CN114898594B - Can carry on unmanned aerial vehicle's logical sense calculation accuse integrated intelligent lamp ship control system - Google Patents
Can carry on unmanned aerial vehicle's logical sense calculation accuse integrated intelligent lamp ship control system Download PDFInfo
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Abstract
The invention relates to a general sense calculation control integrated intelligent lamp vessel control system capable of carrying an unmanned aerial vehicle, which comprises the following components: the marine hydrologic and weather information acquisition modules are used for acquiring marine hydrologic information and weather information around the lamp vessels by the unmanned aerial vehicles; the Beidou positioning module I is used for acquiring the position information of the lamp vessel; the Beidou communication satellite module is used for carrying out information transmission on the unmanned aerial vehicle and the ship in the sea area where the lamp ship is located; the unmanned aerial vehicle comprises a video acquisition module for carrying out video shooting on ship navigation information of the sea area where the lamp vessel is located and a Beidou positioning module II for acquiring the position information of the unmanned aerial vehicle; the unmanned aerial vehicles mutually trust to carry out information transmission, and the unmanned aerial vehicle closest to the shore-based management center transmits risk information or video information of an accident to the distance-based management center through the communication module, so that the problems of single communication mode and low communication efficiency of the past lamp vessel system are avoided, the communication between a user and the device and between the user and the device are more convenient at a higher speed, and the communication cost is greatly saved.
Description
Technical Field
The invention belongs to the field of full-automatic products, and relates to a general sensing, calculation and control integrated intelligent lamp vessel control system capable of carrying an unmanned aerial vehicle.
Background
The current research situation of the lamp vessel is mainly based on a marine light system of a certain communication network, and is not combined with an unmanned aerial vehicle, and the lamp vessel is a special buoy with a shape such as a ship and capable of emitting light. Typically, the anchor is used at important and wide river entrances or important legs to guide ships into and out of ports or turn around. The hull is generally painted in red, and the ship name or number is marked on both sides. The luminous equipment is arranged at the high position of the deck; the lamp is generally arranged on the balance frame, so that the ship body still emits light horizontally when swinging; the light range is far. Some are equipped with audio or fog number equipment. The current research situation of the lamp vessel is mainly an unintelligible lamp vessel, only provides the light navigation assisting function for the past vessel, and is not combined with the current technology and unmanned equipment.
The current intelligent lamp vessel system on the sea mainly sends collected data to a server for processing and analysis. The scheme of information processing has two obvious defects, namely, because long-distance information transportation is needed, and most of light boats are arranged near shoals far away from the shore, the information transmission has great delay, and particularly if the weather environment is severe, the data transmission delay is quite obvious and can not provide good service for the past ships; secondly, because of the numerous and complex information, the use of servers or cloud computing can create a significant processing burden.
Disclosure of Invention
In order to solve the problems, the invention provides the following technical scheme: can carry on unmanned aerial vehicle's logical sense calculation accuse integrated intelligent lamp ship control system, include: a plurality of unmanned aerial vehicles,
The hydrologic and weather information acquisition module is used for acquiring marine hydrologic information and weather information around the lamp vessel;
the Beidou positioning module I is used for acquiring the position information of the lamp vessel;
the Beidou communication satellite module is used for carrying out information transmission on the unmanned aerial vehicle and the ship in the sea area where the lamp ship is located;
the unmanned aerial vehicle comprises a video acquisition module for carrying out video shooting on ship navigation information of the sea area where the lamp vessel is located,
The Beidou positioning module II is used for acquiring the position information of the unmanned aerial vehicle;
the communication module is used for carrying out information transmission between the unmanned aerial vehicle and between the unmanned aerial vehicle and the shore-based management;
the edge calculation module is used for receiving the marine hydrologic information and weather information around the light boat transmitted by the hydrologic and weather information acquisition device, the position information of the ship around the light boat transmitted by the Beidou positioning module I and the ship navigation information video transmitted by the video acquisition module; the edge calculation module determines actual position information of a navigation ship in a sea area where the lamp vessel is located, compares the ocean depth map, judges whether the navigation ship has operation risk, and transmits risk information to the communication module of the unmanned aerial vehicle through the Beidou communication satellite module when the navigation ship has operation risk; and transmitting information by the unmanned aerial vehicles which are closest to the shore-based management center through the communication module, and transmitting risk information or video information of an accident to the shore-based management center.
Further: the edge calculation module determines actual position information of a sailing ship in a sea area where the lamp vessel is located, obtains the distance and the azimuth of the ship from the unmanned aerial vehicle through an image recognition algorithm, a linear regression algorithm and a neural network algorithm, determines the accurate position of the passing ship through the longitude and latitude of the unmanned aerial vehicle, and compares the accurate position with a sea depth map to judge whether the sailing ship has running risk.
Further: the communication module comprises a 4G/5G communication sub-module and a Lora/Zigbee communication sub-module.
Further: the operational risks include stranding risks and collision risks.
Further: the control system further comprises a wireless charging platform for charging the unmanned aerial vehicle.
Further: the control system also includes a fault detection circuit that monitors the operational status of the intelligent light vessel system in real time.
The intelligent lamp vessel system can be used for carrying unmanned aerial vehicles, the unmanned aerial vehicles arranged in the intelligent lamp vessel system not only can solve the problem that the distance between the intelligent lamp vessel system and a shore-based control center is relatively long, but also can integrate data processing and calculation by an edge calculation module carried on the intelligent lamp vessel, and send the calculation result, so that the problem of complex information is greatly reduced, and the problems in the prior art can be solved;
the general sensing and calculation control integrated intelligent lamp vessel control system capable of carrying the unmanned aerial vehicle has the following advantages:
(1) The system can automatically provide lamplight navigation and warning for the passing ships according to hydrologic and weather changes. And the intelligent light boat can transmit real-time weather and hydrologic information perceived by related sensors and video information of dangerous points to the passing boat through unmanned aerial vehicle relay communication on the basis of edge calculation, and provides related navigation auxiliary decisions for the passing boat. When an intelligent lamp vessel or an onboard unmanned aerial vehicle breaks down, the real-time position can be acquired through the Beidou satellite navigation system, and maintenance and management are facilitated. The invention can realize the intellectualization, management and networking of the navigation system of the marine vessel under certain conditions.
Meanwhile, the invention breaks through the single wireless communication mode between the conventional perceptrons and the target object, and transmits the environmental information while communicating with the target, thereby realizing the general sense calculation control integrated application of the marine lamp vessel system, and enabling the wireless communication among the lamp vessel, the satellite, the unmanned aerial vehicle and the user to be more convenient and the information interaction to be more free and smooth.
(2) The Beidou satellite communication system and the Lora/Zigbee communication system are adopted, so that the situation that the 4G/5G communication network cannot be applied at sea is avoided.
(3) By adopting an edge calculation mode, the data processing center is moved down to an unmanned aerial vehicle relay calculation end of data through edge calculation, so that heavy pressure brought to a server and cloud calculation by numerous data processing can be avoided.
(4) By adopting an edge calculation mode, a large amount of data is directly processed at the relay calculation end of the unmanned aerial vehicle through edge calculation, so that time delay generated when the data is sent to a server or a cloud is reduced, and the efficiency of the whole system is improved.
(5) The system embeds artificial intelligence algorithms in such a way that the processing and computation of the whole data is moved down to the data collection site, i.e. edge computation. In this way, various erroneous marine data are filtered, and a large amount of marine data is processed and analyzed. The intelligent lamp vessel equipment embedded with the artificial intelligent algorithm can accurately analyze the weather and hydrologic change information of the water area, and then generate a channel flow field situation awareness map of the related water area. Moreover, the intelligent lamp vessel equipment on the sea can share the information of each water area through networking, tasks are distributed to each edge computing unmanned aerial vehicle through an embedded artificial intelligent algorithm, and real-time analysis of hydrology and weather of the whole navigation water area is completed, so that navigation aid decisions are provided for ship navigation.
(6) The system carries the environmental information perceived by various sensors while transmitting the relevant necessary information between each node or between the system and the peripheral ships, is convenient for reasonably configuring the position and the channel information of the unmanned aerial vehicle in the communication process, realizes the application of the communication and control integration in the offshore communication field, adopts the idea of the communication and control integration, and avoids the problems of single communication mode and low communication efficiency of the past lamp and ship system. The communication between the user and the device and between the device and the device is more convenient and faster, and the communication cost is greatly saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
FIG. 1 is a device block diagram of an intelligent light boat system;
FIG. 2 is a diagram of an offshore network architecture of an intelligent light vessel system;
FIG. 3 is a diagram of an edge calculation work architecture for an intelligent light boat system;
fig. 4 is a program flow diagram of the intelligent light vessel system.
Reference numerals: 1. unmanned aerial vehicle, 2, hydrologic and weather information acquisition module, 3, big dipper positioning module I,4, communication module, 5, the edge calculation module, 101, solar charging module, 102, wind power generation module, 103, battery module, 104, temperature and humidity sensor module, 105, illumination sensor module, 106, the deep water sensor module, 107, wind direction sensor module, 108, wind speed sensor module, 109, the velocity of flow sensor module, 110, big dipper positioning module, 111, lamp vessel lamp ware module II,112, radar acquisition module, 113, video acquisition module, 114, unmanned aerial vehicle wireless charging platform module, 115, six rotor unmanned aerial vehicle body, 116, MCU module, 117, the accumulator, 118, light control module, 119, fault detection circuit, 120, big dipper satellite communication module, 121, 4G/5G sub-communication module, 122, lora/Zigbee sub-communication module.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features in the embodiments may be combined with each other, and the present invention will be described in detail below with reference to the drawings and the embodiments.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
FIG. 1 is a device block diagram of an intelligent light boat system;
FIG. 2 is a diagram of an offshore network architecture of an intelligent light vessel system;
can carry on unmanned aerial vehicle's logical sense calculation accuse integrated intelligent lamp ship control system, include: the system comprises a plurality of unmanned aerial vehicles 1, a hydrological and weather information acquisition module 2, a Beidou positioning module I3, a battery module 103, a Beidou communication satellite module 120, an edge calculation module 5, a lamp vessel lamp device module 111, a radar acquisition module 112, a fault detection circuit 119 and a light control module 118;
the hydrologic and weather information acquisition module 2 acquires marine hydrologic information and weather information around the lamp vessel;
the hydrologic and weather information acquisition module 2 comprises a temperature and humidity sensor module 104, an illumination sensor module 105, a water depth sensor module 106, a wind direction sensor module 107, a wind speed sensor module 108 and a flow speed sensor module 109;
the temperature and humidity sensor 104 collects information of the sea temperature and the air humidity;
the illumination sensor 105 collects offshore illumination information;
the wind direction sensor 107 collects offshore wind direction information;
the wind speed sensor 108 collects offshore wind speed information;
the water depth sensor 106 collects water depth information;
the flow rate sensor 109 collects seawater flow rate information;
the Beidou positioning module I3 acquires position information of a lamp vessel;
the Beidou communication satellite module 120 is used for carrying out information transmission on the unmanned aerial vehicle and the ship in the sea area where the lamp ship is located; the GPS communication satellite module can be adopted to carry out information transmission on the unmanned aerial vehicle and the ship in the sea area where the lamp ship is located;
the battery module 103 supplies power to the whole system through the solar charging module 101 and the wind power generation module 102, and the system can be used in severe environments and provided with a voltage conversion module, so that accurate voltage can be provided for each module of the system;
the solar charging module 101 collects light energy and converts the light energy into electric energy; collecting wind energy by the wind power generation module 102 and converting the wind energy into electric energy;
the lamp vessel lamp 111 can realize the light effect of the traditional lamp vessel;
the radar acquisition module 112 may monitor the surrounding sea area and draw images in the event of low visibility or weak light;
the light control module 118 can control the light on the light boat to provide light navigation for offshore navigation;
the fault detection circuit 119 may monitor the operational status of the intelligent light boat system in real time;
the unmanned aerial vehicle 1 comprises a six-rotor unmanned aerial vehicle body 115, an unmanned aerial vehicle charging platform 114, a Beidou positioning module II110 and a communication module 4;
the unmanned aerial vehicle charging platform 114 may charge the unmanned aerial vehicle body 115;
the video acquisition module 113 performs video shooting on ship navigation information of the sea area where the lamp vessel is located;
the Beidou positioning module II110 acquires unmanned aerial vehicle position information;
the communication module 4 is used for carrying out information transmission between the unmanned aerial vehicle and between the unmanned aerial vehicle and the shore-based management;
the communication module 4 comprises a 4G/5G communication module 121 and a Lora/Zigbee communication module 122; the processed data can comprise environmental data collected by a sensor mounted on a lamp vessel and accurate longitude and latitude data of a past vessel analyzed by an algorithm. Transmitting to a shore-based command center; the Beidou satellite communication module 120 and the 4G/5G communication module 121 are adopted to send the data processed by the edge calculation module 5 to the server, so that the problem that the 4G/5G communication module cannot be well used in an offshore communication environment is solved.
The Lora/Zigbee communication module 122 performs networking on the intelligent light boat and the unmanned aerial vehicle, and collects data of each sensor in real time;
the six-rotor unmanned aerial vehicle body 115 can land on an unmanned aerial vehicle charging platform 114 deployed on an intelligent lamp vessel, take off when required and take charge of relay communication tasks;
the edge calculation module 5 receives the marine hydrological information and weather information around the light boat transmitted by the hydrological and weather information acquisition module 1, the light boat position information transmitted by the Beidou positioning module I3 and the ship navigation information video transmitted by the video acquisition module 113; the edge calculation module 5 determines the actual position information of the navigation ship in the sea area where the lamp vessel is located, compares the ocean depth map, judges whether the navigation ship has operation risk, and when the navigation ship has operation risk, the edge calculation module 5 transmits risk information to the communication module 4 of the unmanned aerial vehicle through the Beidou communication satellite module 120; the unmanned aerial vehicles mutually transmit information, and the unmanned aerial vehicle nearest to the shore-based management center transmits risk information or video information of an accident to the shore-based management center through the communication module 4;
the edge calculation module 5 comprises an MCU module 116 and a memory 117;
the MCU module 116 performs edge calculation; and transmitting the passed ship pictures returned by the unmanned aerial vehicle into the MCU module, and performing edge calculation according to an image recognition algorithm, a linear regression algorithm and a neural network algorithm, so that the distance and the azimuth between the ship and the unmanned aerial vehicle can be calculated. And determining the accurate position of the passing ship through the longitude and latitude of the unmanned aerial vehicle, and comparing the accurate position with the ocean depth map to judge whether the sailing ship has running risk.
The storage 117 stores and collates the collected data including the environmental data collected by the sensor mounted on the lamp vessel and the data of the accurate longitude and latitude of the past vessel analyzed by the algorithm;
the edge calculation module 5 is embedded with a task rationalization allocation algorithm to realize intelligent allocation of tasks, more efficient management of data and real-time analysis of data, and finally, the processed results are respectively sent to a shore-based command center and a passing ship through the GPS/Beidou satellite communication module 120 and the 4G/5G communication module 121, the communication distance can be increased and the communication time can be shortened through an unmanned aerial vehicle, and the edge calculation module 5 is mainly used for reducing the calculation pressure of a server and cloud calculation and lowering the center for calculating and processing the data to a data collecting end.
The artificial intelligence algorithm can analyze the hydrologic and weather changes of the water area in real time according to the hydrologic and weather changes of the water area, can predict the weather and hydrologic changes in a period of time in the future, and can generate a channel situation awareness map of the related water area, so that navigation assistance decisions can be provided for navigation of the marine vessel; the intelligent lamp vessel embedded with the artificial intelligent algorithm can allocate computing resources with surrounding unmanned aerial vehicles according to the self computing capacity, so that the better overall computing capacity is achieved. Moreover, the intelligent lamp boat based on edge calculation and unmanned aerial vehicle equipment can realize important hydrologic and weather data exchange and joint analysis through mesh networking of Lora/Zigbee, so that dependence on cloud calculation can be reduced, and the problem of data leakage when the important data is uploaded to the cloud can be avoided. By means of the edge calculation mode capable of downwards moving the data processing capacity, pressure caused to the cloud when the cloud processes data can be avoided, safety during data cloud can be improved, unnecessary time delay generated in the data cloud process is reduced, and reliable technical means are provided for offshore navigation.
The system mainly divides the whole intelligent light boat into two types, one type belongs to the intelligent light boat, the other type belongs to the gateway part of the whole system, the other type belongs to the unmanned aerial vehicle part, the node part and the gateway part are mainly different in that the gateway part is a data summarizing center of surrounding node parts, and the intelligent light boat of the gateway part integrates a Beidou satellite communication module 120 and a 4G/5G communication module 121. The working mode of the whole system is that the node unmanned plane collects some information from the past ships, the node sends the collected information to the gateway through the Lora/Zigbee communication module 122, and the gateway sends data to the MCU module for processing and analysis. On the other hand, the gateway can also sort and map the collected hydrologic information and send the hydrologic information to the past shore-based management center through the edge calculation of the unmanned aerial vehicle nodes (the edge calculation is carried out through the data acquisition and the image acquisition of the unmanned aerial vehicle and the edge calculation module).
The general sense and calculation control integrated intelligent lamp vessel control system capable of carrying the unmanned aerial vehicle is arranged on a traditional marine lamp vessel;
the offshore data acquisition network and communication network mainly comprises intelligent light boats and unmanned aerial vehicle equipment based on edge calculation, various ships carrying the Lora/Zigbee communication module 122 and an onshore backbone network provided with satellite communication terminals. When the intelligent light boat equipment starts up and runs, a host on the intelligent light boat can work for an unmanned aerial vehicle according to the task amount to be processed, the unmanned aerial vehicle can hover to a designated position after receiving a take-off instruction and perform unmanned aerial vehicle relay communication service for a past ship, networking is completed through the Lora/Zigbee communication module 122, and each unmanned aerial vehicle node and the intelligent light boat equipment acquire data information of own position. And then collecting the data through intelligent lamp vessel equipment arranged on the intelligent lamp vessel, processing the data through an artificial intelligent algorithm to form weather and hydrologic information, analyzing the weather and hydrologic information in real time, obtaining accurate weather and hydrologic information, and further processing the weather and hydrologic information to form a channel flow field situation perception map of a relevant water area, so that navigation aid decisions can be provided for navigation of the marine vessel. The MCU module 116 analyzes the hydrologic and weather information to determine whether a certain threshold is reached to control the light control module 118 in real time. The Beidou satellite positioning module 110 positions the lamp vessels and the shipborne unmanned aerial vehicles, the intelligent lamp vessel equipment distributes all hydrologic, weather and position information to unmanned aerial vehicles deployed nearby through the Lora/Zigbee module 122, and after edge calculation, the intelligent lamp vessel equipment sends calculation information to a shore-based management center or a passing ship through the nearest unmanned aerial vehicle of the offshore-based management center. The shore-based management center checks hydrology, weather and position information of the channel through the upper computer. If the shore-based management center wants to control the intelligent lamp vessel or a certain unmanned aerial vehicle, the control information can be sent through the GPS/Beidou satellite communication module.
FIG. 3 is a diagram of an edge calculation work architecture for an intelligent light boat system; the architecture of the edge computation module 5 of the present invention is shown in block diagram form. The edge computing module 5 is mainly divided into 5 basic architectures, namely a data acquisition sub-module, a data processing sub-module, a computing and unloading sub-module, a service management sub-module and a communication resource management sub-module.
And in the data acquisition sub-module, various information such as temperature, illumination, humidity, wind direction, wind speed, water depth and flow velocity from the surrounding channel water area is mainly collected through various sensor modules, and then the information is processed into hydrologic and weather information of the water area.
The data processing sub-module predicts hydrology and changes of weather in future time mainly through trained manual algorithms and transmits the information to a shore-based command center or to surrounding past ships through other communication modules.
The management, allocation and calculation of tasks in the whole channel are decided by using a storage resource management algorithm and a calculation resource management algorithm together with other peripheral edge calculation modules of the peripheral edge in the calculation unloading sub-module.
The service management sub-module is mainly used for managing each task to be executed by the intelligent lamp boat, so that the tasks in the whole intelligent lamp boat are orderly executed, and when other equipment needs certain or more tasks, the tasks can be scheduled, thereby ensuring the normal execution of the work of the whole intelligent lamp boat.
The communication resource management sub-module mainly manages the utilization of wireless resources, and because of scarcity of offshore communication resources, when data transmission exists, various communication resources are ensured to be reasonably utilized as much as possible, so that the maximum transmission rate can be ensured.
Fig. 4 is a flowchart of a procedure of the intelligent light vessel system, and the specific procedure of the present invention is as follows:
step (1): and initializing the whole intelligent lamp vessel system, distributing hardware resources for each module in the part, and initializing each communication interface so as to facilitate the subsequent data collection and data communication.
Step (2): the intelligent lamp vessel system can distribute the unmanned aerial vehicle to take off according to the task quantity to be processed. And carrying out communication relay tasks of the unmanned aerial vehicle after the unmanned aerial vehicle flies to a designated area, and carrying out edge calculation after information is transmitted to the intelligent lamp boat through the relay of the unmanned aerial vehicle.
Step (3): the temperature, humidity, illumination, wind direction, wind speed, water depth and flow velocity sensor module collects data information, the unmanned aerial vehicle flies to a designated area to carry out communication relay work, the Beidou satellite positioning module 110 collects the position information of the shipborne unmanned aerial vehicle, the fault detection circuit collects faults, and then all the information is summarized into the edge calculation module 5.
Step (4): the edge calculation module 5 is composed of an MCU module 116 and a memory 117, where the voltage or other physical type information from the illumination, temperature, humidity, wind direction, wind speed, water depth, flow rate sensors is converted into real weather or hydrologic information such as illumination, temperature, humidity, wind direction, wind speed, water depth, flow rate, etc. And then the hydrologic and weather information and the change information of the water area are processed and analyzed in real time by embedding an artificial intelligence algorithm, and the hydrologic and weather data of the whole navigation water area are analyzed by the artificial intelligence algorithm. In addition, the Beidou satellite positioning module 120 accurately positions the intelligent lightships and the position information of the shipborne unmanned aerial vehicles. Finally, all hydrologic, weather and position information are stored in a memory and the next operation is waited.
Step (5): the MCU module 116 controls the light control module 118 by determining whether the hydrology, weather, etc. information meets a certain set threshold. Such as: whether the night is reached, the lamplight is turned on; whether weather is unfavorable for navigation, etc., a light alarm is sent.
Step (6): and the unmanned aerial vehicle equipment carried by each intelligent lamp vessel detects whether a ship passes through in the communication range of the unmanned aerial vehicle equipment, and if so, the stored various data information is sent to the ship through an ad hoc network consisting of the ship, the intelligent lamp vessel and the shipborne unmanned aerial vehicle. If no ship passes, the data is temporarily saved to memory for subsequent use.
Step (7): the intelligent lamp vessel equipment detects whether unmanned aerial vehicle needs to return to the voyage, if unmanned aerial vehicle in work is insufficient in electric quantity or other reasons can not continue to work, the system can send unmanned aerial vehicle to replace, unmanned aerial vehicle with insufficient electric quantity can return to the voyage, when the unmanned aerial vehicle which can not work is found, information can be sent to a shore base station and workers are waited for to maintain, implementation is carried out through a program embedded in the system, and corresponding action is carried out when data reach a set threshold value.
Step (8): the fault detection circuit 119 and each sensor in the intelligent light boat continuously collect fault information and physical information, monitor and analyze the changes of the data in real time, timely predict the fault information of the system through the changes of the data, and timely send the fault information to the shore-based management center for fault report through the Beidou satellite communication module.
Step (9): and then, the standard data such as illumination, temperature, humidity, wind direction, wind speed, water depth, flow speed, geographical position and the like stored in the memory 117 are directly transmitted to the shore-based management center in the form of short messages through the Beidou satellite communication module 120, and the shore-based management center directly displays hydrology, weather and geographical position information on an electronic chart through an upper computer.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (4)
1. Can carry on unmanned aerial vehicle's logical sense calculation accuse integrated intelligent lamp ship control system, its characterized in that: comprising the following steps: a plurality of unmanned aerial vehicles,
The hydrologic and weather information acquisition module is used for acquiring marine hydrologic information and weather information around the lamp vessel;
the Beidou positioning module I is used for acquiring the position information of the lamp vessel;
the Beidou communication satellite module is used for carrying out information transmission on the unmanned aerial vehicle and the ship in the sea area where the lamp ship is located;
the unmanned aerial vehicle comprises a video acquisition module for carrying out video shooting on ship navigation information of the sea area where the lamp vessel is located,
The Beidou positioning module II is used for acquiring the position information of the unmanned aerial vehicle;
the communication module is used for carrying out information transmission between the unmanned aerial vehicle and between the unmanned aerial vehicle and the shore-based management;
the edge calculation module is used for receiving the marine hydrologic information and weather information around the lamp boat transmitted by the hydrologic and weather information acquisition device, the position information of the ship around the lamp boat transmitted by the Beidou positioning module I and the ship navigation information video transmitted by the video acquisition module; the edge calculation module determines actual position information of a navigation ship in a sea area where the lamp vessel is located, compares the ocean depth map, judges whether the navigation ship has operation risk, and transmits risk information to the communication module of the unmanned aerial vehicle through the Beidou communication satellite module when the navigation ship has operation risk; the unmanned aerial vehicles mutually trust to transmit information, and the unmanned aerial vehicle closest to the shore-based management center transmits risk information or video information of an accident to the shore-based management center through the communication module;
the edge calculation module determines actual position information of a sailing ship in a sea area where the lamp vessel is located, obtains the distance and the azimuth of the ship from the unmanned aerial vehicle through an image recognition algorithm, a linear regression algorithm and a neural network algorithm, determines the accurate position of the passing ship through the longitude and latitude of the unmanned aerial vehicle, compares the accurate position with a sea depth map, and judges whether the sailing ship has running risks including stranding risks and collision risks.
2. The intelligent light vessel control system capable of carrying an unmanned aerial vehicle and integrating general sensing and calculation control as claimed in claim 1, wherein: the communication module comprises a 4G/5G communication sub-module and a Lora/Zigbee communication sub-module.
3. The intelligent light vessel control system capable of carrying an unmanned aerial vehicle and integrating general sensing and calculation control as claimed in claim 1, wherein: the control system further comprises a wireless charging platform for charging the unmanned aerial vehicle.
4. The intelligent light vessel control system capable of carrying an unmanned aerial vehicle and integrating general sensing and calculation control as claimed in claim 1, wherein: the control system also includes a fault detection circuit that monitors the operational status of the intelligent light vessel system in real time.
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