signal is separated from the mixed signal by the receiving module, and the data modulation signal in the preset data frequency band is extracted. When it is determined that there is a valid data modulation signal in the preset data frequency band, the data modulation signal is demodulated and verified, and the actual rudder angle information is output and displayed to assist the bridge operator in completing emergency steering in the event of a power failure.

[0039] Example 1: like Figure 1 As shown, the system proposed in this embodiment includes a transmitter module located in the servo compartment, a receiver module located in the control console, and a voice-activated telephone module connecting the two.

[0040] Sender module structure: like Figure 2 As shown, the transmitter module is installed in the servo compartment near the mechanical servo angle indicator and the acoustic telephone line terminal. The transmitter module includes a servo angle acquisition unit, a data processing unit, a modulation unit, and a coupling injection unit.

[0041] (1) Rudder angle acquisition unit: In this embodiment, the mechanical rudder angle indicator is the existing local mechanical rudder angle display device in the servo gear room. It includes a pointer that rotates with the rudder stick or rudder handle and a fixed scale plate. The scale plate has left and right rudder angle markings, and the personnel on the aircraft side can directly read the current actual rudder angle with the naked eye.

[0042] The rudder angle acquisition unit, or rudder angle acquisition sensor, is installed non-invasively near the mechanical rudder angle indicator to obtain actual rudder angle information. This embodiment reads the mechanical rudder angle indicator in a non-invasive manner, without requiring large-scale modifications to the existing equipment structure on board, making it suitable for ship retrofitting and new shipbuilding.

[0043] Preferably, the rudder angle acquisition sensor can be a Hall sensor, a photoelectric sensor, or an infrared sensor.

[0044] (2) Data processing unit: The data processing unit uses a low-power MCU, which is connected to the rudder angle acquisition sensor to periodically read the rudder angle data and encapsulate it into data frames, such as... Figure 5 As shown.

[0045] In this embodiment, the data frame preferably includes: a frame header, a rudder angle field, a frame sequence number, a check field, and a frame tail; for example, the rudder angle field can indicate left / right rudder and a specific angle value. The check field can use CRC checksum. The low-power MCU can also adjust the transmission cycle according to the power supply status.

[0046] (3) Modulation unit: The modulation unit uses an FSK modulation unit, such as Figure 2 As shown, the FSK modulation unit is connected to a low-power MCU and is used to modulate the aforementioned data frame into a data modulation signal that exceeds the upper limit of the audio frequency band in a voice-activated telephone call, such as... Figure 4 As shown. Preferably, frequency shift keying is used, and the modulation frequency is preferably in the range of 4000Hz to 4500Hz.

[0047] (4) Coupled injection unit: The coupling injection unit uses an audio coupling transformer, such as... Figure 7 As shown, the primary side of the audio coupling transformer receives the modulation signal from the FSK modulation unit, while the secondary side is connected to the terminals of the acoustic telephone line to couple the data modulation signal into the communication line of the acoustic telephone module. An isolated coupling method is preferred to avoid disrupting the existing acoustic telephone call circuit.

[0048] In this embodiment, the first power supply unit employs a miniature power generation device mechanically coupled to the steering wheel. For example... Figure 2As shown, specifically, the rim of the steering wheel contacts the friction drive wheel. When the steering wheel rotates, it drives the friction drive wheel to rotate, which in turn drives the permanent magnet micro generator to rotate and generate electricity. The permanent magnet micro generator is fixedly mounted on the mounting bracket of the transmitting module and establishes a mechanical transmission relationship with the steering wheel through the friction drive wheel. The AC power output by the generator is rectified by a full-bridge rectifier and then regulated by an LDO voltage regulator to provide a stable operating voltage to the transmitting module. In another specific embodiment, a filter and / or energy storage unit can also be set between the full-bridge rectifier and the LDO voltage regulator to improve power supply stability. In practical applications, as long as the personnel on the steering wheel side continue to manually operate the steering gear, the transmitting module can continuously obtain operating power.

[0049] Receiver module structure: like Figure 3 As shown, the receiver module is located in the driver's cab near the handset of the voice-activated telephone, and includes a signal separation unit, a demodulation unit, a display unit, and a rectification and energy storage unit.

[0050] (1) Signal separation unit: like Figure 3 As shown, the signal separation unit includes a low-pass filter branch and a band-pass filter branch. The low-pass filter branch is used to extract the voice signal and output it to the handset of the voice-activated telephone; the band-pass filter branch is used to extract the high-frequency data modulation signal located within the data modulation frequency band. The wake-up detection unit is connected to the output of the band-pass filter branch and includes an envelope detection circuit and a wake-up comparator. The envelope detection circuit is used to extract the amplitude envelope of the output signal of the band-pass filter branch, and the wake-up comparator is used to compare the amplitude envelope with a preset wake-up threshold. When the signal amplitude within the data modulation frequency band exceeds the preset wake-up threshold and continues for a preset time, the wake-up comparator outputs a wake-up signal to the low-power demodulation MCU, causing the low-power demodulation MCU to enter the working state and demodulate and verify the data modulation signal.

[0051] Specifically, the transmitting end sends a wake-up preamble signal before sending a data frame. After the low-power demodulation MCU is woken up, it identifies the wake-up preamble signal and the subsequent data frame; if the frame header or check field does not conform to the preset rules, it is determined to be an interference signal and re-enters the low-power sleep state.

[0052] (2) Demodulation unit: The demodulation unit uses a low-power demodulation MCU. After the low-power demodulation MCU is woken up, it identifies the wake-up preamble signal and the subsequent data frame. If the frame header or check field does not conform to the preset rules, it is determined to be an interference signal and re-enters the low-power sleep state. If it conforms to the preset rules, it demodulates the data modulation signal, restores the actual rudder angle information and verifies the validity of the data. (3) Display unit: In this embodiment, the display unit preferably uses an electronic ink screen, such as... Figure 6 As shown, the content displayed on the e-ink screen includes: current rudder angle information, signal status information, update time or frame number information; For example, it can be displayed as "Rudder angle: L15.5°", "Status: Signal good", "Update time: 02:34".

[0053] (4) Rectifier energy storage unit: The rectifier and energy storage unit is used to rectify and store the AC signal in the voice-activated telephone line to support the e-ink screen in performing refresh operations.

[0054] Specifically, the second power supply unit uses a primary lithium battery to provide long-term standby power for the low-power demodulation MCU and wake-up comparator.

[0055] The specific working process of this embodiment includes: When the ship loses power and emergency manual steering is activated, personnel on the engine side of the steering gear room manually steer using the steering handwheel. The mechanical action drives a permanent magnet micro-generator to generate electricity, thus powering the transmitting module. The rudder angle acquisition sensor collects the pointer position, scale position, or angle changes of related rotating parts on the mechanical rudder angle indicator. The low-power MCU encapsulates the actual rudder angle information into a data frame, modulates it using an FSK modulation unit, and then couples it into the acoustic telephone line via an audio coupling transformer. The receiver module on the bridge side extracts the modulated signal through a bandpass filter branch, and the low-power demodulation MCU demodulates it to recover the actual rudder angle information, which is then displayed on the e-ink screen. Simultaneously, the low-pass filter branch continues to output voice signals to the acoustic telephone handset, ensuring uninterrupted voice communication between the bridge and the steering gear.

[0056] Example 2: The transmitting module does not use a miniature generator mechanically coupled to the rudder wheel for power; instead, it uses an independent backup battery, supercapacitor, or other energy storage device as the power supply unit. This implementation is suitable for scenarios where the space layout between the rudder gears is not convenient for installing a mechanically coupled generator.

[0057] In this embodiment, the remaining processes of rudder angle acquisition, data processing, modulation, injection, reception, and display are the same as in Embodiment 1.

[0058] Example 3: To further reduce receiver power consumption, the display unit only displays the following basic information: current rudder angle value, left / right rudder direction, and signal status. This implementation can omit the continuous display of update time or frame number, and only display it briefly during refresh, making it suitable for scenarios with high requirements for standby power consumption and refresh power consumption control.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention 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 or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A shipboard emergency rudder angle feedback system based on a sound-powered telephone line, characterized in that, include: Transmitter module, voice-activated telephone module, receiver module, first power supply unit, and second power supply unit; The transmitting module is located between the servo motors and is used to collect actual servo angle information, convert the actual servo angle information into a data modulation signal, and couple the data modulation signal to the communication line of the acoustic telephone module. The data modulation signal and the voice signal generated by the communication between the servo motor and the control console are located in different frequency bands; The transmitting module includes: a rudder angle acquisition unit, a data processing unit, a modulation unit, and a coupling injection unit; The rudder angle acquisition unit acquires the actual rudder angle information displayed on the local mechanical rudder angle indicator in the rudder gear room in a non-intrusive manner; The data processing unit is used to convert the actual rudder angle information into a data frame of a preset format. The modulation unit is used to convert the data frame into a data modulation signal that is higher than the upper limit of the effective frequency band of the speech signal; The coupling injection unit is used to couple the data modulation signal to the communication line of the acoustic telephone module; The first power supply unit is used to supply power to the transmitting module in the event of a power outage; The first power supply unit includes a friction drive wheel and a permanent magnet micro generator. The friction drive wheel is connected to the manual steering wheel and the permanent magnet micro generator respectively. Under the drive of the manual steering wheel, the permanent magnet micro generator generates electricity to power the transmitting module. The voice-activated telephone module is used to transmit a mixed signal to the receiving module; the mixed signal includes voice signals generated from communication between the servo motors and the control console, as well as the data modulation signal; The receiving module is located on the control panel and is used to separate the voice signal and the data modulation signal from the mixed signal, demodulate and verify the data modulation signal, and output and display the actual rudder angle information. The receiving module includes: a signal separation unit, a demodulation unit, a display unit, and a rectification and energy storage unit; The signal separation unit is used to separate the speech signal from the mixed signal and extract the data modulation signal in the preset data frequency band. When it is determined that there is a valid data modulation signal in the preset data frequency band, a wake-up signal is sent to the demodulation unit so that the demodulation unit can enter the working state. The signal separation unit includes a low-pass filter branch, a band-pass filter branch, and a wake-up detection unit; the band-pass filter branch is connected to the wake-up detection unit and the demodulation unit, respectively. The low-pass filter branch is used to separate the speech signal from the mixed signal; The bandpass filter branch is used to separate a preset data frequency band from the mixed signal; The wake-up detection unit is also connected to the demodulation unit and is used to extract the amplitude envelope of the preset data frequency band, compare the amplitude envelope with the preset wake-up threshold, and send a wake-up signal to the demodulation unit when the amplitude of the preset data frequency band exceeds the preset wake-up threshold and reaches the preset duration. The demodulation unit is used to demodulate the data modulation signal to recover the actual rudder angle information, and to verify the validity of the actual rudder angle information according to a preset verification field. If the verification is successful, the unit sends the valid actual rudder angle information to the display unit; if the verification fails, the unit sends an error reminder to the display unit. The display unit is used to visually display valid actual rudder angle information or abnormal alerts; The rectifier energy storage unit is connected to the voice-powered telephone module with high input impedance. It is used to rectify the voice signal and / or data modulation signal and store the rectified electrical energy in an energy storage capacitor or supercapacitor. When the energy storage voltage reaches a preset threshold, the stored electrical energy is used to assist the display unit in performing a refresh operation. The second power supply unit is used to supply power to the receiving module in the event of a power outage.

2. The ship power failure emergency rudder angle feedback system based on a sound-powered telephone line according to claim 1, characterized in that, The coupling injection unit employs an audio coupling transformer. The primary side of the audio coupling transformer receives the data modulation signal from the modulation unit, while the secondary side is connected to the sound-powered telephone module, thereby coupling the data modulation signal into the communication line of the sound-powered telephone module.

3. A method for transmitting rudder angle during a ship's power outage based on a sound-powered telephone line, implemented using the system described in claim 1, characterized in that: include: S1. In the emergency steering condition of the ship during power failure, the actual rudder angle information displayed on the local mechanical rudder angle indicator in the rudder gear room is collected by the transmitting module, the actual rudder angle information is converted into a data modulation signal, and the data modulation signal is coupled to the communication line of the acoustic telephone module. S2. The mixed signal is transmitted to the receiving module via the acoustic telephone module; the mixed signal includes the voice signal generated by the communication between the servos and the control console, as well as the data modulation signal. S3. The audio signal is separated from the mixed signal by the receiving module, and the data modulation signal in the preset data frequency band is extracted. When it is determined that there is a valid data modulation signal in the preset data frequency band, the data modulation signal is demodulated and verified, and the actual rudder angle information is output and displayed to assist the bridge operator in completing emergency steering in the event of a power failure.

4. The method for transmitting rudder angle during a ship power outage based on a sound-powered telephone line according to claim 3, characterized in that, The transmitting module includes: a rudder angle acquisition unit, a data processing unit, a modulation unit, and a coupling injection unit; The rudder angle acquisition unit acquires the actual rudder angle information displayed on the local mechanical rudder angle indicator in the rudder gear room in a non-intrusive manner; The data processing unit is used to convert the actual rudder angle information into a data frame of a preset format. The modulation unit is used to convert the data frame into a data modulation signal that is higher than the upper limit of the effective frequency band of the speech signal; The coupling injection unit is used to couple the data modulation signal to the communication line of the acoustic telephone module.

5. The method for transmitting rudder angle during a ship power outage based on a sound-powered telephone line according to claim 4, characterized in that, The receiving module includes: a signal separation unit, a demodulation unit, a display unit, and a rectification and energy storage unit; The signal separation unit is used to separate the speech signal from the mixed signal and extract the data modulation signal in the preset data frequency band. When it is determined that there is a valid data modulation signal in the preset data frequency band, a wake-up signal is sent to the demodulation unit so that the demodulation unit can enter the working state. The signal separation unit includes a low-pass filter branch, a band-pass filter branch, and a wake-up detection unit; the band-pass filter branch is connected to the wake-up detection unit and the demodulation unit, respectively. The low-pass filter branch is used to separate the speech signal from the mixed signal; The bandpass filter branch is used to separate a preset data frequency band from the mixed signal; The wake-up detection unit is also connected to the demodulation unit and is used to extract the amplitude envelope of the preset data frequency band, compare the amplitude envelope with the preset wake-up threshold, and send a wake-up signal to the demodulation unit when the amplitude of the preset data frequency band exceeds the preset wake-up threshold and reaches the preset duration. The demodulation unit is used to demodulate the data modulation signal to recover the actual rudder angle information, and to verify the validity of the actual rudder angle information according to a preset verification field. If the verification is successful, the unit sends the valid actual rudder angle information to the display unit; if the verification fails, the unit sends an error reminder to the display unit. The display unit is used to visually display valid actual rudder angle information or abnormal alerts; The rectifier energy storage unit is connected to the voice-powered telephone module with high input impedance. It is used to rectify the voice signal and / or data modulation signal and store the rectified electrical energy in an energy storage capacitor or supercapacitor. When the energy storage voltage reaches a preset threshold, the stored electrical energy is used to assist the display unit in performing a refresh operation.

6. The ship power failure emergency rudder angle feedback method based on acoustic telephone lines according to claim 5, characterized in that, In the event of a power outage and emergency steering, the first power supply unit supplies power to the transmitting module. The first power supply unit includes a friction drive wheel and a permanent magnet micro generator. The friction drive wheel is connected to the manual steering wheel and the permanent magnet micro generator respectively. Under the drive of the manual steering wheel, the permanent magnet micro generator generates electricity, thereby supplying power to the transmitting module.

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