The invention provides an unmanned ship multi-propeller control method, system and device and a medium, and the method comprises the steps: obtaining the operation state information of each propeller of an unmanned ship, and determining a fault propeller according to the operation state information; wherein the unmanned ship is provided with at least four propellers which are symmetrically distributed on the left ship side and the right ship side of the unmanned ship, the propeller on any ship side and the completely symmetrical propellers on the other ship side form an isomorphic symmetrical group, and the propeller on any ship side and the eccentrically symmetrical propellers on the other ship side form a heterogeneous symmetrical group; and any isomorphic symmetric group not including the fault propeller or any heterogeneous symmetric group not including the fault propeller is marked as a target symmetric group, differential control is performed on the two propellers in the target symmetric group, and steering or linear heading of the unmanned ship is realized. Through redundant backup of a plurality of underwater propellers, the problem that a few propellers fail and lose power and cannot safely return to the water bank is solved, and it is ensured that the unmanned ship can steer or linearly sail.

    本发明提出一种无人船多推进器控制方法、系统、设备及介质,其方法包括:获取无人船各推进器的运行状态信息,根据运行状态信息确定故障推进器;其中,无人船具有至少四个对称分布在无人船左右船侧的推进器,任一船侧的推进器与另一船侧上完全对称的推进器组成同构对称组,任一船侧的推进器与另一船侧上偏心对称的推进器组成异构对称组;将不包含故障推进器的任一同构对称组或不包含故障推进器的任一异构对称组标记为目标对称组,对目标对称组中的两个推进器进行差速控制,实现无人船转向或直线航向。本发明通过多个水下推进器的冗余备份,解决少数个推进器故障失去动力后,无法安全返回水岸边的问题,确保无人船可实现转向或直线航行。


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    Title :

    Unmanned ship multi-propeller control method, system, equipment and medium


    Additional title:

    一种无人船多推进器控制方法、系统、设备及介质


    Contributors:
    LIN QINJIAN (author) / ZHENG SHENGPING (author) / ZHOU ZHENGCHAO (author) / LIANG CHANGWAN (author) / LIU QINGHAN (author) / LI WEIQIANG (author)

    Publication date :

    2024-04-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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