CN111951404A - Ship control method, system, device and storage medium - Google Patents
Ship control method, system, device and storage medium Download PDFInfo
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Abstract
The invention discloses a ship control method, a ship control system and a ship control device. The method comprises the following steps: acquiring cabin information in real time; modeling according to the cabin information to obtain a three-dimensional cabin model; selecting a projection mode to project the three-dimensional cabin model to obtain a projected three-dimensional cabin model, wherein the projection mode comprises one of a plane projection mode and a holographic projection mode; and viewing the three-dimensional model of the projection cabin, and managing and controlling cabin equipment according to the three-dimensional model of the projection cabin. The invention can browse and check remotely through the three-dimensional model of the projection cabin, can easily check the cabin equipment in the cabin without entering the cabin with a severe environment, has immersive browsing experience, and can manage and control the cabin equipment according to the three-dimensional model of the projection cabin, so that a seaman can realize remote control on the cabin equipment without entering the cabin. The ship control method can be widely applied to the technical field of ship control.
Description
Technical Field
The invention relates to the technical field of ship control, in particular to a ship control method, a ship control system, a ship control device and a storage medium.
Background
The cabin of the ship is provided with more cabin equipment, system pipelines, valves and the like, and the operation condition of the cabin equipment needs to be checked at any time so as to ensure the operation safety of the ship.
At present, the mode of looking over that uses more cabin equipment is that the manual work is looked over, and seaman gets into and looks over each cabin equipment in the cabin to look over whether this cabin equipment is good, because the cabin equipment distribution in the cabin is many and complicated, consequently, can produce great noise and emit a large amount of heats during cabin equipment operation, the environment that leads to the cabin is comparatively abominable, so, the mode of looking over cabin equipment by the manual work is a lag, the examination mode of the cabin equipment that the urgent need is eliminated.
The more advanced inspection mode of the cabin equipment is to shoot the cabin equipment through a camera, so that a seaman can check the cabin equipment only by checking the operation condition of the cabin equipment on terminal equipment (a computer is more common) of a centralized control room. Although the mode that the camera was looked over is liberated from the abominable cabin environment with the sea man, the mode that the camera was looked over can only be the operation condition that the cabin equipment was looked over to the plane, lacks remote control's immersive three-dimensional experience, moreover, when the equipment in the cabin broke down or need control cabin equipment, still need the sea man to enter into the cabin and carry out operation control to cabin equipment, the sea man at centralized control room can't reach the purpose of remote looking over and controlling cabin equipment.
Disclosure of Invention
The invention aims to solve at least one technical problem existing in the prior art to a certain extent, and aims to: a ship control method, system, device and storage medium are provided.
The technical scheme adopted by the invention on one hand is as follows:
in a first aspect, the invention provides a ship control method, which includes the following steps:
acquiring cabin information in real time;
modeling according to the cabin information to obtain a three-dimensional cabin model;
selecting a projection mode to project the three-dimensional cabin model to obtain a projected three-dimensional cabin model, wherein the projection mode comprises one of a plane projection mode and a holographic projection mode;
and viewing the three-dimensional model of the projection cabin, and managing and controlling cabin equipment according to the three-dimensional model of the projection cabin.
In a second aspect, the present invention provides a ship management and control system, including:
the cabin information acquisition module is used for acquiring cabin information in real time;
the three-dimensional modeling synthesis module is used for modeling according to the cabin information to obtain a cabin three-dimensional model;
the projection module is used for selecting a projection mode to project the three-dimensional cabin model to obtain a projected three-dimensional cabin model, wherein the projection mode comprises one of a plane projection mode and a holographic projection mode;
and the viewing and control module is used for viewing the three-dimensional model of the projection cabin and controlling the cabin equipment according to the three-dimensional model of the projection cabin.
In a third aspect, the present invention provides a ship management and control device, including:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one program causes the at least one processor to implement the ship management method.
In a fourth aspect, the present invention provides a storage medium in which a processor-executable program is stored, the processor-executable program being configured to implement the ship management method when executed by a processor.
Advantages and benefits of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention:
the invention can browse and check remotely through the three-dimensional model of the projection cabin, can easily check the cabin equipment in the cabin without entering the cabin with a severe environment, has immersive browsing experience, and can manage and control the cabin equipment according to the three-dimensional model of the projection cabin, so that a seaman can realize remote control on the cabin equipment without entering the cabin.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description is made on the drawings of the embodiments of the present invention or the related technical solutions in the prior art, and it should be understood that the drawings in the following description are only for convenience and clarity of describing some embodiments in the technical solutions of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart illustrating steps of a ship management and control method according to the present invention;
fig. 2 is a schematic structural diagram of a ship management and control system according to the present invention;
fig. 3 is a schematic structural diagram of a ship management and control device according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
A ship control method, a system, an apparatus, and a storage medium according to embodiments of the present invention will be described in detail below with reference to the accompanying drawings, and first, a ship control method according to embodiments of the present invention will be described with reference to the accompanying drawings.
Referring to fig. 1, a ship management and control method in an embodiment of the present invention mainly includes the following steps:
s1, obtaining cabin information in real time;
specifically, the cabin information refers to image information such as the layout of cabin equipment, system pipelines, valve positions and the like in the cabin, and the cabin information can be scanned and acquired in real time by using a fisheye camera.
S2, modeling according to the cabin information to obtain a three-dimensional cabin model;
specifically, the cabin three-dimensional model is obtained by modeling by utilizing the cabin information, and based on the cabin three-dimensional model, a crew can conveniently know the layout condition and the operation condition of cabin equipment of the ship.
S3, selecting a projection mode to project the three-dimensional cabin model to obtain a projected three-dimensional cabin model, wherein the projection mode comprises one of a plane projection mode and a holographic projection mode;
specifically, when the projection of the three-dimensional model is carried out, the adopted projection equipment can be intelligent touch projection (push cube) equipment, and the projection mode of the three-dimensional model of the engine room is two, including a plane projection mode and a holographic projection mode.
Under the plane projection mode, the real-time digital image projected by the intelligent touch projection equipment can be projected to the front of the viewpoint of the intelligent touch projection equipment in a plane shape, and the projection mode can only project basic information in an engine room and the total projection area is not too large. Under the real-time monitoring of the fisheye camera, if the cabin equipment is separated from the original normal operation track of the cabin equipment or the operation track is slightly abnormal, early warning can be given to the seaman through AI voice.
Under the holographic projection mode, the intelligent touch projection can project a virtual cabin scene scanned in real time in front of the viewpoint, so that the sea man can simulate the situation in the cabin.
And S4, viewing the three-dimensional model of the projection cabin, and managing and controlling cabin equipment according to the three-dimensional model of the projection cabin.
Specifically, this application is through carrying out all-round immersive to cabin three-dimensional model and browse for the seaman looks over cabin equipment and system's pipeline, valve etc. in the cabin like in person, has immersive and browses and experience. Therefore, the three-dimensional model of the cabin can be projected by adopting a mixed reality technology, wherein the mixed reality technology is a further development of a virtual reality technology, and the mixed reality technology is used for enhancing the sense of reality experienced by the seaman by presenting virtual scene information in a real scene and building an interactive feedback information loop among the real world, the virtual world and the seaman. The mixed reality technology has the function of image enhancement, can highlight the three-dimensional stereoscopic projection of the three-dimensional model of the cabin, and at the moment, seaman can browse and observe the cabin equipment and the running state of the cabin equipment in the projection at will in a new visual environment generated based on the mixed reality technology.
The control of the engine room equipment according to the three-dimensional model of the projection engine room mainly means that when the three-dimensional model of the projection engine room is checked and the operation state of the engine room equipment displayed in the three-dimensional model of the projection engine room is found to be abnormal, a remote control command is immediately sent to the engine room equipment in the engine room so as to adjust the operation state of the engine room equipment and guarantee the navigation safety of the ship.
Further as an alternative embodiment, step S2 includes the following steps S21-S23:
s21, obtaining three-dimensional point cloud according to the cabin information;
specifically, a plurality of fisheye cameras are placed at different positions of an engine room, so that engine room images of the same scene in different angles in the engine room are obtained, the scene in the engine room mainly comprises engine room equipment layout, system pipelines, valve positions and the like, the engine room images of the same scene and different angles are synthesized into an engine room three-dimensional image, then the engine room three-dimensional image is generated into three-dimensional point cloud through a dense matching algorithm, and the three-dimensional point cloud is a multi-directional element for embodying the scene in the engine room.
S22, constructing a three-dimensional surface model according to the three-dimensional point cloud;
specifically, due to a series of problems that the three-dimensional point cloud lacks a three-dimensional organization structure, an identified object is inaccurate, and the like, the three-dimensional point cloud is reconstructed by adopting a Poisson algorithm to generate a three-dimensional surface model. The poisson algorithm is an algorithm for constructing a three-dimensional surface model by three-dimensional point cloud, and solves the problem by converting the surface fitting problem of a directed point set into a space poisson problem, so that the purpose of modeling is achieved. The Poisson algorithm not only considers all three-dimensional point clouds, but also does not need to utilize an algorithm of multi-branch tree-based three-dimensional point cloud division and three-dimensional surface fusion, so that the algorithm can well inhibit noise points of the data of the three-dimensional point clouds.
According to the method, a Poisson algorithm is adopted to construct the three-dimensional point cloud into an optimal three-dimensional surface model, a series of problems that the three-dimensional point cloud lacks a three-dimensional organization structure, an identified object is inaccurate and the like are abstracted into a Poisson equation, the optimal three-dimensional surface model is used as a solution of the Poisson equation, therefore, the Poisson algorithm replaces the three-dimensional point cloud to be fitted into a three-dimensional surface in an implicit function mode, then the appropriate three-dimensional surface is extracted by constructing the Poisson equation and solving the Poisson equation, and a three-dimensional reconstruction result surface, namely the three-dimensional surface model. Because the Poisson algorithm utilizes all input three-dimensional point clouds, the algorithm can well inhibit the noise of the three-dimensional point clouds, and can well meet the requirement of three-dimensional reconstruction for a noisy cabin environment.
And S22, performing texture mapping processing on the three-dimensional surface model to obtain an engine room three-dimensional model.
Specifically, the three-dimensional surface model obtained in step S21 is substantially a three-dimensional model mesh, which does not really express the actual cabin equipment and lacks recognizability, that is, the details of the cabin equipment and even the cabin equipment itself cannot be clearly distinguished. Therefore, in order to make up for the defect that the three-dimensional model mesh cannot display the detailed information of the cabin equipment, the three-dimensional texture mapping method is adopted to carry out texture mapping processing on the three-dimensional surface model, so that color textures are added to the three-dimensional model mesh, the contrast between the key parts of the cabin equipment and the surrounding environment is enhanced, the texture mapping refers to mapping of texture spaces formed by texture images and three-dimensional model spaces formed by surface parameters in a one-to-one correspondence mode, and in the application, texture images of the cabin equipment, pipelines and valves are mapped onto the surface of the three-dimensional model mesh.
The texture mapping technology is used for endowing the three-dimensional model mesh with the color texture, so that the identification degree of cabin equipment with low visualization degree can be enhanced.
As a further optional implementation manner, the step of performing control on the nacelle equipment according to the projected nacelle three-dimensional model in step S4 includes at least one of the following steps S41-S42:
s41, inputting a control command through gesture operation to control cabin equipment;
and S42, inputting a voice command to control the cabin equipment.
Specifically, when the abnormal operation of the cabin equipment in the cabin is observed through the projection of the three-dimensional model of the cabin, a remote control command can be input to a control center on the ship through gesture operation or voice control and the like, and the control center realizes the centralized control of the cabin according to the received remote control command.
The gesture operation is mainly performed through gesture segmentation based on stereoscopic vision, a seaman can input a remote control command for controlling the cabin equipment through inputting a gesture, and of course, the gesture operation can also be used for viewing the three-dimensional model of the projection cabin.
The gesture segmentation of the stereoscopic vision mainly comprises the following steps:
and (4) gesture segmentation. Gesture segmentation plays a significant role in gesture recognition, effects generated by gesture segmentation run through the whole world, the final gesture recognition result is extremely important, and the input gesture is segmented by adopting a gesture segmentation method based on stereoscopic vision.
And (6) analyzing the gesture. The gesture analysis plays a role in starting and stopping in gesture recognition, the shape or motion track of the gesture segmentation result is analyzed to be the most key characteristic in the gesture analysis step, and the gesture analysis can be realized through two gesture analysis methods, namely a hand shape edge contour extraction method and a finger joint tracking method.
And (5) gesture recognition. The gesture recognition is divided into static gesture recognition and dynamic gesture recognition, a template matching method is adopted, the dynamic gesture is regarded as a sequence consisting of the static gestures, and then the sequence consisting of the static gestures to be recognized is compared with a known gesture template sequence, so that the gesture command of the currently input gesture can be determined.
In addition, the control of the cabin equipment by inputting the voice command mainly means that the control command for controlling the cabin equipment can be directly sent to AI voice, and the voice command reaches the cabin equipment after passing through the control center.
And S5, optimizing the three-dimensional model of the cabin.
Specifically, because the three-dimensional model mesh lacks some authenticity and cannot clearly distinguish cabin equipment, pipelines, valves and the like, in order to solve the problem, texture mapping needs to be carried out on the cabin three-dimensional model, the cabin three-dimensional model is endowed with some color textures, and the contrast between the key parts and the surrounding environment is enhanced. In order to obtain a cabin three-dimensional model with high mapping accuracy and texture images with excellent consistency, the cabin three-dimensional model can be optimized by adopting an ORB image splicing algorithm, the ORB image splicing algorithm has the functions of image compression and texture image fusion, and the ORB image splicing algorithm can be used for performing texture image fusion, so that the texture reality is further enhanced, and certain adaptive adjustment is performed on the surrounding luminosity and color, so that the cabin three-dimensional model can show more detailed information, and the authenticity of the cabin three-dimensional model is better ensured.
Further as an optional implementation manner, the ship management and control method further includes the following steps:
and S6, transmitting the three-dimensional model of the cabin to a shore-end central station.
Specifically, the constructed three-dimensional model of the engine room is transmitted back to the shore-end central station in real time, so that a technician at the shore-end central station can remotely check the running state of the engine room equipment in the sailing process of the ship, and can check the fault condition of the engine room equipment in real time when the engine room equipment of the ship breaks down, and can remotely provide maintenance suggestions, technical assistance and the like. The aim of transmitting the three-dimensional model of the cabin to the shore-end central station in real time can be achieved through the existing communication satellite and other modes.
Further as an optional implementation manner, the ship management and control method further includes the following steps:
and S7, acquiring basic data of the ship navigation characteristics, and detecting the sea surface area according to the basic data.
Specifically, basic data of ship navigation characteristics are obtained from a ship information base of the ship and a global database, and the characteristics of depth information and motion information of the basic data are fully mined, so that sea surface area detection based on the ship navigation characteristics is obtained.
It can be seen from the above embodiments that, this application carries out modeling through cabin equipment overall arrangement, system pipeline, valve position to in the cabin to obtain the cabin three-dimensional model, carry out the projection to the cabin three-dimensional model and obtain the projection three-dimensional cabin model, the sea man can browse and look over interactive information such as cabin equipment overall arrangement, system pipeline, valve position in the cabin through the projection cabin three-dimensional model remotely, need not get into the cabin that the environment is abominable, can easily look over the cabin equipment in the cabin, have immersive browsing experience. Moreover, the three-dimensional model of the engine room can be managed and controlled, so that a seaman can realize remote control of equipment in the engine room without entering the engine room.
In addition, the three-dimensional model of the engine room can be transmitted to a shore-end central station, so that the operation condition of engine room equipment on the ship can be remotely checked in real time without technical experts on the ship.
Next, a ship management and control system proposed according to an embodiment of the present invention is described with reference to the drawings.
Fig. 2 is a schematic structural diagram of a ship management and control system according to an embodiment of the present invention, where the system specifically includes:
the cabin information acquisition module 201 is used for acquiring cabin information in real time;
the three-dimensional modeling synthesis module 202 is used for modeling according to the cabin information to obtain a cabin three-dimensional model;
the projection module 203 is used for selecting a projection mode to project the three-dimensional cabin model to obtain a projected three-dimensional cabin model, wherein the projection mode comprises one of a plane projection mode and a holographic projection mode;
and the viewing and controlling module 204 is configured to view the three-dimensional model of the projected cabin and control cabin equipment according to the three-dimensional model of the projected cabin.
It can be seen that the contents in the foregoing method embodiments are all applicable to this system embodiment, the functions specifically implemented by this system embodiment are the same as those in the foregoing method embodiment, and the advantageous effects achieved by this system embodiment are also the same as those achieved by the foregoing method embodiment.
Referring to fig. 3, an embodiment of the present invention provides a ship management and control device, including:
at least one processor 301;
at least one memory 302 for storing at least one program;
a method of vessel management implemented by at least one processor 301 when the at least one program is executed by the at least one processor 301.
Similarly, the contents of the method embodiments are all applicable to the apparatus embodiments, the functions specifically implemented by the apparatus embodiments are the same as the method embodiments, and the beneficial effects achieved by the apparatus embodiments are also the same as the beneficial effects achieved by the method embodiments.
In alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flow charts of the present invention are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of larger operations are performed independently.
Furthermore, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the described functions and/or features may be integrated in a single physical device and/or software module, or one or more functions and/or features may be implemented in a separate physical device or software module. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary for an understanding of the present invention. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be understood within the ordinary skill of an engineer, given the nature, function, and internal relationship of the modules. Accordingly, those skilled in the art can, using ordinary skill, practice the invention as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative of and not intended to limit the scope of the invention, which is defined by the appended claims and their full scope of equivalents.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the foregoing description of the specification, reference to the description of "one embodiment/example," "another embodiment/example," or "certain embodiments/examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A ship control method is characterized by comprising the following steps:
acquiring cabin information in real time;
modeling according to the cabin information to obtain a three-dimensional cabin model;
selecting a projection mode to project the three-dimensional cabin model to obtain a projected three-dimensional cabin model, wherein the projection mode comprises one of a plane projection mode and a holographic projection mode;
and viewing the three-dimensional model of the projection cabin, and managing and controlling cabin equipment according to the three-dimensional model of the projection cabin.
2. The ship management and control method according to claim 1, wherein the step of modeling according to the cabin information to obtain a three-dimensional cabin model comprises the following steps:
obtaining three-dimensional point cloud according to the cabin information;
constructing a three-dimensional surface model according to the three-dimensional point cloud;
and performing texture mapping processing on the three-dimensional surface model to obtain an engine room three-dimensional model.
3. The ship management method according to claim 1, wherein the step of managing the cabin equipment includes at least one of the following steps:
inputting a control command through gesture operation to control the cabin equipment;
the input voice command controls the cabin equipment.
4. A ship management method according to any one of claims 1 to 3, wherein the ship management method further comprises the steps of:
and acquiring basic data of ship navigation characteristics, and detecting the sea surface area according to the basic data.
5. A ship management method according to any one of claims 1 to 3, wherein the ship management method further comprises the steps of:
and optimizing the three-dimensional model of the cabin.
6. A ship management method according to any one of claims 1 to 3, wherein the ship management method further comprises the steps of:
and transmitting the three-dimensional model of the cabin to a shore end central station.
7. A ship management and control system, comprising:
the cabin information acquisition module is used for acquiring cabin information in real time;
the three-dimensional modeling synthesis module is used for modeling according to the cabin information to obtain a cabin three-dimensional model;
the projection module is used for selecting a projection mode to project the three-dimensional cabin model to obtain a projected three-dimensional cabin model, wherein the projection mode comprises one of a plane projection mode and a holographic projection mode;
and the viewing and control module is used for viewing the three-dimensional model of the projection cabin and controlling the cabin equipment according to the three-dimensional model of the projection cabin.
8. A ship management and control device, comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement a method of vessel management as claimed in any one of claims 1 to 6.
9. A storage medium having stored therein instructions executable by a processor, the storage medium comprising: the processor-executable instructions, when executed by a processor, are for implementing a method of vessel management as claimed in any one of claims 1 to 6.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113158335A (en) * | 2021-04-07 | 2021-07-23 | 广东交通职业技术学院 | Ship electric control cylinder oil injection visualization method, system and device and storage medium |
| CN113395491A (en) * | 2021-06-11 | 2021-09-14 | 上海海事大学 | Remote monitoring and alarming system for marine engine room |
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