CN114793239A - System and method for realizing inland river intelligent ship domain controller function - Google Patents
System and method for realizing inland river intelligent ship domain controller function Download PDFInfo
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Abstract
The invention relates to a system and a method for realizing the function of an inland river intelligent ship domain controller, wherein in the system, an interactive terminal is used for acquiring a navigation function request issued by a user; the central controller is electrically connected with the at least one domain controller and is used for performing function decomposition on the navigation function request and issuing the decomposed subtasks to the at least one domain controller; the interaction terminal is also used for processing the sensing data and uploading the processing result to the interaction terminal; and the domain controller is used for controlling and collecting the sensing data of the corresponding embarkation equipment according to the subtasks and uploading the sensing data to the central controller. The invention provides a novel system and a method for realizing functions of an intelligent ship, which meet the requirement of massive information interaction during autonomous decision making of the intelligent ship so as to reduce the information interaction cost and reduce the repeated calling and low-efficiency control of information.
Description
Technical Field
The invention relates to the technical field of ships, in particular to a system and a method for realizing the function of an inland river intelligent ship domain controller.
Background
At present, the navigation of boats and ships is realized to traditional ship control system usually adopts manual control bell and rudder, and along with the promotion of boats and ships intelligent degree, intelligent boats and ships gradually change to remote control and the control mode of independently navigating, urgent need a neotype ship control method. In addition, a control system of a traditional ship usually adopts a distributed control mode, namely functions and control equipment are in one-to-one correspondence, the information interaction level is low, and the requirement of massive information interaction during autonomous decision making of an intelligent ship cannot be met. In addition, a novel intelligent ship function implementation method is urgently needed for large-scale intelligent ship operation control so as to reduce information interaction cost and reduce information repeated calling and low-efficiency control. Therefore, how to efficiently manage specific functions or areas of the smart ship is an urgent problem to be solved.
Disclosure of Invention
In view of the above, there is a need to provide a system and a method for implementing a domain controller function of an inland intelligent ship, so as to overcome the problem that it is difficult to efficiently manage specific functions or regions of an intelligent ship in the prior art.
In order to solve the technical problem, the invention provides a system for realizing the domain controller function of an intelligent inland river ship, which comprises an interactive terminal, a backbone communication network, a central controller and at least one domain controller, wherein:
the interactive terminal is used for acquiring a navigation function request issued by a user;
the central controller is electrically connected with the at least one domain controller and is used for performing function decomposition on the navigation function request and issuing the decomposed subtasks to the at least one domain controller; the system is also used for processing the perception data and uploading the processing result to the interactive terminal;
and the at least one domain controller is used for controlling and collecting the perception data of the corresponding carrying equipment according to the subtasks and uploading the perception data to the central controller.
Further, the at least one domain controller is provided with at least one type of interface for electrically connecting to different types of onboard devices, and the at least one type of interface includes at least one of an Ethernet interface, a CAN interface, and a serial interface.
Further, the at least one domain controller comprises at least one of a 4G wireless communication module, an Ethernet wired communication module and a WIFI wireless communication module, and is used for realizing different communication requirements.
Furthermore, the central controller adopts various heterogeneous multi-core chips and is used for processing the perception data by adopting various intelligent algorithms.
Further, the system also comprises a backbone communication network and an energy consumption management center, wherein:
the backbone communication network comprises intra-domain subnets between the central controller and the at least one domain controller and is used for coordinating information interaction of the intra-domain subnets;
the energy consumption management center is used for carrying out unified management on the energy consumption of the at least one domain controller, carrying out computing power management on the central controller according to computing requirements and managing the energy consumption of the at least one domain controller.
Furthermore, the at least one domain controller is also used for carrying out unified, coordinated and dynamic management on the computing resources, the storage resources and the communication resources of the domain controller of the next layer, and automatically adjusting the controller for executing the task according to the task load of the domain controller of the lower layer in real time to meet the time delay requirement of the task; and the data processing device is also used for performing distributed storage on the data according to the data type and the requirement of the subsequent routing of the data, and performing uniform processing and organization pushing.
The invention also provides a method for realizing the function of the inland river intelligent ship domain controller, which is based on the system for realizing the function of the inland river intelligent ship domain controller and comprises the following steps:
acquiring a navigation function request issued by a user;
performing function decomposition on the navigation function request, and issuing the decomposed subtasks to at least one domain controller;
controlling and collecting perception data corresponding to the carrying equipment according to the subtasks, and uploading the perception data to a central controller;
and processing the perception data, and uploading a processing result to an interaction terminal.
Further, the processing the sensing data and uploading a processing result to an interaction terminal includes:
and the processed result is upwards transmitted to a central controller through a shipborne backbone network, the central controller performs rendering, function presentation and other modes on the data, and the processed result is transmitted to a shipborne human-computer interaction interface or a remote control center.
Further, the method further comprises:
initializing a backbone network, and activating nodes of a domain controller to be awakened;
initializing a sub-network, wherein the domain controller needing to be awakened sends band information according to the started timer, and informs other network segments that the nodes of the network segment are on line and complete, and the nodes of the domain controller enter a normal communication mode;
under a normal communication mode, if a cross-domain network communication request exists in equipment nodes in sub-networks in all domains, a domain controller node periodically sends a message containing communication states of all nodes in the sub-networks and receives sub-network state information sent by other domain controllers.
Further, the method further comprises:
if equipment nodes in each intra-domain sub-network are in fault, the domain controller node isolates the fault nodes according to a fault detection mechanism, the state information sent by the domain controller node comprises fault node state information, and meanwhile, fault codes of the fault nodes are recorded in the domain controller node.
Compared with the prior art, the invention has the beneficial effects that: in the system for realizing the intelligent ship domain controller function in the inland river, the user can issue a navigation function request conveniently by arranging the interactive terminal; by arranging the central controller, not only the subtasks are issued to each domain controller, but also the perception data uploaded by each domain controller is correspondingly processed and transmitted to the terminal, so that a user can conveniently master the real-time data of the ship; the data acquisition is carried out on the correspondingly controlled carrying equipment according to the subtasks issued by the central controller by arranging at least one domain controller, the data acquisition is completed according to the function division of the carrying equipment, and the data acquisition and transmission of the whole ship equipment are completed by the mutual cooperation of different domain controllers;
in the method for realizing the function of the inland intelligent ship domain controller, firstly, a navigation function request issued by a user is effectively acquired; then, carrying out relevant function decomposition on the navigation function requirement of the navigation system, and effectively refining the navigation function requirement into subtasks realized by different functions; the control domain controller acquires sensing data of correspondingly connected carrying equipment according to the subtasks issued to the control domain controller, and transmits the sensing data to the central controller through the backbone network; and finally, the sensing data uploaded by the domain controllers are processed through the central controller, the real-time function realization of the ship is reflected, and the sensing data are uploaded to a terminal, so that the relevant personnel can check the sensing data in real time conveniently.
In summary, the invention designs a plurality of domain controllers based on the physical partition and function classification of the ship, the domain controllers are mutually connected through the Ethernet and the domain gateway controllers to form a ship-borne backbone network, each domain controller is responsible for realizing the function of a specific function or region, and the ship operation function under different states of the ship is realized through the domain controllers. Through fully transferring each domain controller information, the functions of ship auxiliary driving, remote control, autonomous navigation and the like can be realized, the management of ship transportation cargos can also be realized, the autonomous operation of an intelligent ship in the real sense is realized, the requirement of a large amount of information interaction during the autonomous decision-making of the intelligent ship is met, the information interaction cost is reduced, and the repeated transfer and low-efficiency control of information are reduced.
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Fig. 1 is a schematic structural diagram of an embodiment of a system for implementing a domain controller function of an inland intelligent ship provided by the invention;
FIG. 2 is a schematic structural diagram of an embodiment of a hardware system of a domain controller provided in the present invention;
fig. 3 is a schematic diagram of an embodiment of a deployment scheme of an inland river intelligent ship system under a domain controller provided by the invention;
fig. 4 is a schematic flow diagram of an embodiment of a method for implementing the domain controller function of the inland intelligent ship provided by the invention;
FIG. 5 is a schematic diagram of the flow of information for implementing the assisted navigation function provided by the present invention;
fig. 6 is a schematic flow diagram of another embodiment of a method for implementing the domain controller function of the inland intelligent ship provided by the invention;
fig. 7 is a schematic structural diagram of an embodiment of an electronic device provided in the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. Further, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Reference throughout this specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the described embodiments can be combined with other embodiments.
The invention provides a system and a method for realizing the functions of inland intelligent ship domain controllers, which utilize the construction of a central controller, a plurality of domain controllers and a related backbone communication network to realize different functional data acquisition of each domain controller by decomposing navigation function requests, and provide a new idea for further improving the accuracy and the high efficiency of ship navigation management.
Before the description of the embodiments, the related words are paraphrased:
the domain controller: in the 'domain' mode, at least one server is responsible for the verification work of each computer and user connected to the network, and the server is equivalent to a unit entrance guard and is called a domain controller. A Domain Controller (DC) is a storage location of an active directory, and a computer in which the active directory is installed is called a Domain controller. When the active directory is installed for the first time, the computer on which the active directory is installed becomes a domain controller, referred to as "domain control" for short. The domain controller stores directory data and manages the interaction relationship of the user domain, including user login process, authentication, directory search, and the like. One domain may have a plurality of domain controllers. In order to obtain high availability and fault-tolerant capability, only two domain controllers are needed for a domain with a smaller scale, one domain controller is actually used, and the other domain controller is used for fault-tolerant detection; a larger domain may use multiple domain controllers.
Based on the description of the technical terms, in the prior art, a distributed control mode is often adopted, functions and control equipment are in one-to-one correspondence, the information interaction level is low, and the requirement of massive information interaction during autonomous decision making of an intelligent ship cannot be met. Therefore, the invention aims to provide a novel intelligent ship function implementation method to reduce information interaction cost and reduce information repeated calling and low-efficiency control.
Specific examples are described in detail below, respectively:
the embodiment of the invention provides a system for realizing the domain controller function of an inland intelligent ship, which comprises an interactive terminal 101, a central controller 103 and at least one domain controller 104, wherein:
the interactive terminal 101 is used for acquiring a navigation function request issued by a user;
the central controller 103 is electrically connected with the at least one domain controller and is used for performing function decomposition on the navigation function request and issuing the decomposed subtasks to the at least one domain controller; the system is also used for processing the sensing data and uploading the processing result to the interaction terminal;
and the at least one domain controller 104 is configured to control and collect the sensing data of the corresponding embarkation device according to the subtasks, and upload the sensing data to the central controller.
In the embodiment of the invention, in the system for realizing the intelligent ship domain controller function in the inland river, the user can issue a navigation function request by setting the interactive terminal; by arranging the central controller, not only the subtasks are issued to each domain controller, but also the sensing data uploaded by each domain controller are correspondingly processed and transmitted to the terminal, so that a user can conveniently master the real-time data of the ship; through setting up at least one domain controller, carry out data acquisition to its corresponding carrying device who controls according to the subtask that central controller issued, accomplish the collection of data according to its functional partitioning, different domain controllers cooperate each other, accomplish data acquisition and transmission to whole ship equipment.
As a specific embodiment, referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a system for implementing a domain controller function of an intelligent inland river vessel provided by the present invention, where the system further includes a backbone communication network, where:
the backbone communication network comprises an intra-domain sub-network between the central controller and the at least one domain controller and is used for coordinating information interaction of the intra-domain sub-networks;
in the embodiment of the invention, the backbone communication network is arranged to ensure the effective communication between each domain controller and the central controller and ensure the information interaction.
It should be noted that the technical solution of the present invention is focused on an intelligent ship function implementation method mainly based on a domain controller combining an intelligent ship functional domain and a physical domain, and based on the physical partition and function classification of a ship, a domain including a sensing domain, a communication management domain, a motion control domain, a console resource management domain, a deck resource management domain, a cargo management domain and an engine room management domain is designed, and the domains are connected with each other through an ethernet and a domain gateway controller to form a ship-borne backbone network. Each domain controller is responsible for realizing specific functions or regional functions, and ship operation functions under different states of a ship are realized through the domain controllers. Through fully calling each domain controller information, functions including ship auxiliary driving, remote control, autonomous navigation and the like can be realized, the management of ship transportation cargos can also be realized, and the intelligent ship autonomous operation in the true sense is realized.
The inland river intelligent ship domain controller is designed to mainly provide an integrated platform for specific functions or region management of intelligent ships, and based on the inland river intelligent ship domain controller, the inland river intelligent ships are assisted in navigation, remote control, autonomous navigation, ship cargo management and the like.
As a preferred embodiment, the at least one domain controller is provided with at least one type of interface for electrically connecting to different types of onboard devices, and the at least one type of interface includes at least one of an Ethernet interface, a CAN interface, and a serial interface.
In the embodiment of the invention, the domain controller has abundant interface types and interface numbers, CAN meet the access requirements of sensors, actuators and the like carried under the domain controller, and mainly comprises CAN, USB, Ether, HDMI, PCI, LIN and the like. Through a rich interface form, the load device can realize the communication of the domain controller through a plug and play form.
In a specific embodiment of the present invention, with reference to fig. 2 and 3, fig. 2 is a schematic structural diagram of an embodiment of a hardware system of a domain controller provided by the present invention, fig. 3 is a schematic diagram of an embodiment of a deployment scheme of an intelligent inland river ship system under the domain controller provided by the present invention, the designed domain controller designs a plurality of interface types according to types of sensors and actuators to be carried, and the Ethernet interface device mainly includes a camera, a laser radar, a combined navigation device, and the like. The serial interface equipment mainly comprises a mechanical sensor, an actuating mechanism and the like, and the CAN interface equipment mainly comprises a millimeter wave radar and the like. The design of the interface type must support interfaces such as multiple Ethernet, multiple CAN, multiple serial ports and the like.
The domain controller designed by the invention designs various interface power supply modes according to different carried equipment, and the interface power supply modes are divided into 5V direct-current voltage power supply, 12V direct-current voltage power supply and 24V direct-current voltage power supply, so that the power supply requirement of external carried equipment is met.
The system software in the system software architecture of the domain controller comprises a Linux operating system and a Windows operating system, and comprises a transmission component, a big data component, a container component and a database component, and a kernel capable of controlling the domain.
The domain controller system software architecture of the invention also comprises a real-time control component which can control an actuator and the like carried by the domain controller in real time, and the real-time control function and the non-real-time processing function can realize data exchange through a shared memory.
The method comprises the steps that various artificial intelligence algorithms can be operated by compiling functional software through an algorithm interface API and a real-time control interface API, wherein the functional software comprises basic application services and customized application services, the basic application services comprise camera data acquisition domain processing, radar data acquisition and processing, analysis and processing of a navigation scene graph, a basic ship collision avoidance module based on collision avoidance rules, high-precision navigation graph services, high-precision positioning services for ship navigation and the like.
The customized application service executes special sailing tasks or verifies various algorithms according to the requirements of ship sailing, so that a reserved development interface can realize software and hardware decoupling through the universal framework, developers can concentrate on developing special service algorithms without concerning management of bottom hardware resources, and each module realizes loose coupling connection among the modules through a distributed communication mechanism, thereby better realizing preset service functions.
The inland river intelligent ship domain controller function implementation method is characterized in that a domain centralized and bottom distributed deployment scheme is adopted, and a domain controller is used as a main control unit and used for coordinating and monitoring execution tasks of other domain controllers. And other domain controllers are respectively connected to different sensor groups to realize the processing of specific tasks. And the domain controllers realize cross-system and cross-physical board card data communication through a shipborne Ethernet communication mechanism.
As a preferred embodiment, the at least one domain controller includes at least one of a 4G wireless communication module, an ethernet wired communication module, and a WIFI wireless communication module, and is configured to implement different communication requirements.
In the embodiment of the invention, the domain controller is provided with a wireless and wired communication management module which comprises a 4G wireless communication module, an Ethernet wired communication module and a WIFI wireless communication module and is used for meeting the communication connection of wireless and wired devices in the domain.
It should be noted that, the domain controller also has a wireless communication module, which can implement communication connection with the remote control center, and the wireless communication module includes a plurality of communication modes, including radio station, satellite communication and 5G cellular communication. The domain controller contains a network state monitoring module, and can autonomously switch according to a network state and a navigation scene and select a proper network channel for communication.
The domain controller and the lower domain controller are connected through Ethernet communication, and the domain controller and the load sensor and the actuator are connected through CAN \ LIN \ VIDS and other buses. A network control and network management module is arranged in the domain controller, so that the monitoring of the whole ship network state and the network time synchronization can be completed, and the consistency and the effectiveness of data are ensured.
As a more specific embodiment, a data routing module is further embedded in the domain controller, the module can complete whole-ship information interaction, data collected by sensors and the like can be distributed through the data routing module, and after receiving required data, the domain controller on the lower layer can implement functions of ship control, situation awareness, state monitoring, emergency alarm and the like according to requirements.
As a more specific embodiment, the domain controller further includes a remote upgrade module, which can receive a remote upgrade package through the wireless communication module to complete corresponding software upgrade and system reset, and can complete the upgrade of the software function of the domain controller without changing the system architecture and the bottom hardware, and can complete the upgrade of the software of the lower domain controller through the coordination control of the domain controller. In addition, the domain gateway controller also has an autonomous learning function, and can update parameters of a ship control model, parameters of a water target recognition algorithm and the like on line according to control instruction feedback and real-time feedback of remote operators, so that function upgrading is realized.
As a more specific embodiment, the domain controller can also complete system control by accessing a human-computer interaction interface, the human-computer interaction interface can display the navigation state of the ship, ship navigation environment information, ship cabin information, ship deck information, ship cargo information and the like, and can also display the network connection state of the ship and a shore-based remote control center and the like, and a shipman can complete control over equipment related to motion control, such as a host, a steering engine and the like of the ship through the human-computer interaction interface under an emergency condition.
As a preferred embodiment, the central controller employs multiple heterogeneous multi-core chips for processing the sensing data by using multiple intelligent algorithms.
In the embodiment of the invention, a plurality of heterogeneous multi-core chips are adopted as the main controller of the domain controller, so that the data of the multiple sensors can be analyzed and processed based on a machine learning algorithm, and the calculation force requirement of a mainstream artificial intelligence algorithm can be met.
As a preferred embodiment, the system further includes an energy consumption management center, where the energy consumption management center is configured to perform unified management on the energy consumption of the at least one domain controller, perform power management on the central controller according to a calculation requirement, and manage the energy consumption of the at least one domain controller.
In the embodiment of the invention, an independent energy consumption management system is adopted, so that the energy consumption of the domain controller can be uniformly managed, and the power of the multi-core processor is managed according to the calculation requirement so as to manage the energy consumption of the domain controller.
As a more specific embodiment, the system adopts a layered and modular software architecture, the system software layer comprises a real-time/non-real-time operating system and a distributed communication center, and a unified general software development framework is provided. The functional software layer can provide general functional services for realizing navigation and freight transportation management of the inland river intelligent ship, and the functional services comprise an auxiliary navigation function of driving by a shipman, a remote control function of shore-based driving, an autonomous navigation function, cargo state monitoring, cargo safety management and the like.
As a preferred embodiment, the at least one domain controller is further configured to perform unified, coordinated and dynamic management on the computing resources, the storage resources, and the communication resources of the domain controller of the next layer, and autonomously adjust the controller for task execution according to the task load of the domain controller of the lower layer in real time, so as to meet the delay requirement of the task; and the data processing device is also used for performing distributed storage on the data according to the data type and the requirement of the subsequent routing of the data, and performing uniform processing and organization pushing.
In the embodiment of the invention, the domain controller can carry out unified and coordinated dynamic management on the computing resource, the storage resource and the communication resource of the lower domain controller, and can automatically adjust the controller executed by the task according to the task load of the lower domain controller in real time so as to meet the time delay requirement of the task. The data can be stored in a distributed mode according to the data type and the requirement of the subsequent routing of the data, and unified processing and organized pushing are carried out.
The embodiment of the invention provides a method for realizing the domain controller function of an inland intelligent ship, and in combination with fig. 4, fig. 4 is a schematic flow diagram of an embodiment of the method for realizing the domain controller function of the inland intelligent ship, which comprises steps S401 to S404, wherein:
in step S401, a navigation function request issued by a user is acquired;
in step S402, performing function decomposition on the navigation function request, and issuing the decomposed subtasks to at least one domain controller;
in step S403, according to the subtasks, controlling and collecting sensing data corresponding to the embarking device, and uploading the sensing data to a central controller;
in step S404, the sensing data is processed, and the processing result is uploaded to the interactive terminal.
In the embodiment of the invention, firstly, a navigation function request issued by a user is effectively acquired; then, the navigation function requirement is subjected to relevant function decomposition, and the navigation function requirement is effectively refined into subtasks realized by different functions; then, the control domain controller collects sensing data of correspondingly connected carrying equipment according to the subtasks issued to the control domain controller, and transmits the sensing data to the central controller through the backbone network; and finally, the sensing data uploaded by the domain controllers are processed through the central controller, the real-time function realization of the ship is reflected, and the sensing data are uploaded to a terminal, so that the relevant personnel can check the sensing data in real time conveniently.
It should be noted that, the invention constructs a group of inland river intelligent ship function implementation methods taking a domain controller and a domain controller as cores, which can greatly reduce the cost of information interaction, avoid repeated pushing of information, and can uniformly manage the resources of the whole ship by designing a corresponding resource scheduling strategy, thereby realizing the decoupling of functions and hardware equipment, and improving the real-time performance of ship control by reorganizing the functions and the equipment through software. For inland ships, the inland waterway is relatively narrow, the navigation environment is relatively complex, the precision requirement on ship control is higher, and the higher requirement on the real-time performance of systems for ship sensing, decision, control, execution and the like is provided. By means of cooperative management of domain control and domain controllers, unified processing and calling of domain information can be achieved, for example, recognition of a water target and online identification of a ship navigation state can be achieved through a multi-source data fusion technology by a perception domain controller, and upper-layer application can be better supported through unified management of domain information by the domain controllers. And unified coordination is carried out among domains through the domain controller, and application management is carried out through system software and functional software which are arranged in the domain controller.
As a preferred embodiment, the step S404 includes:
and the processed result is upwards transmitted to a central controller through a shipborne backbone network, the central controller performs rendering, function presentation and other processing on the data, and the processed result is transmitted to a shipborne human-computer interaction interface or a remote control center.
In the embodiment of the invention, the central controller processes the sensing data of the domain controller and uploads the sensing data to the corresponding terminal, so that the relevant personnel can check the sensing data in real time.
In a specific embodiment of the present invention, with reference to fig. 5, fig. 5 is a schematic information flow diagram of the auxiliary navigation function implemented by the present invention, where the auxiliary navigation function mainly includes providing auxiliary information required for safety of ship navigation through a domain controller and its onboard equipment, that is, collision warning, pre-navigation route planning, and the like. The functions aim at an intelligent ship driven by a person on the ship, and the environment information and the self state information of the ship at present are collected through a domain controller, wherein the environment information and the self state information comprise identification of a dynamic target on the water surface, display of the navigation state of the ship, monitoring of the running state of shipborne equipment and the like. The ship-borne domain controllers respectively manage the controlled areas, and the processed information is transmitted to the domain controllers so as to make upper-layer decisions.
The main process is as follows:
step 2, a task receiving module in the central controller receives the function request task, decomposes the function request according to the function division of each domain controller, and issues the decomposed subtasks to each lower domain controller;
step 3, after the domain controller obtains the issued subtasks, service requests are carried out on the equipment at the bottom layer according to the requirements of the subtasks, sensing data of equipment carried by each domain controller are collected, the data are processed and organized, and the processed results are upwards transmitted to the domain controller;
and 4, the domain controller transmits the processed result upwards to the central controller through the shipborne backbone network, the central controller performs rendering, function presentation and other processing on the data, and transmits the processed result to a shipborne human-computer interaction interface or a remote control center.
The remote control function is mainly that a shore-based remote control center remotely controls an intelligent vessel in the river, and comprises vessel motion control, vessel accessory equipment control, cargo management and the like.
As a more specific embodiment, the domain controller not only can realize switching of the control modes of the intelligent ship, but also can complete intelligent ship environment sensing, ship navigation state sensing, ship cabin operation state sensing and control, deck state sensing and control, other equipment monitoring and control and ship motion control through the domain controller controlled by the lower layer. A distributed control mode is adopted between the domain controller and the lower-layer domain controller, and a centralized control mode is adopted in the domain controller.
As a preferred embodiment, with reference to fig. 6, fig. 6 is a schematic flow diagram of another embodiment of a method for implementing a domain controller function of an intelligent inland river vessel provided by the present invention, and further includes steps S601 to S603, where:
in step S601, initializing a backbone network, and activating a node of a domain controller to be woken up;
in step S602, a subnet is initialized, and the domain controller to be woken up sends band information according to the started timer, and notifies other network segments that the node of the local network segment is on line, and the node of the domain controller enters a normal communication mode;
in step S603, in the normal communication mode, if there is a cross-domain network communication request for a device node in each intra-domain sub-network, the domain controller node will periodically send a message including communication statuses of all nodes in the sub-network, and receive sub-network status information sent by other domain controllers.
In the embodiment of the invention, the communication nodes are awakened through the backbone network, so that the effective transmission of data is ensured.
As a preferred embodiment, the method further comprises:
if equipment nodes in each intra-domain sub-network are in fault, the domain controller node isolates the fault nodes according to a fault detection mechanism, the state information sent by the domain controller node comprises fault node state information, and meanwhile, fault codes of the fault nodes are recorded in the domain controller node.
In the embodiment of the invention, effective records are ensured for the communication nodes with faults, and the identification of related fault information is facilitated.
In a specific embodiment of the invention, on the basis of designing the inland river intelligent ship domain controller, a shipborne network real-time management mechanism of the intelligent ship is designed to manage the whole ship network, so that the realization of functions is convenient, a backbone network consists of a central controller, domain controllers and Ethernet connected with the central controller and the domain controllers, and each domain controller and carrying equipment thereof form an intra-domain sub-network of each domain controller. The backbone network management aims to coordinate interaction of cross-domain node communication state monitoring messages of all the subnetworks, achieve the whole vehicle network communication monitoring function, and manage the whole ship real-time network in the following flows:
first, the node communication state of each domain controller is divided into: a network normal communication mode and a network abnormal communication mode;
secondly, firstly, the backbone network is initialized, the domain controller node firstly enters a network dormant state, and other nodes in the subnet simultaneously enter a subnet dormant state. In the state, the domain controller node activates a wake-up detection mechanism, and when a communication request exists in the equipment node in the sub-network, the sub-network in the domain enters a network normal communication mode;
thirdly, the subnet starts to initialize after the backbone network is initialized, at this moment, the domain controller node firstly performs an intra-domain subnet information report state, in the state, the domain controller node starts a subnet message timing transmitter, after the timer is started, the domain controller node sends the information to inform other network segments that the node of the network segment is on line, and the domain controller node enters a normal communication mode;
fourthly, in the normal communication mode, if the device nodes in the sub-networks in each domain have cross-domain network communication requests, the domain controller nodes will periodically send messages containing communication states of all the nodes in the sub-networks, and receive sub-network state information sent by other domain controllers. If a new device node is added into the subnet or a device node exits from the subnet in the normal communication mode, an information reporting mechanism is started, and information is reported to each domain controller;
fifthly, if equipment nodes in each intra-domain subnet have faults, under the state, the domain controller node isolates the fault nodes according to an AUTOSAR fault detection mechanism so as to influence the normal communication of other nodes in the network, the state information sent by the domain controller node contains the state information of the fault nodes, and meanwhile, fault codes of the fault nodes are recorded in the domain controller node so as to repair the fault nodes.
It should be further noted that, on the basis of completing the real-time management of the whole-ship communication network, information interaction modes between the bottom-layer device and the domain controller, between different domain controllers, and between the central domain controller and each sub-domain controller need to be designed, and according to the characteristics of the central domain controller, each domain controller on the lower layer, and each device in each domain, three data interaction modes are designed as follows:
(1) the system comprises a periodic sending mode, a domain controller and a data sending mode, wherein the periodic sending mode refers to that data interaction is carried out between domain controllers which are responsible for the bottom layer equipment by the bottom layer equipment at regular intervals, the period is 50ms, and interactive information comprises position information of a ship, sensed position information, speed and course information of peripheral ships and state information of the ship, including cabin state, fuel state and the like of the ship;
(2) in the request response mode, when the upper layer central controller and each domain controller send a certain data request, the bottom layer device or the corresponding domain controller needs to respond to the request so as to send the data. After the communication link is established, the decision module operated by the intelligent ship sends a specific data request to the central domain controller, the request comprises the requested equipment ID, the requested IP address and the requested data type, the request is forwarded to the destination domain controller through the central domain controller, and the destination domain controller responds to the request to send data. The central domain controller will forward the received request or response information in real time. The data response mode based on the request can be a request for multiple responses, or a request for one response, and the response times are declared in the request command; the standard response interval is 50ms when multiple responses are requested at one time. The request-response type data transmission mode comprises an original data mode or a preprocessed data mode. The data format can be defined by both parties, and the data format needs to include the IDs of the destination node and the source node, the required data type and the datagram length;
(3) the event-driven mode is characterized in that when a traffic accident, an alarm, a ship state abnormity or other special events occur, the central domain controller can send certain event data to a ship-borne human-computer interaction interface or a remote control center according to the sensed peripheral event conditions, the sending mode adopts fixed-period transmission, the sending period is determined according to the emergency degree of the event, the event-driven transmission is stopped after the event is eliminated or manually eliminated, and the data sending mode of the event-driven mode comprises an original data mode or a preprocessed data mode. The data format can be defined by both parties, and the data format needs to include the IDs of the destination node and the source node, the required data type and the datagram length;
the intelligent ship domain controller can provide three different intelligent ship navigation functions including navigation auxiliary function realization, remote control function realization and autonomous navigation function realization according to different software and hardware configurations of the domain controller;
the method is characterized in that the domain controller controls a lower-layer domain controller to complete the control of the whole intelligent ship, three control modes are arranged in the domain controller, the switching of ship control modes can be completed through a mode switching switch, the switching mode can be completed remotely through a remote control base station erected on a shore base, and the switching mode can also be completed through the operation of a man-machine interaction interface on a shipman.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the program, when executed by a processor, implements the method for implementing the inland river intelligent ship domain controller function as described above.
Generally, computer instructions for carrying out the methods of the present invention may be carried using any combination of one or more computer-readable storage media. Non-transitory computer readable storage media may include any computer readable medium except for the signal itself, which is temporarily propagating.
A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, and conventional procedural programming languages, such as the "C" language or the like, and in particular Python languages suitable for neural network computing and platform frameworks based on TensorFlow, PyTorch, or the like, may be used. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
Fig. 7 is a schematic structural diagram of an embodiment of the electronic device provided by the present invention, and the electronic device 700 includes a processor 701, a memory 702, and a computer program stored in the memory 702 and capable of running on the processor 701, where when the processor 701 executes the computer program, the method for implementing the function of the inland river intelligent ship domain controller described above is implemented.
As a preferred embodiment, the electronic device 700 further includes a display 703 for displaying that the processor 701 executes the method for implementing the inland river intelligent ship domain controller function as described above.
Illustratively, the computer programs may be partitioned into one or more modules/units, which are stored in memory 702 and executed by processor 701 to implement the present invention. One or more modules/units may be a series of computer program instruction segments capable of performing certain functions, the instruction segments describing the execution of the computer program in the electronic device 700.
The electronic device 700 may be a desktop computer, a notebook, a palm top computer, or a smart phone with an adjustable camera module.
The processor 701 may be an integrated circuit chip having signal processing capability. The Processor 701 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The Memory 702 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 702 is configured to store a program, and the processor 701 executes the program after receiving an execution instruction, and the method defined by the flow disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 701, or implemented by the processor 701.
The display 703 may be an LCD display screen or an LED display screen. Such as a display screen on a cell phone.
It is understood that the configuration shown in fig. 7 is only one schematic configuration of the electronic device 700, and that the electronic device 700 may include more or less components than those shown in fig. 7. The components shown in fig. 7 may be implemented in hardware, software, or a combination thereof.
According to the computer-readable storage medium and the electronic device provided by the above embodiments of the present invention, the content specifically described in the method for implementing the inland river intelligent ship domain controller function according to the present invention can be referred to, and the method has similar beneficial effects to the method for implementing the inland river intelligent ship domain controller function as described above, and details are not repeated herein.
The invention discloses a system and a method for realizing the function of an inland intelligent ship domain controller, wherein in the system for realizing the function of the inland intelligent ship domain controller, an interactive terminal is arranged so that a user can issue a navigation function request; by setting a backbone communication network, effective communication between each domain controller and a central controller is ensured, and information interaction is ensured; by arranging the central controller, not only the subtasks are issued to each domain controller, but also the perception data uploaded by each domain controller is correspondingly processed and transmitted to the terminal, so that a user can conveniently master the real-time data of the ship; the data acquisition is carried out on the correspondingly controlled carrying equipment according to the subtasks issued by the central controller by arranging at least one domain controller, the data acquisition is completed according to the function division of the carrying equipment, and the data acquisition and transmission of the whole ship equipment are completed by the mutual cooperation of different domain controllers; in the method for realizing the function of the inland intelligent ship domain controller, firstly, a navigation function request issued by a user is effectively obtained; then, the navigation function requirement is subjected to relevant function decomposition, and the navigation function requirement is effectively refined into subtasks realized by different functions; then, the control domain controller collects sensing data of correspondingly connected carrying equipment according to the subtasks issued to the control domain controller, and transmits the sensing data to the central controller through the backbone network; and finally, the sensing data uploaded by the domain controllers are processed through the central controller, the real-time function realization of the ship is reflected, and the sensing data are uploaded to a terminal, so that the relevant personnel can check the sensing data in real time conveniently.
According to the technical scheme, a plurality of domain controllers are designed based on physical partitioning and function classification of the ship, the domain controllers are mutually connected through the Ethernet and the domain gateway controllers to form a ship-borne backbone network, each domain controller is responsible for realizing specific functions or functions of a region, and ship operation functions under different states of the ship are realized through the domain controllers. Through fully transferring each domain controller information, the functions of ship auxiliary driving, remote control, autonomous navigation and the like can be realized, the management of ship transportation cargos can also be realized, the autonomous operation of an intelligent ship in the real sense is realized, the requirement of a large amount of information interaction during the autonomous decision-making of the intelligent ship is met, the information interaction cost is reduced, and the repeated transfer and low-efficiency control of information are reduced.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. The utility model provides a system that inland river intelligent ship domain controller function realized which characterized in that, includes interactive terminal, central controller and at least one domain controller, wherein:
the interactive terminal is used for acquiring a navigation function request issued by a user;
the central controller is electrically connected with the at least one domain controller and is used for performing function decomposition on the navigation function request and issuing the decomposed subtasks to the at least one domain controller; the system is also used for processing the sensing data and uploading the processing result to the interactive terminal;
and the at least one domain controller is used for controlling and collecting the perception data of the corresponding carrying equipment according to the subtasks and uploading the perception data to the central controller.
2. The inland river intelligent ship domain controller function implementation system according to claim 1, wherein the at least one domain controller is provided with at least one type of interface used for being electrically connected to onboard equipment of different types, and the at least one type of interface comprises at least one of an Ethernet interface, a CAN interface and a serial port interface.
3. The inland river smart ship domain controller function implementation system according to claim 1, wherein the at least one domain controller comprises at least one of a 4G wireless communication module, an ethernet wired communication module, and a WIFI wireless communication module, and is used for implementing different communication requirements.
4. The system for realizing the functions of the inland river intelligent ship domain controller according to claim 1, wherein the central controller adopts various heterogeneous multi-core chips for processing the perception data by adopting various intelligent algorithms.
5. The inland river intelligent ship domain controller function implementation system according to claim 1, wherein the system further comprises a backbone communication network and an energy consumption management center, wherein:
the backbone communication network comprises an intra-domain sub-network between the central controller and the at least one domain controller and is used for coordinating information interaction of the intra-domain sub-networks;
and the energy consumption management center is used for uniformly managing the energy consumption of the at least one domain controller, performing computing power management on the central controller according to the computing requirement and managing the energy consumption of the at least one domain controller.
6. The inland river intelligent ship domain controller function implementation system according to claim 1, wherein the at least one domain controller is further configured to perform unified, coordinated and dynamic management on computing resources, storage resources and communication resources of a domain controller of a next layer, and autonomously adjust a controller for task execution according to a task load of the domain controller of the next layer in real time, so as to meet a delay requirement of a task; and the data processing device is also used for performing distributed storage on the data according to the data type and the requirement of the subsequent routing of the data, and performing unified processing and organization pushing.
7. A method for realizing the function of a inland intelligent ship domain controller, which is based on the system for realizing the function of the inland intelligent ship domain controller according to any one of claims 1 to 6, and comprises the following steps:
acquiring a navigation function request issued by a user;
performing function decomposition on the navigation function request, and issuing the decomposed subtasks to at least one domain controller;
controlling and collecting perception data corresponding to the carrying equipment according to the subtasks, and uploading the perception data to a central controller;
and processing the perception data, and uploading a processing result to an interaction terminal.
8. The method for realizing the inland river intelligent ship domain controller function according to claim 7, wherein the step of processing the perception data and uploading a processing result to an interaction terminal comprises the following steps:
and the processed result is upwards transmitted to a central controller through a shipborne backbone network, the central controller performs rendering and function presentation mode processing on the data, and the processed result is transmitted to a shipborne human-computer interaction interface or a remote control center.
9. The method for inland river intelligent ship domain controller function implementation according to claim 7, wherein the method further comprises:
initializing a backbone network, and activating nodes of a domain controller to be awakened;
initializing a subnet, wherein the domain controller needing to be awakened sends band information according to the started timer to inform other network segments that the nodes of the network segment are on line and the nodes of the domain controller enter a normal communication mode;
under a normal communication mode, if a cross-domain network communication request exists in equipment nodes in sub-networks in each domain, a domain controller node periodically sends a message containing the communication states of all nodes in the sub-networks and receives sub-network state information sent by other domain controllers.
10. The method for inland river smart ship domain controller function implementation according to claim 9, the method further comprising:
if equipment nodes in each intra-domain sub-network are in fault, the domain controller node isolates the fault nodes according to a fault detection mechanism, the state information sent by the domain controller node comprises fault node state information, and meanwhile, fault codes of the fault nodes are recorded in the domain controller node.
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