CN114328506B - Intelligent ship automatic control system - Google Patents
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Abstract
The invention discloses an intelligent ship automatic control system, and relates to the technical field of intelligent ships. The control system comprises a data acquisition and classification summarization module, a grouping interaction discrete data module and an intelligent controller; the data acquisition and classification summarization module acquires navigation power data of the ship and is compatible with acquiring auxiliary power demand data and other data of the ship; the data collected by the data collection and classification summarization module is subjected to data construction through the grouping interaction discrete data module to form an interaction database paradigm which is convenient for the intelligent controller to fetch and process, and the intelligent controller performs automatic intelligent control on ship navigation based on data processing of the interaction database group and is used as a data information source for the application of the ship control back end. The system constructs a brand new valuable information processing method facing the ship control function requirement from the bottom layer, and can serve as a bottom layer technology to provide technical information for a plurality of ship control function modules.
Description
Technical Field
The invention relates to the technical field of ship navigation control, in particular to an intelligent ship automatic control system based on data information extraction.
Background
The automatic control of ship sailing has been widely and fully studied, involving various technical elements and modes of application. At present, development is not generally required or necessary in the hardware technical field. In terms of control methods, the prior art is more concerned with applying relatively universal and sophisticated automatic control ideas and technical transfers to ship control. While this does fall within the category of intelligent, automated marine control technologies, we believe that this class of technology is still thin and extensive from a substantial point of view of technological advances. It is not difficult to recognize that innovative research is performed on ship navigation bottom data, and identification extraction and arrangement processing of development value data based on functional requirements of ship control are not only necessary but also fundamental for developing and improving the existing ship automatic control technology.
In fact, based on our research practice, the marine navigation data processing paradigm for specific functional requirements is often able to be universally applied in a great scope through appropriate expansion, thereby providing a direct data basis for other further marine control functional requirements.
Disclosure of Invention
The invention aims to provide an intelligent ship automatic control system.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
The automatic control system of the intelligent ship comprises a data acquisition and classification summarizing module, a grouping interaction discrete data module and an intelligent controller; the data acquisition and classification summarization module acquires navigation power data of the ship on one hand, and acquires auxiliary power demand data and other data of the ship from a cloud database, an external database or a man-machine interface through a data port on the other hand; the data collected by the data collection and classification summarization module is subjected to data construction through the grouping interaction discrete data module to form an interaction database paradigm which is convenient for the intelligent controller to call and process, and the intelligent controller performs automatic intelligent control on ship navigation based on data processing of the interaction database group and is used as a data information source for the application of the rear end of ship control.
As a preferable technical scheme of the invention, the automatic control system is also compatible with a man-machine interaction module and/or an information early warning module; the intelligent controller is provided with an expandable data interface which is used for being connected with the back-end application module and providing valuable data related to ship navigation for the back-end application module.
As a preferable technical scheme of the invention, the automatic intelligent control of the ship navigation specifically comprises: the power of the navigation power system is intelligently controlled; matching control of a main power system and an auxiliary power system of the ship; man-machine display, recording and early warning of navigation data; other expansion aviation requirements; the data information source used as the ship control back-end application specifically comprises: the intelligent controller is provided with an expandable data interface which is used for being connected with the back-end application module and providing valuable data related to ship navigation power for the back-end application module, and a data base is provided for the back-end application module related to wide ship navigation.
As a preferable technical scheme of the invention, the data acquisition and classification summarization module acquires the equivalent constant-speed power data of the ship navigation and acquires the auxiliary power demand data of the ship navigation in a cloud data calling or manual input mode; the equivalent constant-speed power data is power data required by the ship to maintain horizontal constant-speed navigation;
As a preferable technical scheme of the invention, the packet interaction discrete data module is internally compatible with and constructs a database paradigm of the following interaction: A. the data set normal form is used for sleeving the ship main power data with set length from the data acquisition and classification summarization module to form a ship main power discrete data set, specifically, the span main attribute representing the interval span is firstly set for the data set normal form, then the span main attribute of the data set normal form after the unit is designated is embodied as single-value data, and when the data set normal form is used for sleeving the ship main power data set from the data acquisition and classification summarization module, the capacity of the discrete data set is only determined by the span main attribute of the data set normal form; B. the data integration normal form is used for integrating data of each discrete data group sleeved by the data sleeve normal form and interacting with the data sleeve normal form; the main attribute of the data integration paradigm is set as ≡, and the main attribute is specifically used for acquiring the sum value of main power data of the ship in the sleeve; the auxiliary attribute of the data integration normal form is set as/, and is used for realizing interaction of the data integration normal form and the data set normal form, specifically, direct data interaction is carried out on the basis of the single-valued spam main attribute and the single-valued ≡main attribute, and homogenized ship main power data with mean value significance is obtained; C. the data sorting and marking paradigm is used for sorting and marking the homogenized data obtained by interaction of the data sleeving paradigm and the data integration paradigm based on the order of the data sleeving paradigm, so as to form an ordered ship main power related discrete data set;
As a preferable technical scheme of the invention, the intelligent controller invokes the interaction database processed by the grouping interaction discrete data module, and performs intelligent control on the power of the ship navigation main power system and intelligent control on other ships based on data processing of the interaction database group;
A. Cutting data;
A-1, data base cutting process: the ship main power homogenized data form an ordered discrete data set, and the homogenized data are subjected to data cutting according to the sequencing marks; the first rule of basic data cutting is set to be adjacent to the difference cutting of the ordered data, so that after the homogenized data group with the total order number of x is globally and sequentially cut, a sub-data group with the data quantity of x-1 is obtained, and based on the ordering mark of the original discrete data group, the obtained sub-data group is naturally constructed into an ordered discrete data 'subgroup' corresponding to the original discrete data group;
A-2, data evolution cutting process: the basic cutting of data only builds the association relation of adjacent homogenized power data, intelligent control of a ship needs to carry out balanced association on global data, and a data process corresponding to the global data association also needs to meet the requirements of a data calculation paradigm and a controllable total data calculation amount, therefore, the data evolution cutting process is set as iteration of basic cutting of the data, namely, the basic cutting process of the data is applied to ordered discrete data 'sub-groups' obtained by the basic cutting of the first time, the obtained data groups are also naturally built into ordered discrete data 'sub-groups' corresponding to the cut discrete data groups, the obtained ordered discrete data groups are named as ordered discrete data 'Sun Zu' for distinguishing, and the ordered data capacity of the obtained data 'Sun Zu' is (x-1) -1=x-2; the data evolution process meets the basic requirements of data global association, and meanwhile, the data capacity is small, the data structure is particularly simple, the total data calculation amount of the ship intelligent control system is reduced, and meanwhile, the stability of a data processing result is effectively improved;
A-3, data evolution endpoint process: according to the data evolution process set in the previous step, a single data set with the data capacity of 2-1=1 is finally obtained, and the meaning association of the head and tail data in the first ordered discrete data set of the ship main dynamic homogenized data is substantially realized based on the data evolution process, which is also called an ordered data set and is used as the end point of data evolution; all ordered data sets form a family of ordered data sets/an ordered data set evolutionary tree;
B. Valuable processing of the ordered number group evolutionary tree;
b-1, data valuable information distribution: the data structure constructed by the data cutting process realizes the global association of the main power data of the ship, and for the intelligent control of the ship, the valuable information is on the one hand that the obtained series of ordered data group families/ordered data group evolutionary trees, and on the other hand, the more extensive and important information is stored in the evolutionary process relationship/evolutionary tree branch structures of the series of ordered data group families/ordered data group evolutionary trees;
B-2: valuable information processing based on Yang Hui triangles:
B-2-1: the data structure of the ordered data group family/ordered data group evolutionary tree has complete consistency with the Yang Hui triangle, on one hand, the configuration of the ordered data group family/ordered data group evolutionary tree is directly related with the Yang Hui triangle, and the more important aspect is that after the similar items in all ordered data are combined, the coefficient of the similar items is equal to the combination number determined by the Yang Hui triangle, which means that the two are consistent in the data group structure and in the evolution progress relationship of the data/branch structure of the evolutionary tree; the Yang Hui triangle is matched with the certainty of the constructed ordered data group family/ordered data group evolutionary tree to realize the correct and full extraction of the valuable information in the two aspects in the whole data architecture, so as to form a data information foundation of the intelligent control system of the ship;
B-2-2, when carrying out data processing on the ordered data group family/ordered data group evolutionary tree based on Yang Hui triangles, the alternative data guide is not unique, two data guides are set for the purpose, one is normative data guide, namely, the data of the same kind are combined in the previous step; secondly, functional data guiding, wherein the data guiding set for the intelligent controller is power control of the ship, so that the arrangement and presentation directions of the tail end data are set to be guided by ship power parameters; the two sets of data guides are compatible with each other.
As a preferable technical scheme of the invention, the equivalent constant-speed power data is obtained by fitting based on the differential of the horizontal navigational speed and the time unit of the ship and the main thrust output of the power system; or obtaining the substitute data with linear relation with the equivalent constant-speed power data through fitting of other data processes; the specific selection of data is adjusted based on the hardware sensing system of the subject vessel body.
The beneficial effects of adopting above-mentioned technical scheme to produce lie in: the invention belongs to the pioneering innovation in the technical field of intelligent control of ships. The intelligent ship control method has fundamental difference from the intelligent ship control thought and method in the prior art, the main body of the intelligent ship control method still transfers the relatively universal and mature automatic control thought and technology to the ship control, and the method constructs a brand-new valuable information processing method facing the ship control function requirement from the bottom layer; meanwhile, the data method provided by the invention is found to be widely applicable although the specific navigation function needs are developed, namely, the invention can be used as a bottom technology for providing valuable data information for a plurality of ship control function modules, so that the invention is not only very innovative (belongs to the scope of the development invention), but also has the characteristics of a technology bottom platform, and the technology progress is very remarkable. The beneficial effects of the technical scheme of the invention are specifically described as follows.
The invention relates to a data acquisition and classification summarization module, which is used for acquiring original sensing data of a ship main body and has the innovation points that: firstly, instead of simply collecting and storing data, preliminary data processing can be performed, equivalent fitting data can be obtained through simple operation based on different sensing data, and convenience is provided for subsequent data processing, for example, for equivalent constant power data, the equivalent constant power data can be obtained through fitting based on differential of horizontal navigational speed and time unit of a ship and main thrust output of a power system, and alternative data (specifically adjusted based on a ship sensing system) with linear relation with the equivalent constant power data can also be obtained through fitting of other data processes; secondly, in order to adapt to the invention as a bottom technology platform to provide basic data for other functional application modules, the data acquisition and classification summarization module is provided with compatible functional characteristics, namely, the auxiliary power demand data and other data of the ship are obtained from a cloud database, an external database or a man-machine interface through a data port, so that the invention is well adapted to the development demands of the invention as a technology platform.
The grouping interaction discrete data module is a central node for data processing, is closely related to a data acquisition and classification summarization module and an intelligent controller, and particularly belongs to a close and inseparable cooperative relationship with the intelligent controller.
In fact, the grouping interactive discrete data function module is an important component of the core innovation of the present invention, and three data processing formats with interactive relations, namely a data set format, a data integration format and a data ordering and marking format are innovatively developed. The data set paradigm is used for sleeving the ship main power data with set length from the data acquisition and classification summarization module to form a ship main power discrete data set; the data integration normal form is used for integrating data of each discrete data group sleeved by the data sleeve normal form and interacting with the data sleeve normal form; the data sorting and marking paradigm is used for forming an ordered ship main power related discrete data set by the data sorting marks. The important innovation is that: the three norms are subjected to operable data normalization processing in a brand new data mode of attribute setting, so that the data process and the obtained data result have equivalent single-value data characteristics, the data result is simplified, and particularly, the optional mode of the follow-up data is greatly improved.
On the one hand, the intelligent controller of the invention carries out automatic intelligent control of ship sailing, such as intelligent control of power of a sailing power system, based on data processing of the interactive database group; matching control of a main power system and an auxiliary power system of the ship; man-machine display, recording and early warning of navigation data; other expansion aviation requirements, etc.; on the other hand, based on the characteristics of the bottom technology platform, the invention can also be used as a data information source for the back-end application of ship control, in general, an expandable data interface can be directly arranged on the intelligent controller for being connected with the back-end application module and providing valuable data related to ship navigation power for the back-end application module, and a data foundation is provided for the back-end application module related to wide ship navigation.
The invention is based on the ordered array constructed by the progressive data cutting process and the ordered array evolutionary tree structure carrying the ship global data information, which is another technical research core of the invention; further, based on the analysis of the obtained ordered array and the ordered array evolutionary tree (the former is data classification and merging analysis, the latter is tree structure characteristic analysis), the ordered array evolutionary tree is found to be exactly matched with the Yang Hui triangle in either data form or data connotation, so that the Yang Hui triangle can be directly adopted to perform data processing on the cut data family-! And beyond our expectation, the valuable data obtained by applying Yang Hui triangle seems to have wider applicability, which is the root point of the development of the invention as a platform technology.
With reference to the embodiment below, in the specific application direction, the intelligent control method has good applicability and expansibility for intelligent control of the ship power system; the module has good compatibility with other functional requirements.
In addition, the software and hardware setting of the invention is compatible with the optimization evolution of the control method based on artificial intelligence, which is also an important subsequent research and development direction.
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Fig. 1 is a schematic block diagram of a system according to an embodiment of the present invention.
Detailed Description
The following examples illustrate the application in detail. In the following description of embodiments, for purposes of explanation and not limitation, specific details are set forth, such as particular system architectures, techniques, etc. in order to provide a thorough understanding of the embodiments of the application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
As shown in fig. 1, the embodiment of the invention discloses an intelligent ship automatic control system, which comprises a data acquisition and classification summarization module, a grouping interaction discrete data module, an intelligent controller, a man-machine interaction module, an information early warning module and an expandable data interface. The system constructs a brand new valuable information processing method facing the ship control function requirement from the bottom layer, and can serve as a bottom layer technology to provide technical information for a plurality of ship control function modules.
Data acquisition and classification summarization module:
The data acquisition and classification summarization module can directly acquire navigation power data of the ship, and simultaneously is compatible with acquiring auxiliary power demand data and other data of the ship from a cloud database, an external database or a man-machine interface through a data port; the data acquisition and classification summarization module acquires the equivalent constant-speed power data of the ship navigation, and acquires the auxiliary power demand data of the ship navigation in a cloud data calling or manual input mode; the equivalent constant power data is the power data required by the ship to maintain horizontal constant navigation, and can be obtained by fitting based on the differential of the horizontal navigation speed and time unit of the ship and the main thrust output of a power system, or by fitting other data processes, the equivalent constant power data is obtained as substitute data (specifically adjusted based on a ship sensing system) with linear relation with the equivalent constant power data.
The data acquisition and classification summarization module of this embodiment is characterized in that: firstly, instead of simply collecting and storing data, preliminary data processing can be performed, equivalent fitting data can be obtained through simple operation based on different sensing data, and convenience is provided for subsequent data processing, for example, for equivalent constant power data, the equivalent constant power data can be obtained through fitting based on differential of horizontal navigational speed and time unit of a ship and main thrust output of a power system, and alternative data (specifically adjusted based on a ship sensing system) with linear relation with the equivalent constant power data can also be obtained through fitting of other data processes; secondly, in order to adapt to the invention as a bottom technology platform to provide basic data for other functional application modules, the data acquisition and classification summarization module is provided with compatible functional characteristics, namely, the auxiliary power demand data and other data of the ship are obtained from a cloud database, an external database or a man-machine interface through a data port, so that the invention is well adapted to the development demands of the invention as a technology platform.
Packet interaction discrete data module:
The data collected by the data collection and classification summarization module is subjected to data construction through the grouping interaction discrete data module to form an interaction database paradigm which is convenient for the intelligent controller to fetch and process, and the interaction database paradigm comprises three paradigms: A. the data set normal form is used for sleeving the ship main power data with set length from the data acquisition and classification summarization module to form a ship main power discrete data set, specifically, the span main attribute representing the interval span is firstly set for the data set normal form, then the span main attribute of the data set normal form after the unit is designated is embodied as single-value data, and when the data set normal form is used for sleeving the ship main power data set from the data acquisition and classification summarization module, the capacity of the discrete data set is only determined by the span main attribute of the data set normal form; B. the data integration normal form is used for integrating data of each discrete data group sleeved by the data sleeve normal form and interacting with the data sleeve normal form; the main attribute of the data integration paradigm is set as ≡, and the main attribute is specifically used for acquiring the sum value of main power data of the ship in the sleeve; the auxiliary attribute of the data integration normal form is set as/, and is used for realizing interaction of the data integration normal form and the data set normal form, specifically, direct data interaction is carried out on the basis of the single-valued spam main attribute and the single-valued ≡main attribute, and homogenized ship main power data with mean value significance is obtained; C. the data sorting and marking paradigm is used for sorting and marking the homogenized data obtained by interaction of the data set paradigm and the data integration paradigm based on the order of the data set paradigm of the main power data of the ship, so as to form an ordered main power related discrete data set of the ship.
The grouping interaction discrete data module in this embodiment is a central node for data processing, and is closely associated with both the data collection and classification summarization module and the intelligent controller, especially in a close and inseparable cooperative relationship with the intelligent controller. The grouping interaction discrete data function module is an important component of the core innovation of the invention, and three data processing norms with interaction relationship, namely a data set norms, a data integration norms and a data ordering and marking norms are innovatively developed. The data set paradigm is used for sleeving the ship main power data with set length from the data acquisition and classification summarization module to form a ship main power discrete data set; the data integration normal form is used for integrating data of each discrete data group sleeved by the data sleeve normal form and interacting with the data sleeve normal form; the data sorting and marking paradigm is used for forming an ordered ship main power related discrete data set by the data sorting marks. The important innovation is that: the three norms are subjected to operable data normalization processing in a brand new data mode of attribute setting, so that the data process and the obtained data result have equivalent single-value data characteristics, the data result is simplified, and particularly, the optional mode of the follow-up data is greatly improved.
And (3) an intelligent controller:
the intelligent controller is used for carrying out automatic intelligent control on ship sailing on one hand based on data processing of the interaction database group, such as intelligent power control of a sailing power system; matching control of a main power system and an auxiliary power system of the ship; man-machine display, recording and early warning of navigation data; other expansion aviation requirements, etc.; the main power system is used for maintaining the whole navigational speed of the ship, and the auxiliary power system is used for supplying energy except the navigational function of the ship, including the electrical control energy of the ship, the life energy of passengers and the communication energy of the ship. On the other hand, based on the characteristics of the bottom technology platform, the intelligent controller can also be used as a data information source for the back-end application of ship control, and the intelligent controller is provided with an expandable data interface which is used for being connected with the back-end application module and providing valuable data related to ship navigation power for the back-end application module, so that a data basis is provided for the back-end application module related to wide ship navigation. The content control process of the intelligent controller comprises the following steps:
A. Cutting data; a-1, data base cutting process: the ship main power homogenized data form an ordered discrete data set, and the homogenized data are subjected to data cutting according to the sequencing marks; the first rule of basic data cutting is set to be adjacent to the difference cutting of the ordered data, so that after the homogenized data group with the total order number of x is globally and sequentially cut, a sub-data group with the data quantity of x-1 is obtained, and based on the ordering mark of the original discrete data group, the obtained sub-data group is naturally constructed into an ordered discrete data 'subgroup' corresponding to the original discrete data group; a-2, data evolution cutting process: the basic cutting of data only builds the association relation of adjacent homogenized power data, intelligent control of a ship needs to carry out balanced association on global data, and a data process corresponding to the global data association also needs to meet the requirements of a data calculation paradigm and a controllable total data calculation amount, therefore, the data evolution cutting process is set as iteration of basic cutting of the data, namely, the basic cutting process of the data is applied to ordered discrete data 'sub-groups' obtained by the basic cutting of the first time, the obtained data groups are also naturally built into ordered discrete data 'sub-groups' corresponding to the cut discrete data groups, the obtained ordered discrete data groups are named as ordered discrete data 'Sun Zu' for distinguishing, and the ordered data capacity of the obtained data 'Sun Zu' is (x-1) -1=x-2; the data evolution process meets the basic requirements of data global association, and meanwhile, the data capacity is small, the data structure is particularly simple, the total data calculation amount of the ship intelligent control system is reduced, and meanwhile, the stability of a data processing result is effectively improved; a-3, data evolution endpoint process: according to the data evolution process set in the previous step, a single data set with the data capacity of 2-1=1 is finally obtained, and the meaning association of the head and tail data in the first ordered discrete data set of the ship main dynamic homogenized data is substantially realized based on the data evolution process, which is also called an ordered data set and is used as the end point of data evolution; all ordered data sets form a family of ordered data sets/an ordered data set evolutionary tree;
B. Valuable processing of the ordered number group evolutionary tree; b-1, data valuable information distribution: the data structure constructed by the data cutting process realizes the global association of the main power data of the ship, and for the intelligent control of the ship, the valuable information is on the one hand that the obtained series of ordered data group families/ordered data group evolutionary trees, and on the other hand, the more extensive and important information is stored in the evolutionary process relationship/evolutionary tree branch structures of the series of ordered data group families/ordered data group evolutionary trees; b-2: valuable information processing based on Yang Hui triangles: b-2-1: the data structure of the ordered data group family/ordered data group evolutionary tree has complete consistency with the Yang Hui triangle, on one hand, the configuration of the ordered data group family/ordered data group evolutionary tree is directly related with the Yang Hui triangle, and the more important aspect is that after the similar items in all ordered data are combined, the coefficient of the similar items is equal to the combination number determined by the Yang Hui triangle, which means that the two are consistent in the data group structure and in the evolution progress relationship of the data/branch structure of the evolutionary tree; the Yang Hui triangle is matched with the certainty of the constructed ordered data group family/ordered data group evolutionary tree to realize the correct and full extraction of the valuable information in the two aspects in the whole data architecture, so as to form a data information foundation of the intelligent control system of the ship; b-2-2, when carrying out data processing on the ordered data group family/ordered data group evolutionary tree based on Yang Hui triangles, the alternative data guide is not unique, two data guides are set for the purpose, one is normative data guide, namely, the data of the same kind is merged in the last step; secondly, functional data guiding, wherein the data guiding set for the intelligent controller is power control of the ship, so that the arrangement and presentation directions of the tail end data are set to be guided by ship power parameters; the two sets of data guides are compatible with each other.
The invention is based on the ordered array constructed by the progressive data cutting process and the ordered array evolutionary tree structure carrying the ship global data information, which is another technical research core of the invention; further, based on the analysis of the obtained ordered array and the ordered array evolutionary tree (the former is data classification and merging analysis, the latter is tree structure characteristic analysis), the ordered array evolutionary tree is found to be exactly matched with the Yang Hui triangle in either data form or data connotation, so that the Yang Hui triangle can be directly adopted to perform data processing on the cut data family-! And beyond our expectation, the valuable data obtained by applying Yang Hui triangle seems to have wider applicability, which is the root point of the development of the invention as a platform technology.
In general, the expandable data interface can be directly arranged on the intelligent controller for being connected with the back-end application module and providing valuable data related to ship navigation power for the back-end application module, and a data base is provided for the back-end application module related to wide ship navigation, so that the invention is one of specific selectable modes for platform technology development and is probably one of the most convenient modes. Correspondingly, referring to the following embodiments, in the specific application direction, the intelligent control method has good applicability and expansibility for intelligent control of the ship power system; the module has good compatibility with other functional requirements.
The intelligent ship automatic control system is also compatible with a man-machine interaction module and/or an information early warning module; the intelligent controller is provided with an expandable data interface which is used for being connected with the back-end application module and providing valuable data related to ship navigation for the back-end application module.
Regarding the intelligent power control of the navigation power system, the valuable processing of the ordered group evolutionary tree by the intelligent processor is performed, and as the two data guides set in the step B-2-2 are respectively as follows: ① B-2-1, namely, merging similar item data in the step B-2-1, carrying out ② functional data guiding, and setting the arrangement and presentation directions of terminal data to be guided by taking ship power parameters; in this way, the three sets of data norms in the grouping interactive discrete data module, namely, the data set norms, the data integration norms, the data sequencing and the marking norms are sequentially processed to obtain the ordered discrete data set related to the main power of the ship, and the ordered discrete data set is converted into a data function directly mapping the main power requirement of the ship navigation, which is a functional function with a linear structure, and the coefficient of the function is determined by the Yang Hui triangle.
And the intelligent controller only needs to expand the original data sleeve capacity in the data sleeve model to obtain the fitted navigation power demand data, and the expansion scale of the intelligent controller to the original data sleeve capacity corresponds to the time boundary of the navigation power demand.
In practical application, the required time boundary can be determined according to the object parameters of the ship, so that the expansion scale of the intelligent controller for the original data sleeve capacity is determined in a back-pushing manner.
Therefore, the intelligent control of the ship navigation power system can be realized by only carrying out numerical comparison on the current real-time navigation power and the fitting ship navigation power of the selected time boundary and providing corresponding energy reserves for the ship power system in advance according to the power demand data (power data interpolation can be directly adopted, positive and negative represent increase and decrease respectively) of different time boundaries.
With respect to the matched control of the main power system and the auxiliary power system of the vessel. On the basis of the intelligent control of the power of the sailing power system in example 6, if the difference between the fitting power data on the selected time boundary (especially the near-end time boundary) and the current sailing power data of the ship is large, it is considered to reduce the power supply of the auxiliary power system (such as an air conditioning system, a lighting system, an occupant entertainment system, etc.) of the ship proportionally, so that the main power system for sailing the ship is enabled.
Information about vessel voyage is provided. The power demand of the marine auxiliary power system is well predictable since it is well defined and usually derived from manually entered data. If the following conditions occur, the intelligent controller performs information early warning and carries out manual intervention treatment: if the fit power data on the selected time boundary (especially the far-end time boundary) differs significantly from the current vessel sailing power data and the auxiliary power system of the selected time boundary node is at a peak of energy usage, or while the auxiliary power system of the selected time boundary node is not at a peak of energy usage, there is an irreducible demand for stiffness energy usage, the lowest demand for stiffness energy usage of which conflicts with the incremental demand for energy usage of the main power demand.
The expandable data interface is arranged on the intelligent controller and used for being connected with the rear-end application module and providing valuable data related to ship navigation power for the rear-end application module, so that a data base is provided for the rear-end application module related to wide ship navigation. For example, recording, backing up and displaying navigation data; the data packet application module provides specific guidance for scientific research of ship subjects, hydrodynamic subjects and oceanographic subjects; the data packet application module is used for guiding the ship fault; the hull control system fault guiding data packet application module; and the like, and the related back-end application modules of the ship navigation are widely used.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
In various embodiments, the hardware implementation of the technology may directly employ existing smart devices, including, but not limited to, industrial personal computers, PCs, smartphones, handheld standalone machines, floor stand-alone machines, and the like. The input device is preferably a screen keyboard, the data storage and calculation module adopts an existing memory, a calculator and a controller, the internal communication module adopts an existing communication port and protocol, and the remote communication module adopts an existing gprs network, a universal Internet and the like.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms. The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The functional units in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units. The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RandomAcces Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (3)
1. An intelligent ship automatic control system which is characterized in that: the automatic control system comprises a data acquisition and classification summarizing module, a grouping interaction discrete data module and an intelligent controller; the data acquisition and classification summarization module acquires navigation power data of the ship on one hand, and acquires auxiliary power demand data and other data of the ship from a cloud database, an external database or a man-machine interface through a data port on the other hand; the data collected by the data collection and classification summarization module is subjected to data construction through the grouping interaction discrete data module to form an interaction database paradigm which is convenient for the intelligent controller to call and process, and the intelligent controller performs automatic intelligent control on ship navigation based on data processing of the interaction database group and is used as a data information source for the application of the rear end of ship control;
The automatic intelligent control of the ship navigation specifically comprises the following steps: the power of the navigation power system is intelligently controlled; matching control of a main power system and an auxiliary power system of the ship; man-machine display, recording and early warning of navigation data; other expansion aviation requirements; the data information source used as the ship control back-end application specifically comprises: the intelligent controller is provided with an expandable data interface which is used for being connected with the back-end application module and providing valuable data related to ship navigation power for the back-end application module, and a data base is provided for the back-end application module related to wide ship navigation;
4-1, the data acquisition and classification summarization module acquires the equivalent constant-speed power data of the ship navigation, and acquires the auxiliary power demand data of the ship navigation in a cloud data calling or manual input mode; the equivalent constant-speed power data is power data required by the ship to maintain horizontal constant-speed navigation;
4-2, the packet interaction discrete data module is internally compatible with and constructs a database paradigm of the following interaction:
A. The data set normal form is used for sleeving the ship main power data with set length from the data acquisition and classification summarization module to form a ship main power discrete data set, specifically, the span main attribute representing the interval span is firstly set for the data set normal form, then the span main attribute of the data set normal form after the unit is designated is embodied as single-value data, and when the data set normal form is used for sleeving the ship main power data set from the data acquisition and classification summarization module, the capacity of the discrete data set is only determined by the span main attribute of the data set normal form;
B. The data integration normal form is used for integrating data of each discrete data group sleeved by the data sleeve normal form and interacting with the data sleeve normal form; the main attribute of the data integration paradigm is set as ≡, and the main attribute is specifically used for acquiring the sum value of main power data of the ship in the sleeve; the auxiliary attribute of the data integration normal form is set as/, and is used for realizing interaction of the data integration normal form and the data set normal form, specifically, direct data interaction is carried out on the basis of the single-valued spam main attribute and the single-valued ≡main attribute, and homogenized ship main power data with mean value significance is obtained;
C. The data sorting and marking paradigm is used for sorting and marking the homogenized data obtained by interaction of the data sleeving paradigm and the data integration paradigm based on the order of the data sleeving paradigm, so as to form an ordered ship main power related discrete data set;
4-3, the intelligent controller invokes the interaction database processed by the grouping interaction discrete data module, and performs intelligent power control of the ship navigation main power system and intelligent power control of other ships based on data processing of the interaction database group;
A. Cutting data;
A-1, data base cutting process: the ship main power homogenized data form an ordered discrete data set, and the homogenized data are subjected to data cutting according to the sequencing marks; the first rule of basic data cutting is set to be adjacent to the difference cutting of the ordered data, so that after the homogenized data group with the total order number of x is globally and sequentially cut, a sub-data group with the data quantity of x-1 is obtained, and based on the ordering mark of the original discrete data group, the obtained sub-data group is naturally constructed into an ordered discrete data 'subgroup' corresponding to the original discrete data group;
A-2, data evolution cutting process: the basic cutting of data only builds the association relation of adjacent homogenized power data, intelligent control of a ship needs to carry out balanced association on global data, and a data process corresponding to the global data association also needs to meet the requirements of a data calculation paradigm and a controllable total data calculation amount, therefore, the data evolution cutting process is set as iteration of basic cutting of the data, namely, the basic cutting process of the data is applied to ordered discrete data 'sub-groups' obtained by the basic cutting of the first time, the obtained data groups are also naturally built into ordered discrete data 'sub-groups' corresponding to the cut discrete data groups, the obtained ordered discrete data groups are named as ordered discrete data 'Sun Zu' for distinguishing, and the ordered data capacity of the obtained data 'Sun Zu' is (x-1) -1=x-2;
A-3, data evolution endpoint process: according to the data evolution process set in the previous step, a single data set with the data capacity of 2-1=1 is finally obtained, and the meaning association of the head and tail data in the first ordered discrete data set of the ship main dynamic homogenized data is substantially realized based on the data evolution process, which is also called an ordered data set and is used as the end point of data evolution; all ordered data sets form a family of ordered data sets/an ordered data set evolutionary tree;
B. Valuable processing of the ordered number group evolutionary tree;
b-1, data valuable information distribution: the data structure constructed by the data cutting process realizes the global association of the main power data of the ship, and for the intelligent control of the ship, the valuable information is on the one hand that the obtained series of ordered data group families/ordered data group evolutionary trees, and on the other hand, the more extensive and important information is stored in the evolutionary process relationship/evolutionary tree branch structures of the series of ordered data group families/ordered data group evolutionary trees;
B-2: valuable information processing based on Yang Hui triangles:
B-2-1: the data structure of the ordered data group family/ordered data group evolutionary tree has complete consistency with the Yang Hui triangle, on one hand, the configuration of the ordered data group family/ordered data group evolutionary tree is directly related with the Yang Hui triangle, and the more important aspect is that after the similar items in all ordered data are combined, the coefficient of the similar items is equal to the combination number determined by the Yang Hui triangle, which means that the two are consistent in the data group structure and in the evolution progress relationship of the data/branch structure of the evolutionary tree; the Yang Hui triangle is matched with the certainty of the constructed ordered data group family/ordered data group evolutionary tree to realize the correct and full extraction of the valuable information in the two aspects in the whole data architecture, so as to form a data information foundation of the intelligent control system of the ship;
B-2-2, when carrying out data processing on the ordered data group family/ordered data group evolutionary tree based on Yang Hui triangles, the alternative data guide is not unique, and two data guides are set for the alternative data guide, wherein one is normative data guide, namely the data of the same kind is merged in B-2-1; secondly, functional data guiding, wherein the data guiding set for the intelligent controller is power control of the ship, so that the arrangement and presentation directions of the tail end data are set to be guided by ship power parameters; the two sets of data guides are compatible with each other.
2. An intelligent watercraft automatic control system according to claim 1, wherein: the automatic control system is also compatible with a man-machine interaction module and/or an information early warning module; the intelligent controller is provided with an expandable data interface which is used for being connected with the back-end application module and providing valuable data related to ship navigation for the back-end application module.
3. An intelligent watercraft automatic control system according to claim 1, wherein: fitting based on the differential of the horizontal navigational speed and the time unit of the ship and the main thrust output of the power system to obtain the equivalent constant-speed power data; or obtaining the substitute data with linear relation with the equivalent constant-speed power data through fitting of other data processes; the specific selection of data is adjusted based on the hardware sensing system of the subject vessel body.
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