RU2760343C1 - Multi-agent software and hardware complex for collecting, transmitting, processing, displaying data for hydrographic survey of water reservoirs and operational monitoring of changes in bottom relief - Google Patents

Abstract

FIELD: computer technology.

SUBSTANCE: invention relates to field of computer technology for hydrography. The result is achieved due to a multi-agent software and hardware complex for performing hydrographic survey of water reservoirs and operational monitoring of changes in bottom relief, containing a basic complex equipped with an automated workplace (AWP), Wi-Fi, VHF, GSM modems and antennas. AWP is a hardware and software unit based on a personal computer (PC) with software installed in it. Ship complexes containing an antenna unit, an on-board unit and a submersible unit are installed on watercraft. The antenna unit contains a Global Navigation Satellite System (GNSS) antenna, Wi-Fi, VHF, GSM antennas. The on-board unit contains an integration module, a power supply, a GNSS receiver, Wi-Fi, VHF, GSM modems, an archiving unit, a display, a hydrographic echo sounder module, a depth detection module, an atmospheric pressure sensor. The submersible unit contains an echo sounder transceiver antenna, a position sensor and a hydrostatic pressure sensor.

EFFECT: invention allows increasing the speed and volume of obtaining operational information about the bottom relief on shelf areas, in water areas of ports and nearby areas of inland waterways, obtaining data for operational correction of electronic bathymetric maps of water areas.

5 cl, 3 dwg

Description

The technical field to which the invention relates

The invention relates to systems for the automated integration of peripheral devices as part of software and hardware complexes designed to obtain operational information about the bottom topography on shelf areas, in port water areas and nearby sections of inland waterways (IVS) and on sections of waterways of various lengths.

State of the art

The most popular type of work carried out in the process of hydrographic survey is bathymetric survey, the result of which is a depth map in the study area.

Traditionally, surveying the depths of the water area is carried out by measuring hydrographic echo sounders, which are more accurate than echo sounders intended for fishing. Echo sounders are hydroacoustic instruments (sonars, sonars) designed to study the bottom topography of a water basin and locate underwater objects. The operation of the echo sounder is based on measuring the time interval from the moment the sounding ultrasonic pulse was sent to the moment of receiving the reflected signal, and recalculating it into the distance traveled by the sound pulse.

There are various models of echo sounders and at present, various technical solutions are emerging that provide the convenience of conducting hydrographic surveys (https://southsurvey.com/de-28s-south). As a rule, these are specialized complex devices focused on application on a single vessel performing surveys. Such devices are complex, contain many components that require special conditions for their installation on a ship, and require highly qualified personnel. This significantly increases the cost and slows down of hydrographic survey, which is especially critical for continuous operational monitoring of changes in the bottom topography.

The closest technical solution to the claimed multi-agent hardware and software complex is a hydrographic echo sounder, which includes means for setting, generating and emitting sounding pulses, means for receiving, processing, storing and displaying reflected sounding pulses, as well as means for interacting with navigation and hydrographic equipment and personal a computer, displaying on a personal computer information about the parameters of the reflected signal and the bottom profile, and the means for generating and adjusting the sounding pulses include the first single-frequency emitter and the second two-frequency emitter, which are connected to the echo sounder separately, and provide the ability to set the upper and lower boundaries of the depth measurement; means for processing, storing and displaying the reflected sounding pulses take into account the physical properties of the aquatic environment, provide the division of the scanning range into time and / or range intervals, in which the highest reflection intensity is sequentially selected, and form an image of the bottom profile and oscillogram of the reflected signal. This makes it possible to improve the quality of work on determining the bottom topography, combining the accuracy of measurements and the convenience of working with the equipment, as well as the convenience of making decisions based on the results of measurements (RU 2552120, 06/10/2015). However, this device does not provide sufficient coverage and speed of obtaining operational information about the bottom topography in the water areas of ports and nearby sections of inland waterways and on sections of waterways of various lengths due to the fact that measurements are carried out directly along the trajectory of the floating craft. To obtain the required amount of data for building a map of the depths of the water area, long-term surveys are required along the grid of sounding tacks.

The essence of the invention

The technical result of the claimed invention is to increase the speed and volume of obtaining operational information about the bottom topography on the shelf areas, in the zones of port water areas and nearby areas of inland waterways, to obtain data for the operational correction of electronic bathymetric maps of the water areas.

The technical result is achieved by the fact that a multi-agent software and hardware complex has been created for performing hydrographic surveying of reservoirs and operational monitoring of changes in the bottom topography, containing a basic complex designed as a functional for monitoring, receiving, processing, displaying, storing and analyzing incoming information and equipped with an automated worker place (AWP), Wi-Fi, VHF, GSM modems and Wi-Fi, VHF and GSM antennas connected to the AWP by a data transmission network, and the AWP is a software and hardware unit based on a personal computer (PC) with installed software software (software) designed to control the operation of a multi-agent software and hardware complex and two or more ship complexes, each ship complex contains three blocks, interconnected by electric cables: antenna unit, on-board unit and submersible unit, while the antenna unit contains made in a protected marine design, antenna of the Global Navigation Satellite System (GNSS), Wi-Fi, VHF, GSM antennas, the on-board unit contains an integration module and a power supply unit connected to it through inputs and outputs, a GNSS receiver, Wi-Fi, VHF, GSM modems, an archiving unit for saving depth data in non-volatile memory, display, hydrographic echo sounder module, depth determination module, atmospheric pressure sensor, while the on-board unit is made in the form of a durable protected from external influences case with electrical connectors, display, power and firmware reset buttons, electrical connectors for connection antenna unit and submersible unit, which, in turn, contains a transceiver antenna of the echo sounder, a position sensor and a hydrostatic pressure sensor, and the submersible unit is made in the form of a strong sealed underwater plastic case and is installed at the end of a rod attached to the boat and submerged in water, or is permanently installed on the case of a vessel or in a specialized mine, built into the hull of the vessel, the position sensor is connected to the integration module through the inlet and outlet, the hydrostatic pressure sensor is connected through the inlet to the depth determination module connected to the atmospheric pressure sensor, information from which is fed through the cable to the integration module of the onboard unit , the transceiver antenna of the echo sounder is connected through the hydrographic echo sounder module with the integration module, satellite signals are received by the GNSS antenna, fed to the GNSS receiver, designed to generate on their basis current geographic coordinates and uniform time, which are then fed to the integration module, data from the integration module through serial connected by a Wi-Fi modem, a Wi-Fi antenna of the ship's antenna unit, a Wi-Fi antenna, a Wi-Fi modem of the base complex or through a series-connected VHF modem, a VHF antenna unit of the ship complex, a VHF antenna, a VHF modem of the base complex or via serial The connected GSM modem, the GSM antenna unit of the ship complex, the coastal GSM infrastructure and the GSM antenna, the GSM modem of the base complex from the ship complex, being displayed on the display, are transmitted to the AWP.

In a preferred embodiment, the ship complexes are deployed on various floating craft moving through the controlled water area.

In a preferred embodiment, the AWS of the base complex is located at any point on the shore or on the base ship.

In a preferred embodiment, the multi-agent hardware and software complex contains one or more coastal servers of the same type, designed to receive data from the integration modules of the ship complexes via one of the Wi-Fi, VHF and GSM communication channels.

In the preferred embodiment, the coastal servers are connected to the AWS of the base complex via Wi-Fi, VHF, GSM communication channels, satellite communication for data transmission to the AWS of the base complex.

Brief Description of Drawings

The essence of the invention is illustrated by drawings.

FIG. 1 shows a block diagram of the interacting base complex and a single ship complex.

FIG. 2 shows a block diagram of the PAK version with a base complex and several ship complexes of the same type.

FIG. 3 shows a block diagram of the PAK variant with a base complex, several coastal servers of the same type and ship complexes.

The multi-agent hardware-software complex contains the base complex (1), the ship complex (2) and the coastal GSM-infrastructure (3) (see Fig. 1 and Fig. 2).

PAK is an automated system for collecting, processing, storing, issuing and visualizing hydrographic data from ship complexes (SC) distributed over various floating facilities (2).

The basic complex (1) consists of housed in durable, protected from external influences (mechanical stress, dust, water), cases, components. This allows it to be installed in any convenient place in buildings, cars, ships, etc. The base complex includes the following elements: an automated workstation (AWP) (7), a Wi-Fi modem (8), a VHF modem (9), a GSM modem (10), a Wi-Fi antenna (11), a VHF antenna ( 12), a GSM antenna (13), interconnected by a data transmission network. The basic complex (1) is designed as a functional for monitoring, receiving, processing, displaying, storing and analyzing incoming information. AWP (7) is a software and hardware unit based on a personal computer (PC) with installed software (SW), with the help of which the operation of the PAK is controlled. The software has full functionality for monitoring the operation of a large number of ICs (2), receiving, processing, displaying, saving and analyzing incoming information. AWP (7) is installed in a place convenient for operators' work. A Wi-Fi antenna (11) is connected to the AWP (7) via a Wi-Fi modem (8) to ensure data exchange with the SC (2) via a Wi-Fi communication channel. Also, a VHF antenna (12) is connected to the AWP (7) via a VHF modem (9) to ensure data exchange with the SC (2) via the VHF communication channel. In addition, a GSM antenna (13) is connected to the AWP (7) via a GSM modem (10) to ensure data exchange with the IC (2) via the GSM communication channel.

The ship complex (2) contains three blocks, interconnected by electric cables: antenna block (4), on-board block (5) and submersible block (6). At the same time, the antenna unit (4) contains, made in a protected maritime version, the antenna of the Global Navigation Satellite System (GNSS) (14), Wi-Fi (15), VHF (16) and GSM (17) antennas installed at elevated points of the floating craft. The GNSS antenna (14) can be installed on the rod of the submersible unit (6).

The on-board unit (5) contains an integration module (18) and a power supply unit (19), a GNSS receiver (20), as well as Wi-Fi modems (21), VHF (22), GSM (23) connected to it through the inputs and outputs. , an archiving unit (24) for storing depth data in non-volatile memory, a display (25), a hydrographic echo sounder module (26), a depth determination module (29) and an atmospheric pressure sensor (31). Moreover, the on-board unit (5) is made in the form of a durable case protected from external influences with electrical connectors, power and reset buttons for the power supply (19), electrical connectors for connecting the antenna unit (4).

Ship complexes (2), in an unlimited number, installed on watercraft, measure the depth with reference to geographical coordinates, display this data on the built-in display and using one of several wireless channels (Wi-Fi, VHF radio communication or GSM-cellular channel) transfer them to the base complex (1). The GSM-cellular channel is implemented using the coastal GSM-infrastructure (3) provided by the cellular operator (a distributed network of antennas on the GSM-communication towers of the cellular operator). Wireless channels complement each other, data transmission is carried out over the channel that is most stable at the time of transmission.

The submersible unit (6) contains the echo sounder transceiver antenna (27), the position sensor (28) and the hydrostatic pressure sensor (30). Moreover, the submersible unit (6) is made in the form of a strong sealed underwater plastic body and is installed at the end, fixed on the floating craft and submerged in water, of a rod or permanently installed on the ship's hull or in a specialized shaft mounted in the ship's hull.

The position sensor (28) is connected through the input and output to the integration module (18), the hydrostatic pressure sensor (30) through the input is connected to the depth determination module (29) connected to the atmospheric pressure sensor (31), information from which is fed to integration module (18) on-board unit (5). The transceiver antenna of the echo sounder (27) is connected through the hydrographic echo sounder module (26) with the integration module (18), satellite signals are received by the GNSS antenna (14), are fed to the GNSS receiver (20), designed to generate on their basis the current geographic coordinates and uniform time , which then go to the integration module (18). Data from the integration module (18) via a series-connected Wi-Fi modem (21), Wi-Fi antenna (15), antenna unit (4) of the ship complex (2), Wi-Fi antenna (11), Wi-Fi modem (8 ) of the base complex (1) or through the serially connected VHF modem (22), the VHF antenna (16) of the antenna unit (4) of the ship complex (2), the VHF antenna (12), the VHF modem (9) of the base complex (1) or through series-connected GSM modem (23), GSM antenna (17) antenna unit (4) of the ship complex (2), coastal GSM infrastructure (3) and GSM antenna (13), GSM modem (10) of the base complex (1) from the ship complex (2), displayed on the display (25), are transferred to the AWP (7).

The multi-agent hardware and software complex (see Fig. 3) additionally contains the same type of coastal servers (32) designed to receive data from the integration modules (18) of the ship complexes (2) via one of the Wi-Fi, VHF and GSM communication channels. Also, the coastal servers (32) are connected to the AWP (7) of the base complex (1) via Wi-Fi, VHF, GSM, satellite communication channels. This makes it possible to collect depth data with reference to geographic coordinates from the integration modules (18) of the ship complexes (2), first in the coastal servers (32), and then in the AWS (7) of the base complex (1).

DETAILED DESCRIPTION OF THE INVENTION

The multi-agent hardware and software complex functions as follows:

After the supply voltage is applied to the base complex (1), all its constituent parts are switched on. The workstation (7) begins to execute the software operating algorithm, that is, an initial self-test is carried out, and then the functionality is launched to control the operation of a large number of ship complexes (2), receive, process, display, save and analyze the incoming information. AWP (7) is ready to receive hydrographic information (depths with geographic coordinates) from all operational ship complexes (2). Data reception is possible either via a Wi-Fi modem (8) and a Wi-Fi antenna (11) for a Wi-Fi channel; either via a VHF modem (9) and a VHF antenna (12) for the VHF channel; or via a GSM modem (10), a GSM antenna (13) and an onshore GSM infrastructure (3) for a GSM channel.

The operation of a multi-agent hardware and software complex can also be based on the use of one base complex (1) and one or several coastal servers of the same type (32), interconnected with each other and the base complex (1) via Wi-Fi, or VHF, or GSM communication channels. , or satellite communications installed along sections of inland waterways of considerable length (see Fig. 3). At the same time, coastal servers (32) via Wi-Fi, VHF and GSM communication channels receive information about depths from ship complexes (2) installed on passing floating crafts and transmit it to the base complex (1) for operational processing and correction of hydrographic information.

Each ship complex (2) operates autonomously immediately after turning on the power. After power is applied, the power supply unit (19) begins to generate a supply voltage to power the on-board unit (5) and all its elements, and in the on-board unit (5) voltage is generated for the submersible unit (6) and all its elements. Then the integration module (18) is turned on, in the microcontroller of which the algorithm for the operation of the ship complex (2) is performed:

1) depth measurement. It is carried out by the hydrographic echo sounder module (26) through the echo sounder transceiver antenna connected to it (27) with correction of the depth measurements according to the measured roll / course / trim of the echo sounder transceiver antenna (27). Depth correction is performed by the integration module (18) according to the position sensor (28), which is an inertial and magnetic roll / heading / trim sensor. The position sensor (28), due to the joint with the transceiver antenna of the echo sounder (27), in one plastic case, actually gives out the roll / heading / trim values of the transceiver antenna of the echo sounder (27), which are fed to the integration module (18) to correct the depth measurement;

2) determination of the depth of the transceiver antenna of the echo sounder (27). It is performed by the module for determining the depth (29) using a high-precision hydrostatic pressure sensor (30) connected to it, located in the submersible unit (6) at the level of the transceiver antenna of the echo sounder (27), and an atmospheric pressure sensor (31) located in the on-board unit (5 ). The readings of these two sensors are determined and, based on the difference in readings, the current depth of the transceiver antenna of the echo sounder (27) is calculated, which is transmitted by the depth determination module (29) to the integration module (18). The use of the module for determining the depth (29) makes it possible to eliminate the requirement for manual input of the depth by the operator, eliminate errors during manual input, automatically introduce corrections for changes in atmospheric pressure, thereby simplifying the operation of the ship complex (2);

3) obtaining geographic coordinates for binding the measured depth to them. The satellite signals of the selected Global Navigation Satellite Systems are received by the GNSS antenna (14), fed to the GNSS receiver (20), where, on their basis, current geographic coordinates and uniform time are generated, which are then fed to the integration module (18). In this case, operating modes can be used with obtaining differential corrections in various ways;

4) calculation of the current depth value. It is calculated according to the readings of the echo sounder and according to the values calculated in step 2 by the module for determining the depth (29) of the transceiver antenna (27);

5) display of the currently measured corrected depth value. Depth data is transmitted from the integration module (18) to the built-in display (25) of the on-board unit (5) and can be observed by interested persons (for example, the navigator);

6) recording and transmission of temperature data;

7) data archiving. Data on depth, temperature, atmospheric pressure, with reference to geographic coordinates and uniform time, are transferred from the integration module (18) to the archiving unit (24), where they are stored in non-volatile memory;

8) transmission of data on depth, temperature, atmospheric pressure to the base complex (1). Data referenced to geographic coordinates and uniform time is transmitted from the integration module (18) via one of the duplex Wi-Fi, VHF and GSM channels to the AWP (7) of the base complex (1).

Data transfer from the integration module (18) to the AWP (7) is carried out as follows:

- via Wi-Fi: via a series-connected Wi-Fi modem (21), Wi-Fi antenna (15), Wi-Fi antenna (11), Wi-Fi modem (8);

- via VHF: through a series-connected VHF modem (22), VHF antenna (16), VHF antenna (12), VHF modem (9);

- via GSM: via a series-connected GSM modem (23), GSM antenna (17), coastal GSM infrastructure (3), GSM antenna (13), GSM modem (10);

- data transmission can also be carried out through the same type of coastal servers (32), interconnected and the base complex (1) via any of the Wi-Fi, or VHF, or GSM, or satellite communication channels. At the same time, the data of the integration modules (18) are sent to the coastal servers (32) via Wi-Fi, VHF, GSM communication channels.

At each moment in time, the algorithms for the work of the AWP (7) and the integration modules (18) dynamically track which of the Wi-Fi, VHF or GSM channels or satellite communications provide the best stability of data transmission, then the data is transmitted through the selected channels.

Since a duplex communication is established between the AWP (7) and the integration module (18), data loss does not occur even if communication is lost. In the absence of communication, data continues to accumulate in the archiving unit (24), and when a connection appears, unsent data is sent to the AWP (7).

The operation of all systems of the ship complex (2) starts automatically after external power supply to its power supply unit (19), self-diagnostics is performed, measurements of depth, roll / course / trim begin, determination of the depth of the transceiver antenna of the echo sounder (27), and obtaining geographic coordinates. The received data is displayed on the display (25) and begins to be transmitted to the AWP (7) via Wi-Fi, VHF, GSM and satellite communication channels.

The AWP software (7) is cross-platform and operates under both Windows and Linux operating systems. This frees users from the need to install Windows OS on AWP (7) and depend on updates and operation of this OS with periodic access to the network and significantly increases the safety of work and the safety of information. The software supports the simultaneous operation of a large number of floating craft under the control of one workstation (7). Using the proprietary PAKARG data format can significantly reduce the amount of transmitted and archived data.

The main functionality implemented in the AWP software (7):

• registration in digital and visual form of information coming from floating craft (SS);

• operational processing and recording of incoming information (both in NMEA format and in its own PAKARG format);

• visualization of the received data in real time and in post-viewing mode (displaying position, trajectory, course, selected or all substations, displaying the bottom profile along the trajectory of the selected substation);

• data recording from all substations to a text file / group of text files;

• viewing the bottom profile, movement speed, course for each aircraft in real time and in post-viewing mode;

• drawing the situation on the map (setting marks with comments);

• display of a coordinate grid;

• displaying the status of available substations in the status bar;

• auto-scaling of the displayed area of the map, depending on the location of the vehicles displayed on the screen;

• display of information windows with readings of the required data;

• support for raster maps;

• support for vector maps;

• switching between different types of maps in real time;

• display of the scale scale;

• construction of a bathymetric map, taking into account the data received from the PS;

• checking the quality and mutual convergence of data.

Thus, the declared multi-agent software and hardware complex for performing hydrographic surveying of reservoirs and operational monitoring of changes in the bottom topography provides an increase in the speed and volume of obtaining operational information about the bottom topography, on shelf sections, in port water areas and nearby sections of inland waterways of various lengths and operational correction of electronic bathymetric maps of water areas with automated input of corrections for the deepening of transmitting and receiving echo sounder antennas and for atmospheric pressure. In addition, the elements of the complex installed on ships, during their work, do not require the involvement of highly qualified specialists, since the installation of their submersible parts is carried out on ready-made rods, or by stationary installation on the ship's hull or in a specialized mine built into the ship's hull, and on-board equipment as automated as possible.

Claims (5)

1. A multi-agent hardware and software complex for performing hydrographic surveying of reservoirs and operational monitoring of changes in the bottom topography, containing a basic complex designed as a functional for monitoring, receiving, processing, displaying, storing and analyzing incoming information and equipped with an automated workstation (AWS), Wi-Fi, VHF, GSM modems and Wi-Fi, VHF and GSM antennas connected to the AWS by a data transmission network, and the AWP is a hardware and software unit based on a personal computer (PC) with software installed in it, designed to control the operation of a multi-agent software and hardware complex and two or more ship complexes, each ship complex contains three units connected by electric cables: antenna unit, on-board unit and submersible unit, while the antenna unit contains the Global Navigation satellite system topics (GNSS), Wi-Fi, VHF, GSM antennas, on-board unit contains an integration module and a power supply unit, GNSS receiver, Wi-Fi, VHF, GSM modems connected to it through inputs and outputs, an archiving unit for saving depth data in a non-volatile memory, display, hydrographic echo sounder module, depth determination module, atmospheric pressure sensor, while the on-board unit is made in the form of a rugged enclosure protected from external influences with electrical connectors, a display, power and firmware reset buttons, electrical connectors for connecting the antenna unit and submersible unit, which in turn contains the transceiver antenna of the echo sounder, a position sensor and a hydrostatic pressure sensor, and the submersible unit is made in the form of a strong sealed underwater plastic case and is installed at the end of a rod attached to the floating craft and immersed in water, or is permanently installed on the ship's hull or in specialized mine, built in into the ship's hull, the position sensor is connected to the integration module through the input and output, the hydrostatic pressure sensor is connected through the input to the depth determination module connected to the atmospheric pressure sensor, the information from which is fed through the cable to the onboard unit integration module, the transceiver antenna of the echo sounder is connected through a hydrographic echo sounder module with an integration module, satellite signals are received by the GNSS antenna, fed to a GNSS receiver, designed to generate on their basis current geographic coordinates and a single time, which are then fed to the integration module, data from the integration module through a series-connected Wi-Fi modem, Wi-Fi antenna of the ship's antenna unit, Wi-Fi antenna, Wi-Fi modem of the base complex or through a series-connected VHF modem, VHF antenna of the ship complex, VHF antenna, VHF modem of the base complex or through a series-connected GSM modem, GSM antenna antennae on the unit of the ship complex, the coastal GSM infrastructure and the GSM antenna, the GSM modem of the base complex from the ship complex, being displayed on the display, are transmitted to the AWP. 2. The multi-agent hardware and software complex according to claim 1, characterized in that the ship complexes are placed on various floating craft moving through the controlled water area. 3. The multi-agent hardware and software complex according to claim 1, characterized in that the AWS of the base complex is located at any point on the shore or on the base ship. 4. The multi-agent hardware and software complex according to claim 1, characterized in that it contains one or more coastal servers of the same type intended to receive data from the integration modules of the ship complexes via one of the Wi-Fi, VHF and GSM communication channels. 5. The multi-agent hardware and software complex according to claim 4, characterized in that the coastal servers are connected to the AWS of the base complex via Wi-Fi, VHF, GSM communication channels, satellite communication for data transmission to the AWS of the base complex.

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