CN110472370A - A kind of intelligent ship hull system - Google Patents
A kind of intelligent ship hull system Download PDFInfo
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Abstract
The invention discloses a kind of intelligent ship hull systems comprising hull lifecycle management module, monitoring and aid decision module, execution module and data module；Data module is for converting the perception data that sensor obtains, being handled and detection forms result data；Monitoring and aid decision module are for comparing and analyzing result data with setting value, when occurring abnormal data in result data, formulate decision opinion according to abnormal data；Hull lifecycle management module independently formulates maintenance instructions for detecting according to decision opinion to Ship Structure；Execution module is used for the scheme according to the maintenance instructions independently management of formulation and implementation hull and action, and carries into execution a plan.The variation of foundation and maintenance energy real-time monitoring Ship Structure stress of the intelligent ship hull system based on hull database, analyzes and calculates exception present in Ship Structure data, effectively eliminate the potential danger in hull, further increase navigation safety.
Description
Technical field
The present invention relates to intelligent ship field more particularly to a kind of intelligent ship hull systems.
Background technique
Intelligent ship, which refers to, utilizes the technological means such as sensor, communication, Internet of Things, internet, automatic sensing and acquisition ship
The information and data of oceangoing ship itself, marine environment, logistics, harbour etc., and based on computer technology, automatic control technology and big
Data Management Analysis technology, ship's navigation, management, maintenance, in terms of realize the ship of intelligent operation,
So that ship is safer, more environmentally-friendly, more economical and relatively reliable.
The function of traditional ship hull system is rule of thumb provided under boat realtime monitoring, emergency situations ship
Aid decision realizes Ship Controling.But the drawbacks of human work is also traditional ship industry simultaneously, according to statistics, safety of ship and
80% or more marine pollution is caused by human factor, and manual operation ship has aggravated the burden of shipbuilding industry；In addition in ship
During navigation, the timely analytical calculation of potential exception that can not be likely to occur to Ship Structure data is easy that ship is made to endanger
Dangerous accident.
Marine environment is one of corrosive environment the most severe, and various metal materials and structure are easily sent out in marine environment
The problem of raw deterioration destroys, and ships strength and safety are shipbuilding circles and shipping world pays close attention to the most.It is produced during operation of ship
Raw fault of construction has abrasion, residual deformation, structural intergrity destruction and other defect, and it is locally strong that these defects will lead to ship
Degree reduces, and causes adverse consequences to the integral strength of ship, therefore Analysis of structural reliability is carried out in ship Life cycle
It is breakneck without considering that structural-load-carrying capacity caused by the reasons such as corrosion and fatigue changes with time.Marine environment pair
The corrosion of Ship Structure weakens year by year, and marine environment is not homogeneous corrosion to the corrosion of ship structural component, is due to ship
The difference of oceangoing ship structure causes the corrosion rate of Ship Structure different.Spot corrosion proportion in Ship Structure corrosion is maximum, passes through
Studies have shown that since the dopant in Ship Structure component is more, spot corrosion odds is most in complicated marine environment
Greatly, it and is easy to occur in a very short period of time, with the increase of etching time, develops into etch pit, and then to the entirety knot of ship
It is configured to influence.
Summary of the invention
(1) technical problems to be solved
The present invention provides a kind of intelligent ship hull system, it is intended to solve spot ship in a sudden situation and not provide prison
The extent of corrosion of Ship Structure can not be calculated by controlling data and assisting the system of decision hull and existing ship system system
And the problem of corresponding maintenance scheme is provided.
(2) technical solution
In order to achieve the above object, the main technical schemes that the present invention uses include:
A kind of intelligent ship hull system, the intelligent ship hull system include hull lifecycle management module,
Monitoring and aid decision module, execution module and data module；
The data module is for converting the perception data that sensor obtains, being handled and detection forms number of results
According to；
The monitoring and aid decision module are for comparing and analyzing the result data with setting value, when described
When occurring abnormal data in result data, decision opinion is independently formulated according to the abnormal data；
The hull lifecycle management module is for detecting Ship Structure according to the decision opinion, independently
Formulate maintenance instructions；And the corrosion data by calculating Ship Structure, the autonomous maintenance scheme for formulating Ship Structure are described
Corrosion data include: the spot corrosion depth capacity of Ship Structure change with time, the spot corrosion rate of Ship Structure and point
At the time of corrosion rate reaches maximum；
Wherein, the spot corrosion depth capacity of Ship Structure changes with time with Weibull function representation, Weibull letter
Number indicates are as follows:
L (t)=Lμ{1-exp[-[β(t-Ti)]μ]}
In formula, LμFor the upper depth limit of spot corrosion, TiFor the time point that spot corrosion starts, μ is form parameter, and β is scale ginseng
Number, t are expressed as time point when calculating；
The spot corrosion rate representation of Ship Structure are as follows:
The time point that the spot corrosion rate of Ship Structure reaches maximum indicates are as follows:
In formula, T indicates that the spot corrosion rate of Ship Structure reaches the time point of maximum；
The execution module is used for according to the autonomous formulation and implementation hull pipe of the maintenance instructions and the maintenance scheme
The scheme of reason and action, and execute the scheme.
Preferably, the hull lifecycle management system obtains the structural thickness data of Ship Structure different location,
The corrosion data that the different location of Ship Structure is calculated according to the structural thickness data is formulated according to the corrosion data
The maintenance scheme of different time points.
Preferably, the hull lifecycle management module further includes by obtaining vessel designs, construction and operation
The phase data in each stage, and the phase data is stored and transmitted with standardized spreadsheet format, it establishes
Hull database.
Preferably, the data module includes acquisition unit and processing unit；
Wherein, the acquisition unit is used to the perception data being converted into numerical data；
It includes signal processing, synchronization or asynchronous average, algorithm that the processing unit, which is used to execute the numerical data,
It calculates, the operation of feature extraction, and obtains the result data.
Preferably, the monitoring and aid decision module are for storing for the preset structural parameters of hull, by institute
Stating structural parameters calibration is setting value；The monitoring and aid decision module further include being calculated by obtaining the perception data
Fatigue cumulative damage degree of the Ship Structure within phase projected life, and Ship Structure is calculated according to the fatigue cumulative damage degree
Actual life provides decision opinion according to use replacement situation of the actual life to ship active time and Ship Structure.
Preferably, the fatigue cumulative damage degree is calculated according to the type of stress, the stress include continuity stress and
Segmented stress；
When the stress types are segmented stress, damage is linearly added up using Miner on the basis of S-N curve model
Hurt fatigue cumulative damage degree described in theoretical calculation, S-N curve model indicates are as follows:
NSm=A
Lg N=lg A-mlg S
In formula, m, A are the damage parameters that the test in S-N curve obtains, and S is stress suffered by Ship Structure, and N is hull knot
Fatigue life of the structure when range of stress level is S；
The calculation formula of the linear progressive damage theory of Miner indicates are as follows:
In formula, niActual cycle number；
When the stress types are continuity stress, the calculating of the fatigue cumulative damage degree uses continuity density letter
Number, continuous density function representation are as follows:
In formula, K is the global cycle number of the range of stress, and q is scale parameter, and ξ is form parameter, and Γ is gamma function.
Preferably, the execution module obtains integrated control and command data from cental system, and the execution module is certainly
It is dynamic to identify existing potential conflict between the scheme and the integrated control and command data, the potential conflict will be present
The scheme and colliding data are uploaded to the cental system.
Preferably, the colliding data is compared the cental system with the hull database, autonomous to formulate association
Adjust control instruction；
The execution module executes the coordination control and instructs and obtain implementing result, and the implementing result is passed to institute
State hull lifecycle management module.
Preferably, the intelligent ship hull system further includes sensing module, and the sensing module includes information processing list
First and multiple sensors, the multiple sensor are used to obtain the perception data of ship itself He ambient enviroment, the letter
Breath processing unit is for storing and transmitting the perception data；Wherein, the multiple sensor includes pressure sensor, temperature biography
Sensor, liquid level sensor, air velocity transducer, flow sensor, wind transducer, cmos image sensor, visibility acquisition are set
At least one of standby, tachometer and fathometer are a variety of.
Preferably, the intelligent ship hull system further includes external module, and the external module is for obtaining the prison
The data of survey and aid decision module and the hull Life cycle module, and stored, backed up and managed.
(3) beneficial effect
The beneficial effects of the present invention are: monitoring and aid decision module can monitor Ship Structure safety important parameter and
Relevant Ocean environment information loads and unloads the monitoring, alarming of goods and the state that lies up to ship's navigation, at port according to monitoring modular to mention
For the aid decision of corresponding operation, the navigation safety of intelligent ship has effectively been ensured；Intelligent ship hull system can be in real time
It monitors the variation of hull structural stress and aid decision is provided, calculate Ship Structure extent of corrosion and maintenance scheme is provided,
Abnormal data present in analysis Ship Structure data in real time, effectively eliminates the potential danger in hull, further mentions
The high navigation safety of ship.
Detailed description of the invention
Fig. 1 is the architecture diagram of intelligent ship hull system of the invention.
[description of symbols]
1: sensing module；2: data module；3: monitoring and aid decision module；4: hull lifecycle management module；
5: execution module；6: external module；7: human-computer interaction module.
Specific embodiment
In order to preferably explain the present invention, in order to understand, with reference to the accompanying drawing, by specific embodiment, to this hair
It is bright to be described in detail.
As shown in Figure 1, Fig. 1 is the architecture diagram of intelligent ship hull system of the invention, intelligent ship hull system is main
Including hull lifecycle management module 4, monitoring and aid decision module 3, execution module 5 and data module 2；
Wherein, data module 2 includes acquisition unit and processing unit, and acquisition unit is used to obtain the perception number of sensor
According to, processing unit for being converted, being handled to perception data and detection forms result data；
Specifically, the data that sensing module 1 transmits are input to the interface of internal system using data set by acquisition unit.
The data type that sensing module 1 acquires is more, by acquisition unit by the data conversion of transmitting at numerical data.Acquisition unit is
The bridge that computer is connect with the external sensible world, it is the communication module based on remote collection unit platforms, by communication, storage
Chip etc. is integrated on a circuit board, has acquisition and transfer function.
Processing unit be the numerical data of acquisition process is executed signal processing, synchronization or asynchronous average, algorithm calculate,
The operation such as feature extraction.Data processing is the excavation to data, and typical algorithm has the SVM (Support for statistical analysis
Vector Machine, support vector machines) and for classification NaiveBayes, and the contourlet transformation for denoising
Algorithm, main tool to be used have Hadoop and Mahout etc., and based on the data mining algorithm of single thread.
Using contourlet transformation algorithm come to data de-noising, this algorithm is gone mainly for hull position data
It makes an uproar, it can be handled data in scale and two, direction aspect, play best denoising effect.Contourlet transformation packet
Include two stages of Laplacian pyramid and trend pass filtering, the inner product shape of Laplacian pyramid are as follows:
sj=< x, ψj>
In formula,For the base of Laplacian pyramid；Contourlet transformation inner product form are as follows:
In formula, βj,dFor the base of contourlet transformation.
Structural parameters calibration is to set for storing preset Ship Structure parameter by monitoring and aid decision module 3
Result data is compared and is analyzed with setting value, when occurring abnormal data in result data, according to abnormal data by definite value
It is autonomous to formulate decision opinion；
Wherein, monitoring and 3 major function of aid decision module include:
(1) the related important parameter for being related to Ship Structure safety is acquired and is monitored；
(2) storage acquisition data；
(3) calculating and anomaly analysis are carried out according to the data that monitoring modular acquires；
(4) when analyzing result and occurring abnormal can and alarm；
(5) according to alarm parameters, the decision recommendation of ship operation is proposed；
(6) it is connected with loading instrument, electric course and anemoclinograph, the sea situation information and ship's navigation of analysis and record ship
Parameter；
(7) during navigating by water, when Ship Structure stress, ship movement are shaken with acceleration and stem slamming pressure and liquid tank
When swinging pressure and other parameters and alarming, intelligent hull system carries out hull loads according to sea situation at that time, course, the speed of a ship or plane overall
Analysis and assessment are calculated, and is made whether to need change course, change the operational orders such as the speed of a ship or plane and attitude of ship；
(8) during goods is loaded and unloaded at port, when Ship Structure stress is alarmed, system can provide whether continue to load and unload
The Operating Guidelines such as goods, adjustment handling cargo hold and dress rate of discharging；
(9) ship is lying up in maintenance process, and when Ship Hull deformation is alarmed, system should be able to provide docking block
Arrange the measure of adjustment；
(10) according to ship actual conditions and security needs, determine and further increase relevant decision-making function.
It is single using fatigue stress monitoring about the monitoring of Ship Structure stress in the function of monitoring and aid decision module 3
Member, Ship Structure fatigue rupture are that it is strong to have the characteristics that be formed time length, randomness an important factor for influencing safety of ship.It is right
It is detected in Ship Structure and uses state-of-the-art fiber optic sensor technology, in dangerous point placement sensor, establish hull fatigue dynamic
Real-time evaluation system, the stress of real-time monitoring Ship Structure fatigue dangerous position, so that the reality of Ship Structure be calculated
The border service life.Arrangement principle about dangerous point is: arranging at all kinds of structural danger points of hull, but does not arrange at equipment having；
In hull typical parts two sides placement sensor, remaining position can be in single-sided arrangement sensor.
The method checked about Research of fatigue strength of vessel mainly has the method based on the linear progressive damage theory of Miner, Miner
Linear progressive damage theory carries out analytical calculation on the basis of S-N curve model.The fatigue strength of ship is alternate stress S's
Under effect, force structure reach destruction cycle-index be N, then it is believed that this structure of ship range of stress level be S when
Fatigue life is N, the relational expression between the range of stress horizontal S and service life N are as follows:
NSm=A
Both sides take logarithm, obtain:
Lg N=lg A-mlg S
In formula, m, A are the damage parameters that the test in S-N curve obtains.
According to Miner linear cumulative damage law, Ship Structure fatigue damage total under the effect of multistage constant width alternate stress
Degree of wound is that W is injury tolerance W under single width gradeiThe sum of.Single width grade injury tolerance W under a certain stress leveliEqual to the range of stress
Actual cycle frequency niWith structure in range of stress SiReach the cycle-index N needed for destroying under single effectiThe ratio between, it is assumed that
Stress level is M grades total, then W is indicated are as follows:
According to ship linear damage principle states, as total fatigue damage degree W=1 of structure, which is considered
Fatigue rupture has occurred.
In addition, the stress not instead of segmented version suffered by the Ship Structure, when continuity density function, fatigue cumulative damage
Degree should also be the form of continuity function, so the calculating of continuity Ship Structure fatigue cumulative damage degree are as follows:
In formula: S be Ship Structure suffered by the range of stress, l (S) be the range of stress in be distributed probability density function, N be
Range of stress S effect flowering structure reaches cycle-index required for the limit of rupture, answers during the entire time that K is required consideration
The global cycle number of power range, dn are the range of stress cycle-index in pickup [S, S+dS], interphase when ∫ is is considered entire
Between integral.
Distribution situation of the LONG-TERM DISTRIBUTION formula stress of the Ship Structure range of stress in structural integrity life time, about answering
The LONG-TERM DISTRIBUTION of power range S is calculated using Weibull distribution function:
Wherein, q is scale parameter, and ξ is form parameter, the two parameters are the parameters in Weibull distribution function.
In conjunction with above formula, the fatigue cumulative damage calculation formula of Ship Structure is obtained are as follows:
In formula: Γ is gamma function；
Calculating for ship fatigue cumulative damage is that each Cyclic Stress can cause fatigue damage to structure, therefore
It is the calculating of the ship fatigue damage intensity under continuous load effect above.Further with regards to Ship Structure durability analysis when consider
The correlation theory in metal crack initiation service life under corrosive environment carries out analytical calculation to the Ship Structure service life according to this.
Calculate assessment mainly solution intelligent ship after a period of time of operating to Ship Structure residual fatigue intensity,
Also it can predict to continue the fatigue strength after military service N.
Hull lifecycle management module 4 is independently formulated for being detected according to decision opinion to Ship Structure
Maintenance instructions；By calculating the corrosion data of Ship Structure, the autonomous maintenance scheme for formulating Ship Structure, corrosion data packet
Include: the spot corrosion depth capacity of Ship Structure changes with time, the spot corrosion rate of Ship Structure and spot corrosion rate reach
At the time of to maximum；Specifically, hull lifecycle management system obtains the structural thickness number of Ship Structure different location
According to according to the corrosion data of the different location of structural thickness data calculating Ship Structure, according to corrosion data formulation different time
The maintenance scheme of point.Hull lifecycle management module 4 is the important composition module of intelligent hull, the full Life Cycle of hull
Period management module 4 deposits the data in each stage of vessel designs, construction and operation with standardized spreadsheet format
Storage and transmission, establish hull database, ship are made to be safeguarded and be updated in time in lifecycle management module.Meanwhile
Hull monitoring and Ship Structure inspection and maintenance data, effectively development structural testing, maintenance and dimension are integrated using digital transmission technology
Equal technical guarantees are repaired, grasp the Ship Structure state of intelligent ship in real time, it is autonomous in advance to formulate phase for the configuration state of ship
The maintenance program answered reduces Ship Structure to realize that ship implements lifecycle management from each stage for being built into operation
Maintenance cost, extend the service life of Ship Structure.
Ship design-build, be lauched, berth, navigate by water and lie up maintenance etc. durings, will receive longitudinal bending and cause
Power, transverse load and other local forces, and Ship Structure is caused to deform or damage, considers ship stress condition, hull
4 database of lifecycle management module calculates mould to Ship Structure geometrical model, structural strength analysis model and hull performance
The data of type tripartite's surface model are analyzed.
The main function of hull lifecycle management module 4 are as follows:
(1) hull construction monitoring management；
Shipbuilding monitoring management is that computer is utilized to monitor three to monitoring in monitoring, building before shipbuilding and after building
Stage is monitored.Before wherein building monitoring be finite element structure strength assessment and fatigue analysis are carried out to hull, and
Ship easily occurs to damage crackle, buckling and the regional analysis of deformation of hull structural integrity；Monitoring is that ship is each in construction
The pre-assembled of key position building is monitored, the inspection after the assembling of unit group and sectional, welding and structure become
The monitoring of more equal four aspect；Monitoring is primarily upon whether key position occurs crack, corrosion, local damage, serious change after construction
The defects of shape and local Paint Falling.
By the supervision and management to hull construction process, supervising record, documentation are saved, hull prison is formed and makes
The electronic record of management.
(2) Ship Structure thickness monitoring and strength assessment；
Ship Structure thickness monitoring and strength assessment are to be based on Ship Structure geometrical model using computer system, are established
Shipbuilding completion to ship it is retired between complete Working cycle in structural thickness database.Pass through all previous measured ship
Body thickness data, the intuitive corrosion condition for showing Ship Structure are based on locating ring according to the data and corrosion condition of measurement
The factors such as border predict the corrosion tendency of Ship Structure.
Ship Structure surface is due to containing certain impurity and non-metallic inclusion, when matallic surface layer includes certainization
When learning inhomogeneities or surface physics defect, Ship Structure local corrosion is easy for germinating in these weak spots.Ship Structure
Corrosion rate and corrosion thickness pass through Weibull function calculation specifications.
Ship Structure is mainly indicated the intensity of Ship Structure after corrosive wear by remaining hull thickness, rotten
Erosion residual thickness is exactly the actual (real) thickness of component testing position.The general corrosion average residual thickness of hull structural member is a, in hull
The average residual thickness of similar component general corrosion is b in cross section, therefore
Hull structural member average residual thickness value are as follows:
In formula: ajFor the residual thickness at certain point in component；B is the measurement points on component.
Annual corrosion rate in hull structural member is:
In formula: m0For the initial construction thickness of ship structural component；T be twice measurement between correspondence ship structural component use when
Between.
But ship navigates by water in marine environment, marine environment weakens the corrosion of Ship Structure year by year, and ocean
Environment is non-uniform to the corrosion of Ship Structure, is since the difference of Ship Structure leads to the corrosion rate of Ship Structure not
Together.Spot corrosion proportion in Ship Structure corrosion is maximum, by studies have shown that since Ship Structure dopant is more,
Spot corrosion odds is maximum in complicated marine environment, and is easy to occur in a very short period of time, with etching time
Increase, develop into etch pit, and then impact to the overall structure of ship.
Spot corrosion process is roughly divided into three phases: the 1. corrosion-free stage；2. microcorrosion stage, the phase points Corrosion developing
The non-linear of height is shown as, corrosion rate increased dramatically；3. spot corrosion development is the etch pit stage, which, which stablizes, increases
It is long, and increase since corrosion layer is gradually thickeied with cooperating microorganisms quantity, compared to spot corrosion corrosion rate, which is
Corrode deceleration phase.Therefore the corrosion process of Ship Structure experienced corrosion-free stage, corrosion boost phase and corrosion and slow down rank
Section three phases.
In view of the complexity of spot corrosion process, letter is changed over time about spot corrosion depth capacity in Weibull function
Number are as follows:
L (t)=Lμ{1-exp[-[β(t-Ti)]μ]}
In formula: LμFor spot corrosion upper depth limit；TiFor location parameter, the spot corrosion time started is represented；μ is form parameter；β
For scale parameter.
Calculating in Weibull function about Ship Structure spot corrosion rate are as follows:
Weibull function model can embody the mistake that Ship Structure spot corrosion accelerates, slows down in parameter μ -1
Journey, and spot corrosion rate existsMoment reaches maximum.
Weibull function is used about Ship Structure corrosion condition, the mainly function has very strong fitting performance, can
It is analyzed with the corrosion condition to multiple types ship different structure position；In addition the function can reasonably analyze hull knot
The corrosion condition of structure, it is closest with marine corrosion situation in reality.
(3) Rummaging Ships maintenance project；
Hull maintenance plan is also with computer system, the geometrical model based on Ship Structure, and combines shipbuilding
With the data of detection, according to CCS (China Classification Society, China Classification Society) about ship related request
And the demand of ship, autonomous formulation Ship Structure inspect periodically maintenance project.
(4) damage stability and structural strength Analysis Residual Strength.
Hull structural strength analysis includes mainly bay section and full vessel FE model, Ship Structure longitudinal strength, transverse direction
The calculating of intensity and local strength is analyzed, by hull structural strength analysis realize to the surrender of hull structural strength, buckling,
The calculating of fatigue strength and ultimate strength and residual intensity is analyzed.Ship performance computation model is realized to ship intact stability
With the calculating and analysis of destructive.
In addition, Ship Structure will also have enough rigidity in addition to intensity, malformation is no more than the limit allowed, guarantees
The structure compression masterpiece used time will not reduce Hull Strength because generating fold.
Execution module 5 is used for the scheme according to the maintenance instructions independently management of formulation and implementation hull and action, and carries into execution a plan.
Execution module 5 is according to hull lifecycle management module 4, hull monitoring and the output of aid decision module 3 as a result, autonomous system
Determine and execute hull management and action scheme, is the important composition module of intelligent ship hull system, intelligent ship hull system
The instruction of sending needs execution module 5 and carries out execution operation.
During intelligent ship navigation, dive existing for 5 energy automatic identification action scheme of execution module and other sub-modules
Conflicting, and the action scheme of potential conflict will be present and conflict and be uploaded to the control of ship intelligent comprehensive and commander maincenter system in time
System, the final coordination control instruction for executing hull lifecycle management module 4 and issuing, realizes hull intelligent maintenance and maintenance,
The case where hull intelligent maintaining and maintenance, is fed back simultaneously, corresponding data information is returned into hull lifecycle management mould
The comparison and analysis of data are carried out in block 4.
Intelligent ship hull system further includes sensing module 1, and sensing module 1 includes information process unit and multiple sensings
Device, information process unit be used for perception data storage and transmission, multiple sensors include pressure sensor, temperature sensor,
Liquid level sensor, air velocity transducer, flow sensor, wind transducer, cmos image sensor, visibility acquisition equipment, meter
At least one of the gift of money for a friend going on a journey and fathometer are a variety of, for obtaining the perception data of ship itself He ambient enviroment.Wherein, it presses
Force snesor is mainly used in the monitoring of Ship Structure stress, and the pressure data of monitoring is converted into electric signal and is transmitted；Temperature
Degree sensor is mainly used in the temperature sensing in emergency set, and the temperature data of monitoring is converted into electric signal and is transmitted；
Liquid level sensor is a kind of pressure sensor for measuring liquid level, and static pressure is converted to electric signal, using temperature-compensating and linearly
Amendment, is converted to standard electric signal；Ship's speed detector is mainly used in the detection of the ship speed in hull navigational parameter, will supervise
The velocity information of survey is converted into electric signal and is transmitted；Air velocity transducer is mainly used in the detection of the wind speed in sea state data,
The air speed data of monitoring is converted into electric signal to transmit；Flow sensor is mainly used in the inspection of the flow velocity in sea state data
It surveys, the flow rate information of monitoring is converted into electric signal and is transmitted；Cmos image sensor is mainly used in video monitoring, to institute
There is the real time monitoring of equipment and device situation, the image information of monitoring is converted into electric signal and is transmitted.
Sensing module 1 can obtain each of ship itself and ambient enviroment based on multiple sensing equipments and information process unit
Kind of information, enables that ship is safer, reliable navigation, be study intelligent ship key technology it.The letter that sensing module 1 perceives
Breath is divided into oneself state information and ambient condition information, and oneself state information includes Lateral thrust unit of ship, ship anchor arrangement, mooring
The operational configuration in position, the speed of a ship or plane, the course of navigation of the status informations of the various equipment such as equipment, emergency set and ship etc.
Information；Ambient condition information includes surrounding obstacles ship and obstacle information, surrounding meteorological condition, the depth of water, revolving speed, video monitoring letter
Various application messages during the navigation such as breath, Voice Surveillance information, water velocity and direction, navigation mark position.
In addition, sensing module 1 includes: to the acquisition of perception data
(1) in the driving device in lateral thruster and automatic control device perception data acquisition；
(2) acquisition for the perception data that all devices and device situation are monitored in real time in video monitoring；
(3) temperature, smog, water inlet detection device and auto spray painting, automatic device for releasing carbon dioxide in emergency set
The acquisition of middle perception data；
(4) acquisition of the perception datas such as the windlass in anchor arrangement, anchor weight, length of chain cable, arrangement of clutch, brake gear；
(5) acquisition of the perception datas such as the warping winch in mooring arrangement, hawser, arrangement of clutch, automatic deploying and retracting；
(6) the hull Life cycle hull database in hull coefficient, Ship Structure thickness monitoring and strength assessment, ship
Body inspection and maintenance, damage stability and residual intensity calculate the acquisition of analysis perception data；
(7) ship's navigation parameter, sea state data, stem knocking, ship acceleration of motion, ship movement etc. in Structure stress
Perception data acquisition.
Intelligent ship hull system further includes external module 6, and external module 6 is for obtaining monitoring and aid decision module 3
With the data of hull Life cycle module, and is stored, backed up and managed.It mainly includes computer, server sum number
According to library, the function of external module 6 is specifically included that
(1) server or database of system setting enough capacity, realizes data, network, the storage of system, backup, pipe
Reason and playback function；
(2) data of at least one round of visits are saved；
(3) history data can be at any time by hull lifecycle management module 4, hull monitoring and aid decision module
The other functions module search calls such as 3；
(4) historical data trend can be used for statistic correlation analysis, and in order to accurate, answering inspection and verification, health status is commented in the past
Estimate and basic reason information；
(5) there is dual redundant warm standby function；
(6) has the function of simulated maneuver.
Intelligent ship hull system further includes human-computer interaction module 7, and human-computer interaction module 7 exists the information in ship's navigation
It is shown on ship end, bank end or mobile terminal device, information includes warning message, metrical information and exception information.
Specifically, bank end operator carries out information friendship by software by hardware devices such as computer, mobile terminals
Stream, communication realize operator to the warning message during the navigation of intelligent hull, metrical information, health evaluating result information
Understanding and analysis.The mode of ship end data synchronisation is the form using mail synchronization packet, and data packet is packaged into mail,
It is sent to bank end by mail server, to realize the synchronization and human-computer interaction of ship-to-shore information.
The function of human-computer interaction module 7 includes:
(1) all hull equipment overall pictures of display and each submodule picture, the statistical information of exportable distinct device,
It is simple and convenient；
(2) output identification code, number, status monitoring and health evaluating；
(3) the data conversion forming apparatus received is made into format necessary to correct determine；
(4) the correlation analysis personnel data of unusual condition that can be identified and understand are provided；
(5) different permissions is set to the operator of different demands, avoids the maloperation of operator, be ensure that and is
The safety of system.
The architecture design of intelligent ship hull system uses distributed structure/architecture mode, and intelligent ship hull system is split
At human-computer interaction module 7, external module 6, hull lifecycle management module 4, monitoring and aid decision module 3, execute mould
Block 5, sensing module 1, data module 2 are communicated between each submodule by the way of interface communication, significantly reduce mould
The degree of coupling between block；Also, different software is responsible for different submodules, when increasing functional module, it is only necessary to increase by one
A submodule calls the interface of other modules, effectively improves flexibility ratio when module deployment.Also, intelligent ship
Hull systemic openness is high, can integrate spot ship information management module and subsequent newly-increased module, realizes to the complete of intelligent ship
Orientation monitoring；Information exchange is realized based on complete bank base module, realizes the intelligent management to ship.
As shown in Figure 1, the data flow between submodule are as follows: sensing module 1 obtains the perception data in sensor；Data
Module 2 obtains the perception data in sensing module 1, and is believed according to data format of transfering requirement and data algorithm processing requirement perception
Breath is converted, is handled, and result data is formed；Monitoring and aid decision module 3 obtain result data and carry out anomaly analysis, mention
The decision recommendation of ship operation out；Hull lifecycle management module 4 detects Ship Structure after obtaining decision recommendation,
And independently formulate maintenance instructions；External module 6 obtains decision information simultaneously, and it is stored and is backed up；Execution module 5 obtains
The scheme of hull management and action is independently formulated after taking maintenance instructions and executes this scheme；Human-computer interaction module 7 obtains and output
Warning message, repair message etc. are simultaneously shown in interactive module.
Wherein, the transmission and storage of data, human-computer interaction module 7 are carried out between modules by the way of communication protocol
Data are obtained by SFTP adapter, external module 6 obtains data, hull lifecycle management module by SFTP adapter
4 obtain data, monitoring and aid decision module 3 by HttpClient interface acquisition data by HttpClient interface, hold
Row module 5 obtains data by JDBC adapter, and sensing module 1 obtains data by JDBC interface, and data module 2 passes through UDP
Adapter obtains data.Specific protocol contents are as follows:
(1) Secure File Transfer Protocol is the abbreviation of Secure File TransferProtocol, secure file transportation protocol, can be with
A kind of safe encryption method is provided for transmission file.SFTP is a portion of SSH, be a kind of transmission archives extremely
The secured fashion of Blogger servomechanism, SFTP itself need to complete using SSHD finger daemon without individual finger daemon
Corresponding attended operation, therefore SFTP is more like a client-side program.SFTP uses encrypted transmission authentication information and transmission
Data, so the network security performance of SFTP is high.Croe FTP can be used in Windows, FileZilla, WinSCP connect
It meets SFTP to be uploaded, downloads file, the operation such as establish and deltree.There are many determinant of the transmission speed of SFTP, example
Size, the quality of network of such as file can all influence transmission speed, and the transmission speed of SFTP is mainly come true according to actual needs
Fixed, in addition the transmission speed of SFTP is slower compared to FTP, is primarily due to SFTP itself with encryption function.
(2) JDBC agreement (connection of Java Data Base Connectivity, java database) is a kind of for executing
The JavaAPI of SQL statement can provide unified access, the class that it is write by one group with Java language for a variety of relational databases
It is formed with interface.JDBC provides a kind of benchmark, can construct more advanced tool and interface accordingly, make database development personnel
Database application can be write.JDBC extends the function of Java, can be by Intranet connection one or more
Portion's database.For the transmission speed of JDBC in one process, the used time, transmission speed was greater than 400kb/s less than 20 seconds；When multi-process,
IE opens multiple window access in JDBC, and speed does not influence substantially.
(3) HttpClient agreement is the sub-project under Apache Jakarta Common, can be used to provide efficiently
, the client programming kit of newest, feature-rich support http protocol, and support the newest version of http protocol
And suggestion.The available major function of HttpClient has: (1) realizing the method for all HTTP；(2) auto-steering is supported；
(3) HTTPS agreement is supported；(4) proxy server etc. is supported.
(4) udp protocol (User Datagram Protocol), User Datagram Protocol are one in OSI Reference Model
Kind connectionless transport layer protocol provides the simple unreliable information transmission service towards affairs, in a network with Transmission Control Protocol one
Sample is a kind of connectionless agreement, the main function of udp protocol is that network traffic data is compressed into number for handling data packet
According to the form of packet, a typical data packet is exactly the unit of transfer of a binary data, preceding 8 bytes of each data packet
For comprising header information, remainder bytes are then used to comprising specifically transmitting data.Under general test, in relatively reliable environment
In, the packet loss of UDP is very low, therefore transmission speed is fast.
In addition, the storage and backup of data are to be recorded in data in database with call format, it can be according to the need of system
Want real-time called data.Data flow reflection is the data flowed in system, shows the feature of dynamic data, and data store
Static data, show the feature of static data in backup reflection system.Wherein database uses MySQL database, specifically
Ground, MySQL are a kind of Relational DBMSs, and MySQL is best RDBMS (Relational Database
One of Management System) application software.Relevant database saves the data in different tables, increases speed
And flexibility is improved, SQL (Structured Query Language) language that MySQL is used more is for accessing database
The most frequently used standardized language.The writing speed of MySQL database reaches 570,000 row per second, and inquiry velocity is main and computer is matched
Set with and data volume it is related, the speed of the small inquiry of data volume is fast.
Foundation and maintenance of the intelligent ship hull system based on hull database are the safety boat in hull Life cycle
The maintenance of capable and structural repair provides aid decision, while can also be provided by the automatic collection and monitoring of hull related data
The intellectualized module of the aid decision of Ship Controling efficiently solves multiple traditional ship marine accident, casualties and ship
The high drawback of oceangoing ship operation cost, and successfully realize informationization, networking, greenization and the intelligence of ship.
Claims (10)
1. a kind of intelligent ship hull system, which is characterized in that the intelligent ship hull system includes hull Life cycle
Management module, monitoring and aid decision module, execution module and data module；
The data module is for converting the perception data that sensor obtains, being handled and detection forms result data；
The monitoring and aid decision module are for comparing and analyzing the result data with setting value, when the result
When occurring abnormal data in data, decision opinion is independently formulated according to the abnormal data；
The hull lifecycle management module is autonomous to formulate for being detected according to the decision opinion to Ship Structure
Maintenance instructions；And the corrosion data by calculating Ship Structure, the autonomous maintenance scheme for formulating Ship Structure, the corrosion
Data include: the spot corrosion depth capacity of Ship Structure change with time, the spot corrosion rate and spot corrosion of Ship Structure
At the time of rate reaches maximum；
Wherein, the spot corrosion depth capacity of Ship Structure changes with time with Weibull function representation, Weibull function table
It is shown as:
L (t)=Lμ{1-exp[-[β(t-Ti)]μ]}
In formula, LμFor the upper depth limit of spot corrosion, TiFor the time point that spot corrosion starts, μ is form parameter, and β is scale parameter, t
It is expressed as time point when calculating；
The spot corrosion rate representation of Ship Structure are as follows:
The time point that the spot corrosion rate of Ship Structure reaches maximum indicates are as follows:
In formula, T indicates that the spot corrosion rate of Ship Structure reaches the time point of maximum；
The execution module be used for according to the maintenance instructions and the maintenance scheme independently the management of formulation and implementation hull and
The scheme of action, and execute the scheme.
2. intelligent ship hull system as described in claim 1, which is characterized in that the hull lifecycle management system
The structural thickness data for obtaining Ship Structure different location calculate the different location of Ship Structure according to the structural thickness data
The corrosion data, according to the corrosion data formulate different time points the maintenance scheme.
3. intelligent ship hull system as described in claim 1, which is characterized in that the hull lifecycle management module
It further include the phase data by obtaining each stage of vessel designs, construction and operation, and by the phase data with standard
The spreadsheet format of change is stored and transmitted, and hull database is established.
4. intelligent ship hull system as described in claim 1, which is characterized in that the data module include acquisition unit and
Processing unit；
Wherein, the acquisition unit is used to the perception data being converted into numerical data；
The processing unit be used to execute the numerical data include signal processing, synchronization or asynchronous average, algorithm calculate,
The operation of feature extraction, and obtain the result data.
5. intelligent ship hull system as described in claim 1, which is characterized in that the monitoring and aid decision module are used for
Storage is directed to the preset structural parameters of hull, is setting value by the structural parameters calibration；The monitoring and aid decision
Module further include calculate fatigue cumulative damage degree of the Ship Structure within phase projected life by obtaining the perception data, and
The actual life that Ship Structure is calculated according to the fatigue cumulative damage degree, according to the actual life to ship active time and
The use replacement situation of Ship Structure provides decision opinion.
6. intelligent ship hull system as claimed in claim 5, which is characterized in that calculate the fatigue according to the type of stress
Progressive damage degree, the stress include continuity stress and segmented stress；
When the stress types are segmented stress, using the linear progressive damage reason of Miner on the basis of S-N curve model
By the fatigue cumulative damage degree is calculated, S-N curve model is indicated are as follows:
NSm=A
Lg N=lg A-mlg S
In formula, m, A are the damage parameters that the test in S-N curve obtains, and S is stress suffered by Ship Structure, and N is that Ship Structure exists
Fatigue life when range of stress level is S；
The calculation formula of the linear progressive damage theory of Miner indicates are as follows:
In formula, niActual cycle number；
When the stress types are continuity stress, the calculating of the fatigue cumulative damage degree uses continuity density function,
Continuous density function representation are as follows:
In formula, K is the global cycle number of the range of stress, and q is scale parameter, and ξ is form parameter, and Γ is gamma function.
7. intelligent ship hull system as described in claim 1, which is characterized in that the execution module is obtained from cental system
Integrated control and command data are taken, described in the execution module automatic identification between scheme and the integrated control and command data
Existing potential conflict, the scheme and colliding data that the potential conflict will be present are uploaded to the cental system.
8. intelligent ship hull system as claimed in claim 7, which is characterized in that the cental system is by the colliding data
It is compared with the hull database, autonomous formulate coordinates control instruction；
The execution module executes the coordination control and instructs and obtain implementing result, and the implementing result is passed to the ship
Body lifecycle management module.
9. intelligent ship hull system as described in claim 1, which is characterized in that the intelligent ship hull system further includes
Sensing module, the sensing module include information process unit and multiple sensors, and the multiple sensor is for obtaining ship
The perception data of itself and ambient enviroment, the information process unit is for storing and transmitting the perception data；Wherein,
The multiple sensor includes pressure sensor, temperature sensor, liquid level sensor, air velocity transducer, flow sensor, wind direction
At least one of sensor, cmos image sensor, visibility acquisition equipment, tachometer and fathometer are a variety of.
10. intelligent ship hull system as described in claim 1, which is characterized in that the intelligent ship hull system is also wrapped
External module is included, the external module is for obtaining the monitoring and aid decision module and the hull Life cycle module
Data, and stored, backed up and managed.
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