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CN-121143308-B - Unmanned ship parallel driving system and method based on 5G remote cockpit and unmanned ship

CN121143308BCN 121143308 BCN121143308 BCN 121143308BCN-121143308-B

Abstract

The invention discloses an unmanned ship parallel driving system and method based on a 5G remote cockpit and an unmanned ship, and relates to the technical field of automatic driving communication and control. The system comprises a ship end data quantization module, a ship end data transmission timeliness regulation module and a cabin end data receiving timeliness regulation module. According to the invention, the ship end data transmission delay index is obtained by collecting the ship end data, whether the ship end data transmission timeliness regulation is executed or not is judged, the cabin end data receiving delay gradient index is obtained by obtaining the cabin end data receiving delay parameter, whether the cabin end data receiving timeliness regulation is executed or not is judged, the unmanned ship parallel driving timeliness is improved, and the problem of low unmanned ship parallel driving timeliness caused by the delay accumulation of a communication link in the prior art is solved.

Inventors

  • LI ZHENTING

Assignees

  • 北京万联人工智能股份有限公司

Dates

Publication Date
20260512
Application Date
20250910

Claims (8)

  1. 1. The unmanned ship parallel driving system based on the 5G remote cockpit is characterized by comprising a ship end data quantization module, a ship end data transmission timeliness regulation module and a cabin end data receiving timeliness regulation module; the ship end data quantization module is used for acquiring ship end data to obtain a ship end data transmission delay index, and is used for quantizing timeliness of sending a data packet from the ship end domain controller to the fact that the data packet is successfully received by the 5G cloud; The ship end data transmission timeliness regulation and control module is used for judging whether to execute ship end data transmission timeliness regulation and control according to a ship end data transmission delay index, if yes, sending a ship end optimization state synchronization instruction to a 5G cloud end after the ship end data transmission timeliness regulation and control, if not, directly sending the ship end optimization state synchronization instruction to the 5G cloud end, wherein the ship end data transmission timeliness regulation and control comprises generation time window regulation and control and modulation and demodulation rate regulation and control; the cabin end data receiving real-time regulation module is used for acquiring cabin end data receiving delay parameters to obtain a cabin end data receiving delay gradient index, quantifying the real-time performance of the cabin end data receiving from a ship end control instruction, judging whether to execute cabin end data receiving real-time regulation according to the cabin end data receiving delay gradient index, if yes, sending a cabin end regulation result informing instruction after the cabin end data receiving real-time regulation, if not, directly sending the cabin end regulation result informing instruction, wherein the cabin end data receiving real-time regulation comprises receiving frequency regulation and maximum task number threshold regulation; the ship end data comprises ship end data transmission frequency, ship end data parallel processing line number and 5G cloud end receiving time delay; If the ship end data transmission delay index is lower than or equal to the transmission delay reference value, not executing the ship end data transmission timeliness regulation; if the ship end data transmission delay index is higher than the transmission delay reference value, judging whether to execute the generation time window regulation according to the ship end data acquisition time delay, if so, judging whether to execute the modulation and demodulation rate regulation after executing the generation time window regulation, if not, directly judging whether to execute the modulation and demodulation rate regulation; The cabin-end data receiving delay parameters comprise a ship-end data transmission delay index to be corrected, cabin-end data receiving delay and a 5G cloud receiving time interval; If the delay gradient index of the cabin-end data reception is lower than or equal to the delay gradient reference value, the real-time regulation and control of the cabin-end data reception is not executed; if the cabin end data receiving delay gradient index is larger than the delay gradient reference value, judging whether to execute receiving frequency regulation or not according to the 5G cloud end receiving time interval, if so, judging whether to execute maximum task number threshold regulation or not after receiving frequency regulation, and if not, directly judging whether to execute the maximum task number threshold regulation or not.
  2. 2. The unmanned ship parallel driving system based on the 5G remote cockpit according to claim 1, wherein the determining whether to execute the generation time window regulation according to the ship end data acquisition delay comprises the following specific procedures: if the ship end data acquisition time delay is greater than the acquisition time delay set value, inputting a transmission delay correction amount and an acquisition time delay correction amount into a time window mapping table to query to obtain a generated time window width up-regulation amount, and performing coupling processing on the generated time window width up-regulation amount and a current ship end data generation time window to obtain an adjusted ship end data generation time window, wherein the transmission delay correction amount is used for representing the deviation degree of a ship end data transmission delay index and a transmission delay reference value, and the acquisition time delay correction amount is used for representing the deviation degree of the ship end data acquisition time delay and the acquisition time delay set value; And if the ship end data acquisition time delay is smaller than or equal to the acquisition time delay set value, not executing the generation time window regulation.
  3. 3. The unmanned ship parallel driving system based on the 5G remote cockpit according to claim 1, wherein the specific procedure for judging whether to execute the modulation-demodulation rate regulation is as follows: If the 5G signal received power is greater than the set upper limit of the received power, inputting a transmission delay correction amount and a received power correction amount into a demodulation rate mapping table to inquire so as to obtain a demodulation rate adjustment factor, wherein the received power correction amount is used for indicating the deviation degree of the 5G signal received power and the set upper limit of the received power; Judging whether the demodulation rate adjustment factor is larger than a demodulation rate adjustment factor set value, if so, inputting an adjustment factor correction amount into a demodulation rate mapping table to inquire to obtain a modulation and demodulation rate down-regulation amount, and carrying out difference processing based on the current modulation and demodulation rate of the 5G shipborne terminal and the modulation and demodulation rate down-regulation amount to obtain an adjusted modulation and demodulation rate of the 5G shipborne terminal, wherein the adjustment factor correction amount is used for representing forward deviation degree of the demodulation rate adjustment factor and the demodulation rate adjustment factor set value; If not, inputting the adjustment factor comparison quantity into a demodulation rate mapping table for inquiring to obtain a modulation-demodulation rate up-regulation quantity, and carrying out coupling processing based on the current modulation-demodulation rate of the 5G shipborne terminal and the modulation-demodulation rate up-regulation quantity to obtain an adjusted modulation-demodulation rate of the 5G shipborne terminal, wherein the adjustment factor comparison quantity is used for indicating the negative deviation degree of the demodulation rate adjustment factor and a demodulation rate adjustment factor set value; if the 5G signal received power is within the received power setting interval, modulation-demodulation rate regulation is not executed, wherein the received power setting interval represents a closed interval formed by a lower received power setting limit and an upper received power setting limit.
  4. 4. The 5G remote cockpit-based unmanned ship parallel driving system of claim 3, wherein said determining whether to perform modem rate regulation further comprises: if the 5G signal received power is smaller than the set lower limit of the received power, inputting a transmission delay correction amount and a received power comparison amount into a demodulation rate mapping table to inquire so as to obtain a demodulation rate regulating factor, wherein the received power comparison amount is used for reflecting the deviation degree of the set lower limit of the received power and the received power of the 5G signal; judging whether the demodulation rate regulating factor is larger than a demodulation rate regulating factor set value, if so, inputting a regulating factor correction amount into a demodulation rate mapping table to inquire so as to obtain a modulation and demodulation rate up-regulation amount, and carrying out superposition processing on the current modulation and demodulation rate of the 5G shipborne terminal and the modulation and demodulation rate up-regulation amount so as to obtain an adjusted modulation and demodulation rate of the 5G shipborne terminal, wherein the regulating factor correction amount is used for representing forward deviation degree of the demodulation rate regulating factor and the demodulation rate regulating factor set value; If not, inputting the regulating factor compensation amount into a demodulation rate mapping table for inquiring to obtain a modulation-demodulation rate down-regulation amount, and carrying out difference processing based on the current modulation-demodulation rate of the 5G shipborne terminal and the modulation-demodulation rate down-regulation amount to obtain the regulated modulation-demodulation rate of the 5G shipborne terminal, wherein the regulating factor compensation amount is used for indicating the negative deviation degree of the demodulation rate regulating factor and the demodulation rate regulating factor set value.
  5. 5. The unmanned ship parallel driving system based on the 5G remote cockpit according to claim 1, wherein the determining whether to execute the receiving frequency regulation according to the 5G cloud receiving time interval comprises the following specific procedures: If the 5G cloud receiving time interval is lower than the lower limit of the receiving time interval setting, inputting a delay gradient correction amount and a receiving time interval correction amount into a receiving frequency mapping table to query to obtain a receiving frequency down-regulating amount, and performing difference processing based on the current cabin end data receiving frequency and the receiving frequency down-regulating amount to obtain an adjusted cabin end data receiving frequency, wherein the delay gradient correction amount is used for representing the deviation degree of a cabin end data receiving delay gradient index and a delay gradient reference value, and the receiving time interval correction amount is used for representing the negative deviation degree of the lower limit of the 5G cloud receiving time interval and the receiving time interval setting; If the 5G cloud receiving time interval is within a receiving time interval setting interval, not executing receiving frequency regulation, wherein the receiving time interval setting interval is used for representing a closed interval formed by a receiving time interval setting lower limit and a receiving time interval setting upper limit; If the 5G cloud end receiving time interval is higher than the receiving time interval set upper limit, the delay gradient correction amount and the receiving time interval comparison amount are input into a receiving frequency mapping table to be inquired to obtain a receiving frequency up-regulating amount, coupling processing is carried out on the basis of the current cabin end data receiving frequency and the receiving frequency up-regulating amount to obtain an adjusted cabin end data receiving frequency, and the receiving time interval comparison amount is used for indicating forward deviation degree of the 5G cloud end receiving time interval and the receiving time interval set upper limit.
  6. 6. The unmanned ship parallel driving system based on the 5G remote cockpit according to claim 1, wherein the determining whether to execute the maximum task number threshold regulation comprises the following specific regulation steps: if the task scheduling time delay of the domain controller is lower than or equal to the scheduling time delay set value, the threshold regulation of the maximum task number is not executed; If the task scheduling time delay of the domain controller is higher than the scheduling time delay set value, the result of the tempering, averaging and rounding of the delay gradient correction amount and the scheduling time delay comparison amount is input into a maximum task number mapping table to be inquired to obtain a maximum task number threshold value down-regulating amount, the current domain controller maximum task number threshold value and the maximum task number threshold value down-regulating amount are subjected to difference processing to obtain an adjusted domain controller maximum task number threshold value, and the scheduling time delay comparison amount is used for representing the deviation degree of the domain controller task scheduling time delay and the scheduling time delay set value.
  7. 7. A 5G remote cockpit-based unmanned ship parallel driving method, wherein the 5G remote cockpit-based unmanned ship parallel driving method employs the 5G remote cockpit-based unmanned ship parallel driving system according to any one of claims 1 to 6, and is characterized by comprising; acquiring ship end data to obtain a ship end data transmission delay index, wherein the ship end data transmission delay index is used for quantifying timeliness of sending a data packet from a ship end domain controller until the data packet is successfully received by a 5G cloud; Judging whether to execute the time-efficient regulation of the ship-side data transmission according to the ship-side data transmission delay index, if so, sending a ship-side optimization state synchronization instruction to a 5G cloud after the time-efficient regulation of the ship-side data transmission, if not, directly sending the ship-side optimization state synchronization instruction to the 5G cloud, wherein the time-efficient regulation of the ship-side data transmission comprises generation time window regulation and modulation-demodulation rate regulation; And acquiring a cabin-end data receiving delay parameter to obtain a cabin-end data receiving delay gradient index, wherein the cabin-end data receiving delay gradient index is used for quantifying the instantaneity of the cabin-end data receiving from the ship-end control instruction, judging whether to execute cabin-end data receiving instantaneity regulation according to the cabin-end data receiving delay gradient index, if yes, sending a cabin-end regulation result informing instruction after the cabin-end data receiving instantaneity regulation, and if not, directly sending the cabin-end regulation result informing instruction, wherein the cabin-end data receiving instantaneity regulation comprises receiving frequency regulation and maximum task number threshold regulation.
  8. 8. Unmanned ship based on unmanned ship parallel driving of 5G remote cockpit, said unmanned ship based on unmanned ship parallel driving of 5G remote cockpit uses the unmanned ship parallel driving system based on 5G remote cockpit according to any of claims 1-6, comprising: the ship comprises a ship end and a cabin end, wherein the ship end comprises a positioning module, a sensing module, a vision module, a battery management module, a propeller, a transmission mechanism, a domain controller and a 5G ship-borne terminal, and the cabin end comprises a remote cockpit, a display platform and a cabin end server.

Description

Unmanned ship parallel driving system and method based on 5G remote cockpit and unmanned ship Technical Field The invention relates to the technical field of automatic driving communication and control, in particular to an unmanned ship parallel driving system and method based on a 5G remote cockpit and an unmanned ship. Background The unmanned ship can perform comprehensive self-inspection before starting, and the unmanned ship is formally started after the self-inspection is qualified. After starting, the unmanned ship utilizes a 5G network communication module to rapidly and stably send the space-time data (including position, speed, course and the like) of the unmanned ship at the current moment to a shore-based ground station command system. Meanwhile, on the side of the shore-based ground station command system, an operator can set a target node and a return point for the unmanned ship, a control decision mode is selected through a control decision module, and then the setting information is sent to the unmanned ship through a 5G network communication module. After receiving the data of the shore-based ground station command system, the unmanned ship acquires the space-time data at the next moment by the intelligent navigation module, and combines the offline electronic chart data to fuse the data acquired by the sensor module, so as to construct and update the water area environment model. After the optimal navigation route calculated by the intelligent navigation module is obtained, a PID (Proportional-Integral-Derivative) control method is adopted to control the movement of the unmanned ship based on an improved LOS (Line of Sight) method, so that the course and speed control are optimized, the accurate tracking of the unmanned ship path is realized, and the autonomous navigation control is achieved. In the sailing process, the unmanned ship calculates the ship safety distance according to the real-time scanning information of the laser radar. If the situation that the ship and the ship keep a safe distance or the water area can pass, the ship continues to travel according to the original navigation path, when the ship distance between the ship and the ship is smaller than the safe distance or the water area can not pass, the intelligent navigation module can quickly make an obstacle avoidance route and immediately execute the obstacle avoidance route by the motion control module, if the obstacle avoidance route can not be made in time, the unmanned ship can trigger an emergency obstacle avoidance function, immediately brake or reversely move to carry out emergency avoidance, and the shore-based ground station command system can take over the control authority of the unmanned ship under the emergency condition, and the unmanned ship is controlled by manual operation to complete the avoidance action. The automatic driving integrated system for the unmanned ship comprises a sensing module, a communication system, a data processing module, a decision module and an execution module, wherein the sensing module is used for sensing the navigation environment of the ship and acquiring real-time channel, hydrology, self state of the ship and dynamic information of traffic environment, the communication system is used for transmitting data and instructions between the ship and a shore base and among the system modules, the data processing module is used for processing the information acquired by the sensing module, the decision module is used for identifying the current running situation and environment of the ship according to the data output by the data processing module, selecting actions to be taken next and generating operation instructions corresponding to the actions, and the execution module is used for receiving the operation instructions sent by the decision module and adopting a PID controller to control a propeller and a rudder of the ship so as to change the motion state of the ship. The unmanned intelligent float-removing ship comprises a ship body, wherein a collecting cabin, a power supply cabin, a cab and a ballast tank are arranged in the ship body, a water inlet pipe in the ballast tank controls water outside the ship to enter the ballast tank through the water inlet pipe, the ship body forms down pitch state, the water surface is higher than a bottom plate of the collecting cabin, the ship body is enabled to salvage garbage, a double-combined navigation positioning system, a monitoring device and a dynamic laser radar are arranged on the ship body, signals transmitted by the three are sensed and fused through a dynamic obstacle avoidance algorithm embedded in an operation system, recognition and positioning of obstacles are achieved, obstacle avoidance of the float-removing ship is achieved through rescheduling, and when the float-removing ship breaks down, a remote control station operates the float-removing ship to return. The above technology has at least the following technical proble