CN102490869A - Automatic avoiding device for route buoy and avoiding control method - Google Patents
Automatic avoiding device for route buoy and avoiding control method Download PDFInfo
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- CN102490869A CN102490869A CN2011103976055A CN201110397605A CN102490869A CN 102490869 A CN102490869 A CN 102490869A CN 2011103976055 A CN2011103976055 A CN 2011103976055A CN 201110397605 A CN201110397605 A CN 201110397605A CN 102490869 A CN102490869 A CN 102490869A
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- hawser
- buoy
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- thing mark
- control logic
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Abstract
The invention relates to a ship route safety device, particularly relates to an automatic avoiding device for a route buoy and an avoiding control method. The device comprises a mobile object monitoring unit arranged on a buoy ship, wherein the mobile object monitoring unit is connected with a core control logic unit; the core control logic unit is connected with a cable pay-off and take-up control unit which is connected with a servo motor of a cable winch; and the cable winch is connected with an anchor device through cables. The automatic avoiding device provided by the invention can be used for avoiding the damage on equipment caused by that the buoy is hit, and can be used for recovering the normal state of a sailing mark, thus the intensity of manual labor can be greatly lowered, the maintenance period is reduced, and the security guarantee of sailing on the route is improved; and the passing of the route can be recovered in short time.
Description
Technical field
The present invention relates to a kind of river channel safety facilities, be specifically related to a kind of channel buoy automatic avoiding device and dodge control method.
Background technology
A large amount of navigation marks that the inland river large ship relies on two sides, the left and right sides, river course to join cloth in when navigation are confirmed safety lanes as navigational notation, navigational aids planning point or (shore beacon) on the coast, or in water (buoy).In some navigation sections that the waters is narrow, curvature radius of waterway is little, buoy is joined cloth often than comparatively dense.Large ship in going is when drifting off the course; Possibly bump with the buoy that is fixed on the border, navigation channel; Cause the buoying device damage of fixed buoy, the cleat fracture or the navigational notation damage of buoy; Accident is in case generation needs the navigation channel personnel that patrol and examine to find in the work that daily patrolling and examining laggard pedestrian worker's maintenance resets.If the impaired navigation mark of untimely reparation will have a strong impact on channel safe.Yet the navigation channel personnel that patrol and examine often can not learn in time that buoy is hit, and in repair process, also need artificial buoying device that cloth more renews, the hawser etc. of joining again, and cycle of operations is long, can not satisfy busy shipping request.
Summary of the invention
The objective of the invention is to defective, a kind of channel buoy automatic avoiding device and the preventing collision method that can avoid boats and ships and channel buoy to bump is provided, improve the safety control of navigation channel navigation to prior art.
Technical scheme of the present invention is following: a kind of channel buoy automatic avoiding device; Comprise the mobile thing mark monitoring unit that is arranged on the buoy ship; Moving thing mark monitoring unit is connected with core control logic unit; The connection of core control logic unit is arranged on the hawser folding and unfolding control unit on the buoy ship, the servomotor of hawser folding and unfolding control unit connection cable winch, and the hawser winch is connected with anchor fitting through hawser.
Further, aforesaid channel buoy automatic avoiding device, wherein, described mobile thing mark monitoring unit is made up of several ultrasonic detectors towards different azimuth.
Further, described ultrasonic detector has 8, is octagon in the horizontal direction and distributes.
Further; Aforesaid channel buoy automatic avoiding device; Wherein, Described core control logic unit comprises the signal receiving module that is used to receive mobile thing mark signal that monitoring unit sends, and described signal receiving module is connected with central processor CPU, and central processor CPU also is connected with the signal transmitting module that is used for to hawser folding and unfolding control unit transmission command signal.
Further, aforesaid channel buoy automatic avoiding device, wherein, described hawser folding and unfolding control unit comprises command signal receiver module and the control module that is used to control the running of hawser winch servomotor.
A kind of channel buoy is dodged control method automatically, comprises the steps:
(S1) move thing mark monitoring unit according to whether have near the current buoy of continual search of cycle regular time the thing mark near, and send the target acquisition signal to core control logic unit;
(S2) core control logic unit is according to moving calculated signals thing mark shift position and the speed that thing mark monitoring unit is passed back; And judge whether the distance range thresholding that bumps against near default; If less than the danger range threshold value, then send hawser and release order to hawser folding and unfolding control unit;
(S3) hawser that sends according to core control logic unit of hawser folding and unfolding control unit releases order and discharges the hawser of buoy;
(S4) when the distance between thing mark and the buoy was in release position greater than safety distance threshold value and hawser, core control logic unit sent the instruction of hawser retracted for clearance to hawser folding and unfolding control unit;
(S5) hawser folding and unfolding control unit is received the hawser that twists buoy according to the hawser retracted for clearance instruction that core control logic unit sends.
Further, aforesaid channel buoy is dodged control method automatically, in the step (S1), moves thing mark monitoring unit and sends search signal simultaneously to 8 orientation of buoy horizontal direction.
Further, aforesaid channel buoy is dodged control method automatically, in the step (S1), moves target acquisition signal that thing mark monitoring unit sends and whether comprises discovery target state value and thing subject distance value.
Further, aforesaid channel buoy is dodged control method automatically, and in the step (S2), described hawser releases order and comprises that expression discharges the instruction class offset and the hawser of dodging and discharges length value; In the step (S4), described hawser retracted for clearance instruction comprises instruction class offset and the hawser contracted length value of representing retracted for clearance.
Beneficial effect of the present invention is following: the present invention marks the nearest shippping traffic of monitoring unit real-time automatic monitoring through moving thing, and to core control logic unit transmitting supervisory signal, judges whether the possibility that bumps; Before boats and ships and buoy soon bumped danger inevitably, through the control of hawser folding and unfolding control unit, buoy can cleat by automatic release, avoided with the current displacement; When boats and ships through or dangerous the releasing after, system shrinks hawser automatically and resets, and makes buoy get back to the home position.The present invention both can avoid buoy to be hit the device damage that causes, can also in time recover the navigational notation normal condition, reduced hand labor intensity greatly, reduced maintenance intervals, in the shortest time, recovered the navigation channel and passed through, and improved the safety control of navigation channel navigation.
Description of drawings
Fig. 1 is a channel buoy automatic avoiding device schematic diagram;
Fig. 2 is the structural representation of channel buoy automatic avoiding device;
The diagram of circuit that Fig. 3 dodges control method automatically for channel buoy;
Fig. 4 is the form scheme drawing of ultrasonic detector signal;
Fig. 5 is the form scheme drawing of hawser folding and unfolding control command signal.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is carried out detailed description.
Channel buoy automatic avoiding device provided by the present invention mainly is made up of mobile thing mark monitoring unit, core control logic unit, hawser folding and unfolding control unit and slave parts such as hawser winch and external power supply.Its principle of device is as shown in Figure 1; The mobile thing mark monitoring unit that is arranged on the buoy ship is connected with core control logic unit; Send thing mark signal to core control logic unit, the connection of core control logic unit is arranged on the hawser folding and unfolding control unit on the buoy ship, to hawser folding and unfolding control unit sending controling instruction; The servomotor of hawser folding and unfolding control unit connection cable winch is according to the running of instruction control servomotor.
A kind of concrete implementation structure of device is as shown in Figure 2; The thing mark detector that moves thing mark monitoring unit 2 is set on buoy ship 1; Thing mark detector can be provided with the system frequency parameter; Continually search for through ultrasonic detector whether large-scale thing mark (boats and ships) is arranged near the current buoy according to cycle regular time, and to System Reports thing subject distance signal.Move the ultrasonic detector of thing mark monitoring unit and form, distribute by positive 8 limit shapes, with the target of monitoring from different azimuth by 8.Consider that other requirement is not very high to this device to the detection accuracy level, and consider the cost that this equipment promotion is popularized, so selected 8 ultrasonic detectors to assemble both economical practicality in the present embodiment.Those skilled in the art can adopt the thing mark detector of other type fully, for example adopts the equipment of radar geometric ratio higher-end to survey.
The signal of ultrasonic detector reaches the signal receiving module of core control logic unit 3, and signal receiving module is connected with central processor CPU, and central processor CPU also is connected with the signal transmitting module that is used for to hawser folding and unfolding control unit transmission command signal.The central processor CPU of device is marked (boats and ships) shift position and speed according to the thing in certain orientation of calculated signals that mobile thing mark monitoring unit is passed back; And judge whether the distance range thresholding that bumps against near default; If less than the danger range threshold value; Send hawser to hawser folding and unfolding control unit and release order, and the length instruction of hawser release; If greater than the safety distance threshold value, send the instruction of hawser retracted for clearance to hawser folding and unfolding control unit.As a kind of concrete way of realization, core control logic unit can be made up of treater CPU+8 road communication interface, realizes data-signal is handled and the control logic judgement through programming.
Hawser folding and unfolding control unit 4 comprises the command signal receiver module and is used to control the control module of the servomotor running of hawser winch 5 that the hawser that responding system core control logic unit sends discharges or the retracted for clearance instruction, controls the winch servomotor and turns round.In addition, hawser folding and unfolding control unit can also design and have the function of feeding back the phase related control information in real time to core control logic unit.As a kind of concrete way of realization, hawser folding and unfolding control unit can be made up of PLC (Programmable Logic Controller)+relay, carries out the various control commands of core control logic unit.
In addition, the buoy ship also carries power-supply system-storage battery 7, for automatic avoiding device provides necessary external impetus supply.
The basic controlling flow process of each functional unit of channel buoy automatic avoiding device is as shown in Figure 3.Move thing mark monitoring unit according on certain loop cycle monitoring navigation channel whether thing mark (boats and ships) being arranged, the thing mark signal of surveying is sent to system core control logic unit; Core control logic unit is judged according to parameters such as thing target orientation, distance, speed and states and is calculated; To realize that the danger range threshold value and the safety distance threshold value that configure are foundation, send hawser folding and unfolding control command signal to hawser folding and unfolding control unit; Hawser folding and unfolding control unit carries out the control of hawser winch according to the dependent instruction that receives.
To thing mark near to away from complete control process, this is dodged control method and comprises the steps:
(S1) move thing mark monitoring unit according to whether have near the current buoy of continual search of cycle regular time the thing mark near, and send the target acquisition signal to core control logic unit;
(S2) core control logic unit is according to moving calculated signals thing mark shift position and the speed that thing mark monitoring unit is passed back; And judge whether the distance range thresholding that bumps against near default; If less than the danger range threshold value, then send hawser and release order to hawser folding and unfolding control unit;
(S3) hawser that sends according to core control logic unit of hawser folding and unfolding control unit releases order and discharges the hawser of buoy;
(S4) when the distance between thing mark and the buoy was in release position greater than safety distance threshold value and hawser, core control logic unit sent the instruction of hawser retracted for clearance to hawser folding and unfolding control unit;
(S5) hawser folding and unfolding control unit is received the hawser that twists buoy according to the hawser retracted for clearance instruction that core control logic unit sends.
Through specific embodiment channel buoy of the present invention being dodged control method automatically below is described in detail.
Embodiment
8 ultrasonic detectors distribute by positive 8 limit shapes, with the target of monitoring from 8 different azimuth in the horizontal surface, certainly, also can suitably reduce the detector in certain orientation according to the particular case in navigation channel.Each ultrasonic detector is surveyed according to the cycle of default incessantly, if the state value of ultrasonic detector greater than 0 (as 1), expression have thing mark near, detectable signal is sent to system core control logic unit.The form of ultrasonic detector signal can (being not limited to this a kind of form) as shown in Figure 4, and signal length is 5 bytes, wherein; First byte is a state value, and binary representation, bits per inch are 0 or 1; 0 expression detector does not have the discovery mark, 1 expression detector discovery mark; 4 bytes in back are thing subject distance value, are integer type.
Core control logic unit carries out data computation according to the detectable signal that receives; Thing is marked distance value between mark of thing in the continuous moving process and the buoy ship less than the danger range of default; As 10 meters, core control logic unit sends hawser to hawser folding and unfolding control unit and releases order; Thing is marked distance value between the mark of thing in the continuous moving process and the buoy ship greater than the safety distance of default, and as 30 meters, and hawser has been in release position, and system sends the hawser retracted for clearance to hawser folding and unfolding control unit and instructs; The form of hawser folding and unfolding control command signal (being not limited to this a kind of form) as shown in Figure 5, signal length is 5 bytes, wherein, first byte is the instruction class offset, character type, 1 expression discharges dodges, 2 expression retracted for clearance; 4 bytes in back are hawser folding and unfolding length value, integer type.
Because detectable signal carries out continuously; When thing mark (boats and ships) begins away from buoy, still danger range scope warning of detectable signal at this moment, but automatic avoiding device has been accomplished system directive by previous instruction; At this moment, system can postpone sending controling instruction.That is to say, if hawser folding and unfolding control unit has been accomplished system directive, then wouldn't sending controling instruction.The control winch discharges or shrinks the length occurrence of hawser and sets according to system parameter.
The release length of following casehistory thing target position and moving velocity and hawser and the relation between the release rate.
If: buoy is in certain waters, in case have the thing mark near, (mainly setting according to different status of the water area) can guarantee then need satisfy not by damage if buoy has 50 meters (or hawser release length) range of drift:
L/S＞l/s；
Wherein: when L--begins to discharge hawser, the distance of thing subject distance buoy;
S--thing mark is to the moving velocity of buoy;
The l--hawser discharges length;
The s--winch discharges the speed of hawser;
Visible through following formula, the requirement of safe avoidance be the thing mark near time to be longer than the time that hawser discharges.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, belong within the scope of claim of the present invention and equivalent technologies thereof if of the present invention these are revised with modification, then the present invention also is intended to comprise these changes and modification interior.
Claims (10)
1. channel buoy automatic avoiding device; It is characterized in that: comprise the mobile thing mark monitoring unit (2) that is arranged on the buoy ship (1); Moving thing mark monitoring unit (2) is connected with core control logic unit (3); Core control logic unit (3) connection is arranged on the hawser folding and unfolding control unit (4) on the buoy ship, the servomotor of hawser folding and unfolding control unit (4) connection cable winch (5), and hawser winch (5) is connected with anchor fitting (6) through hawser.
2. channel buoy automatic avoiding device as claimed in claim 1 is characterized in that: described mobile thing mark monitoring unit (2) is made up of several ultrasonic detectors towards different azimuth.
3. channel buoy automatic avoiding device as claimed in claim 2 is characterized in that: described ultrasonic detector has 8, is octagon in the horizontal direction and distributes.
4. channel buoy automatic avoiding device as claimed in claim 1; It is characterized in that: described core control logic unit (3) comprises the signal receiving module that is used to receive mobile thing mark monitoring unit (2) signal that sends; Described signal receiving module is connected with central processor CPU, and central processor CPU also is connected with the signal transmitting module that is used for to hawser folding and unfolding control unit (4) transmission command signal.
5. like claim 1 or 4 described channel buoy automatic avoiding devices, it is characterized in that: described hawser folding and unfolding control unit (4) comprises command signal receiver module and the control module that is used to control the running of hawser winch servomotor.
6. a channel buoy is dodged control method automatically, comprises the steps:
(S1) move thing mark monitoring unit according to whether have near the current buoy of continual search of cycle regular time the thing mark near, and send the target acquisition signal to core control logic unit;
(S2) core control logic unit is according to moving calculated signals thing mark shift position and the speed that thing mark monitoring unit is passed back; And judge whether the distance range thresholding that bumps against near default; If less than the danger range threshold value, then send hawser and release order to hawser folding and unfolding control unit;
(S3) hawser that sends according to core control logic unit of hawser folding and unfolding control unit releases order and discharges the hawser of buoy;
(S4) when the distance between thing mark and the buoy was in release position greater than safety distance threshold value and hawser, core control logic unit sent the instruction of hawser retracted for clearance to hawser folding and unfolding control unit;
(S5) hawser folding and unfolding control unit is received the hawser that twists buoy according to the hawser retracted for clearance instruction that core control logic unit sends.
7. channel buoy as claimed in claim 6 is dodged control method automatically, it is characterized in that: in the step (S1), move thing mark monitoring unit and send search signal simultaneously to 8 orientation of buoy horizontal direction.
8. channel buoy as claimed in claim 7 is dodged control method automatically, it is characterized in that: in the step (S1), move target acquisition signal that thing mark monitoring unit sends and whether comprise discovery target state value and thing subject distance value.
9. channel buoy as claimed in claim 6 is dodged control method automatically, it is characterized in that: in the step (S2), described hawser releases order and comprises that expression discharges the instruction class offset and the hawser of dodging and discharges length value.
10. channel buoy as claimed in claim 6 is dodged control method automatically, it is characterized in that: in the step (S4), described hawser retracted for clearance instruction comprises instruction class offset and the hawser contracted length value of representing retracted for clearance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103976055A CN102490869A (en) | 2011-12-05 | 2011-12-05 | Automatic avoiding device for route buoy and avoiding control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103976055A CN102490869A (en) | 2011-12-05 | 2011-12-05 | Automatic avoiding device for route buoy and avoiding control method |
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| CN102490869A true CN102490869A (en) | 2012-06-13 |
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| CN2011103976055A Pending CN102490869A (en) | 2011-12-05 | 2011-12-05 | Automatic avoiding device for route buoy and avoiding control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105544439A (en) * | 2015-12-14 | 2016-05-04 | 宁波大学 | Moveable ship intercepting method for long bridge |
| CN109835438A (en) * | 2018-12-29 | 2019-06-04 | 杭州电子科技大学 | A kind of lift buoy device |
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| CN2938254Y (en) * | 2006-06-22 | 2007-08-22 | 重庆永旺科技发展有限公司 | Beacon telemetering remote control device |
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| CN202018745U (en) * | 2011-02-18 | 2011-10-26 | 长江南京航道局 | Control system for double GPS (global positioning system) navigation mark terminals |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105544439A (en) * | 2015-12-14 | 2016-05-04 | 宁波大学 | Moveable ship intercepting method for long bridge |
| CN109835438A (en) * | 2018-12-29 | 2019-06-04 | 杭州电子科技大学 | A kind of lift buoy device |
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Application publication date: 20120613 |