CN103177606B - Based on the pilotage docking system of solar blind ultraviolet light signal - Google Patents
Based on the pilotage docking system of solar blind ultraviolet light signal Download PDFInfo
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- CN103177606B CN103177606B CN201210550710.2A CN201210550710A CN103177606B CN 103177606 B CN103177606 B CN 103177606B CN 201210550710 A CN201210550710 A CN 201210550710A CN 103177606 B CN103177606 B CN 103177606B
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Abstract
Based on the pilotage docking system of solar blind ultraviolet light signal, comprise solar blind UV origin system, piloting instrument and display system; Piloting instrument is made up of three axle electronic compasss, optical imagery module and the information processing terminal; Three axle electronic compasss are connected with optical imagery module, obtain each angle information of described optical imagery module when rotating, and send angle information to the information processing terminal; Optical imagery module is made up of spectroscope, visible or infrared light imaging band and solar blind UV imaging band; Incident ray is divided into two bundles by spectroscope, make its enter respectively visible or infrared light imaging band and day blind ultraviolet imagery passage, visible or infrared light imaging band receives visible light signal, export visible or infrared light vision signal, solar blind UV imaging band receives solar blind ultraviolet light signal, export solar blind UV vision signal, the information processing terminal is used for the digital signal according to two-path video, and the navigation attitude data of Ship ' and output synthetic video are to display system.
Description
Technical field
The present invention relates to the technology of ship piloting alongside, specifically, relate to a kind of pilotage docking system based on solar blind ultraviolet light signal.
Background technology
Day, blind ultraviolet band referred to that UV C-band medium wavelength range is the part of 190-290nm.The day that the sun sends, blind ultraviolet band luminous point was subject to the strong absorption of ozonosphere in the process of passing through earth atmosphere, cannot arrive ground completely, therefore under even in everyday situations at the earth's surface near there is no the light signal of day blind ultraviolet band completely.Day, the detector of blind ultraviolet band had very high gain, and again not by the impact of sunlight background, visible or infrared light wave band of therefore comparing, solar blind ultraviolet detector can detect farther fainter signal.With time, the image of blind ultraviolet band is comparatively simple, and do not have environmental background completely, taken image is nearly all signal specific, greatly reduces the workload of successive image process like this.
Day, blind ultraviolet band had good fog clearness ability, and this obtains confirmation in pertinent literature.We through actual measurement also demonstrate that day blind ultraviolet detection technology can to realize visibility be the solar blind UV source of locating under the greasy weather of more than 100 meter outside 600 meters.This be day blind ultraviolet characteristic for the basis of boats and ships fog clearness pilotage alongside.
In water transport field, the greasy weather drastically influence the unobstructed of shipping lane.The hydrologic condition difference to some extent in different harbour and navigation channel, but when visibility is less than 1 nautical mile usually, boats and ships will slow down navigation; When visibility is less than 1000m, large ship should stop navigation, and therefore the greasy weather not only affects the safety of ship's navigation, also drastically influence unobstructed (see " waters, entrance of Changjiang River, the PORT OF SHANGHAI traffic administration rule " Article 10) of shipping lane and port logistics.Because visibility is lower under greasy weather, such as large ship usually occurs and smashes the major accidents such as bridge pier, be also subject to the impact in greasy weather during ships'passing dam, during the greasy weather, boats and ships must stop dam simultaneously.
Water transport airmanship common both at home and abroad mainly contains ARPA, GPS, AIS, EDIS, radar etc. at present.But for water-borne transport, boisterous impact is huge.As in the greasy weather, the accuracy of ARPA radar pilotage declines greatly, particularly in the process of ship berthing, the higher position on boats and ships is erected at due to radar system, operationally can only detect situation remotely and cannot detect and the situation of boats and ships apart from more and more nearer Post Office, thus cannot carry out pilotage and alongside.This just means once there is the inclement weathers such as dense fog, and when ship piloting person's naked eyes cannot observe advance route situation, iceound measure can only be taked in harbour.
Pilot adopts visual this positioning means the most intuitively always for a long time, and judge whether boats and ships navigate by water in navigation channel by observing shore beacon, floating drum etc., but Mu often affects by conditions such as visibility and beacon light brightness depending on lookout, pilotage is very limited.Pilot is in the urgent need to having more equipment directly perceived, convenient, to adapt to pilotage requirement.Therefore, if " day is blind " characteristic and the fog clearness characteristic of solar blind UV well can be applied in the process of ship piloting alongside, well will solve the problem, fill up the vacancy existing for prior art.
Summary of the invention
Technical matters to be solved by this invention is combined with water transport field at fog clearness performance outstanding for blind for day ultraviolet band light, pilotage docking system based on solar blind ultraviolet light signal is provided, the safety problem of water transport pilotage alongside under the solution greasy weather, realizes safe navigation and the alongside of boats and ships.
The present invention solves the problems of the technologies described above adopted technical scheme: based on the pilotage docking system of solar blind ultraviolet light signal, comprise solar blind UV origin system, piloting instrument and display system; Described solar blind UV origin system comprises some solar blind UV sources; It is characterized in that, described piloting instrument is made up of three axle electronic compasss, optical imagery module and the information processing terminal; Described three axle electronic compasss are connected with optical imagery module, obtain each angle information of described optical imagery module when rotating, and send angle information to the information processing terminal;
Described optical imagery module is made up of spectroscope, visible or infrared light imaging band and solar blind UV imaging band, described spectroscope by incident ray by a certain percentage or wavelength be divided into two bundles, make its enter respectively described visible or infrared light imaging band and day blind ultraviolet imagery passage, described visible or infrared light imaging band receives visible light signal or infrared signal, export visible or infrared light video signal, described solar blind UV imaging band receives solar blind ultraviolet light signal, export solar blind UV video signal, the described information processing terminal is used for the digital signal according to two-path video, the navigation attitude data of Ship ' and output composite signal are to described display system.
As a further improvement on the present invention, also video acquisition module is provided with in described piloting instrument; Described visible or infrared light imaging band receives visible light signal or infrared signal, export visible or infrared light video analog signal to video acquisition module, described solar blind UV imaging band receives solar blind ultraviolet light signal, export solar blind UV video analog signal to video acquisition module, described video acquisition module gathers the analogue video signal of above-mentioned two paths, and convert thereof into the video of digital signal, send the described information processing terminal to.
Described composite signal can be visible ray and solar blind UV synthetic video, the navigation attitude data of boats and ships and auxiliary device information compound display, also can be that blind for day ultraviolet video digital signal, visible light video digital signal, calculating gained navigation attitude data and water transport electronic chart or three-dimensional electronic sea chart are combined, the simulating live-action figure obtained by virtual reality technology.
As a further improvement on the present invention, described near infrared imaging passage is short-wave infrared imaging band, and it can provide background reference information more clearly for day blind ultraviolet image.
As a further improvement on the present invention, described short-wave infrared imaging band is the planar array detector of InGaAs material or the CCD/CMOS device of attachment near infrared filter.
Described some solar blind UV sources are arranged on profile place, both sides, navigation channel etc. with port and pier berth place, bridge dam on boats and ships, and this solar blind UV source also can be mounted to specific pattern on demand.Solar blind UV source can be the light source that deep ultraviolet LED, low pressure mercury lamp, high-pressure sodium lamp, halogen tungsten lamp etc. can send day blind ultraviolet band light, and its optical wavelength range sent contains 190nm-290nm.The Sino-Japan blind ultraviolet light source of the present invention also comprises the situation of blind for day ultraviolet band laser device as light source.It is in order to day blind ultraviolet imagery passage has an initial position when rotating that described solar blind UV source is arranged on boats and ships, and the angle of rotating gained from this initial position can be read by three axle electronic compasss.
Described solar blind UV source, except being fixedly mounted on except on equipment, also can be the light source of movement: can be arranged on dolly, on canoe or be carried at dock personnel etc. with it, moving to suitable position when needs.
As a further improvement on the present invention, be also provided with modulation module in described solar blind UV origin system, described modulation module is connected with described solar blind UV source, for modulating the light-emitting mode in solar blind UV source to load information needed to solar blind UV source.Preferably, it can be realized by the control terminal such as single-chip microcomputer or PC, such as according to the actual requirements, and the pattern controlling the glow frequency in solar blind UV source, luminous intensity or form when blind uviol lamp is lighted day.
As a further improvement on the present invention, also utility appliance is provided with in described piloting instrument, utility appliance comprises the device such as shipborne radar, GPS, for obtain export ship's navigation time the sail information such as speed, course, geographic position longitude and latitude, draft and export the information processing terminal to.。Now, the described information processing terminal performs following steps:
1) obtain day blind ultraviolet video and visible light video digital signal, carry out visible light video and day blind ultraviolet video synthesis, obtain the real-time video composite signal under Same Scene;
2) angle when above-mentioned three axle electronic compasss rotate is obtained, and the day of above-mentioned acquisition blind ultraviolet video digital signal is calculated, obtain the navigation attitude data of boats and ships, when navigation attitude data comprises ship's navigation and the relative orientation in solar blind UV source, harbour place and the relative distance in boats and ships and solar blind UV source, harbour place;
3) by the information superposition of above-mentioned relative orientation and relative distance to above-mentioned visible ray/day blind ultraviolet synthetic video;
4) obtain described sail information from utility appliance, described sail information is added to the above-mentioned visible ray/day including ship's navigation attitude data of having synthesized on blind ultraviolet synthetic video.
Described display system can adopt screen display, Projection Display, wears display, glasses display and other feasible multiple display modes.
As a further improvement on the present invention, utility appliance in described piloting instrument is by Real-time Obtaining water transport electronic chart or three-dimensional electronic sea charts such as GPS or AIS, so that the information processing terminal exports the simulating live-action figure of pilotage to described display system by virtual reality technology.Now, the described information processing terminal performs following steps:
1) day blind ultraviolet video digital signal and visible light video digital signal is obtained;
2) angle when above-mentioned three axle electronic compasss rotate is obtained, and the day of above-mentioned acquisition blind ultraviolet video digital signal is calculated, obtain the navigation attitude data of boats and ships, when navigation attitude data comprises ship's navigation and the relative orientation in solar blind UV source, harbour place and the relative distance in boats and ships and solar blind UV source, harbour place;
3) described sail information is obtained from utility appliance;
4) blind for day ultraviolet video digital signal, visible light video digital signal, calculating gained navigation attitude data and water transport electronic chart or three-dimensional electronic sea chart are combined, exported the simulating live-action figure of pilotage by virtual reality technology.
Beneficial effect of the present invention is, due to " day is blind " ultraviolet characteristic of the sun and the outstanding fog clearness performance of solar blind UV, pilotage docking system based on solar blind ultraviolet light signal of the present invention by reference, obviously to solve under current art boats and ships in greasy weather alongside difficulty in large and current art ship piloting berthing device affect large problem by weather, environment etc.Even if in the greasy weather, it also can provide more directly perceived, accurate, safe sail information for pilot, is convenient to pilot and carries out pilotage in the greasy weather to ship berthing, also solves the unobstructed problem of greasy weather shipping lane and port logistics.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the embodiment of the present invention 1 piloting system;
Fig. 2 is solar blind UV source of the present invention installation form schematic diagram on object;
Fig. 3 is another kind installation form schematic diagram on object in solar blind UV source of the present invention;
Fig. 4 is the structured flowchart of the embodiment of the present invention 1 piloting instrument;
Fig. 5 is information processing terminal algorithm flow chart of the present invention;
Fig. 6 is the structured flowchart of the embodiment of the present invention 2 piloting instrument;
Fig. 7 is greasy weather pilotage alongside schematic diagram of the present invention;
Fig. 8 be piloting instrument of the present invention work time wear display mode schematic diagram.
Embodiment
Embodiment 1
In order to make technical scheme of the present invention and advantage clearly, below in conjunction with drawings and Examples, the present invention is described in further detail.
See Fig. 1, based on the pilotage docking system of solar blind ultraviolet light signal under a kind of greasy weather, it comprises solar blind UV origin system 1, piloting instrument 2 and display system 3.
Solar blind UV origin system 1 is made up of some solar blind UV source 1-1, it is first-class that these solar blind UV sources are installed in both sides, navigation channel, the profile place of bridge dam, port and pier place or boats and ships, be mainly used in the profile identifying object, it is when luminescence like this, and observer just picks out objects in front by luminous pattern.Being arranged on boats and ships in solar blind UV source is in order to the blind ultraviolet imagery passage of the day in piloting instrument has an initial reference position when rotating, and the angle of rotating gained from this initial position can be read by three axle electronic compasss, and this will hereinafter be described.
In the present embodiment, solar blind UV source is arranged on the mark post at port and pier place (see Fig. 2 A by prioritizing selection, suppose in Fig. 2 A that length of the berth is 320m, adjacent solar blind UV source interval 40m, totally 9 solar blind UV source mark posts) and hull characteristics point (as fore, stern and left and right string, see Fig. 2 B).Certainly, the mounting means in solar blind UV source is not limited in this.As can at port and pier place by solar blind UV source the solar blind UV source be mounted on inverse-T-shaped (see Fig. 3 A), ship can install around hull (see Fig. 3 B), or solar blind UV source also can be mounted to the pattern such as " △ ", "○", " 7 ".Can imagine, the mounting means in solar blind UV source is diversified, as long as contribute to light source pattern recognition.
Solar blind UV source 1-1 can also be mobile.As carried solar blind UV source by people, suitable position of standing when needing solar blind UV source; Or solar blind UV source is installed on moveable carriage, and when needs, dolly is pushed into suitable position; Or solar blind UV source is installed on canoe, drives to suitable position by canoe and light signal is provided.Or other feasible mobile solar blind UV source forms.
Solar blind UV source 1-1 can be the light source that deep ultraviolet LED or low pressure and high-pressure sodium lamp fluorescent tube, halogen tungsten lamp, deuterium lamp etc. can send day blind ultraviolet band light, and in its light sent, most of wavelength coverage is 190nm-290nm.In the present invention, solar blind UV source 1-1 also comprises the situation of blind for day ultraviolet band laser device as light source.In the present embodiment, preferentially select deep ultraviolet LED, because its power consumption is little, luminescence efficiency is high, particularly its spectral range concentrates on day blind ultraviolet band, has good electrical modulation characteristic simultaneously, is convenient to follow-uply carry out optical modulation to solar blind UV source.
In a further embodiment, solar blind UV origin system also comprises the modulation module 1-2 for modulating solar blind ultraviolet light signal, and preferably, it can be realized by the control end such as single-chip microcomputer or PC.Modulation module 1-2 is connected with solar blind UV source 1-1, can be according to the actual requirements, the light-emitting mode in modulation solar blind UV source is to load information needed to solar blind UV source, as controlled glow frequency, the luminous intensity of solar blind UV source 1-1, or the pattern formed when control solar blind UV source point is bright.During if any multiple berth, can control free berth place day blind uviol lamp and the day blind uviol lamp at non-free berth place light in different forms, differentiate for pilot.
See Fig. 1, piloting instrument 2 is formed primarily of with lower component: three axle electronic compass 2-1, optical imagery module 2-2, video acquisition module 2-3, information processing terminal 2-4.
Piloting instrument 2 also comprises the utility appliance 2-5 such as onboard AIS, GPS, radar, ECDIS, export the information processing terminal to for the sail information such as speed, course, geographic position longitude and latitude, draft that obtains when exporting ship's navigation, thus provide more reference information for ship berthing.
Three axle electronic compass 2-1 are connected with optical imagery module 2-2, can read the angle of optical imagery module 2-2 when rotating exactly.Three axle electronic compass 2-1 are also connected with information processing terminal 2-4, thus send such rotation angle information to information processing terminal 2-4.Optical imagery module 2-2, video acquisition module 2-3 and information processing terminal 2-4 are connected successively, the utility appliance 2-5 such as boat-carrying GPS, radar, ECDIS are also connected with information processing terminal 2-4, send supplementary to the information processing terminal, final information processing terminal 2-4 is connected with display system 3, shows in real time above-mentioned all information.Wherein optical imagery module 2-2 to solar blind ultraviolet light signal and visible or infrared light image formation, can produce two-path video; Video acquisition module 2-3 can gather above-mentioned two-path video, and is sent to information processing terminal 2-4.Related data when information processing terminal 2-4 calculates ship's navigation according to two-path video information, superposition synthesis is carried out to two-path video, and in conjunction with the data message that the utility appliance 2-5 such as boat-carrying GPS, radar, ECDIS provide, for boats and ships provide pilotage alongside information needed.
When not comprising utility appliance 2-5 in piloting instrument 2, the information processing terminal is according to the digital signal of two-path video, and the navigation attitude data of Ship ' and output composite signal to described display system, and do not need again in conjunction with every data message that utility appliance provides.
See Fig. 4, it is concrete block diagram when piloting instrument works.The light that the light of environment and solar blind UV source send enters optical imagery module 2-2 simultaneously, first by the spectroscope 2-2-1 in optical imagery module 2-2 by incident ray by a certain percentage or wavelength be divided into two bundles, make it enter day blind ultraviolet imagery passage 2-2-2 and visible or infrared light imaging band 2-2-3 respectively.This visible or infrared light imaging band 2-2-3 can carry out imaging to the picture of nature under the greasy weather, obviously, under greasy weather or other low visibility conditions, imaging picture is very fuzzy, if do not have other supplementarys, boats and ships are can not according to the information navigation obtained under this situation or alongside.This day blind ultraviolet imagery passage 2-2-2 is only the solar blind ultraviolet light signal sensitivity of 190-290nm to wavelength, entirely eliminated the interference of other environmental backgrounds, thus day blind ultraviolet passage imaging band 2-2-2 operationally only detects solar blind UV source that boats and ships self install and the light signal that sends of solar blind UV source 1-1 that port berth place installs.Then, optical imagery module 2-2 can from the day blind ultraviolet video and the visible or infrared light video of simulating signal of day blind ultraviolet imagery passage 2-2-2 and visible or infrared light imaging band 2-2-3 outputting analog signal respectively.This optical imagery module 2-2 can adopt Ofil company of Israel to produce
this product is a responsive day blind ultraviolet/visible light two waveband detecting and imaging device.The day total blindness ultraviolet/visible light binary channels image-forming module that Jiangsu Wuwei Electronic Technology Co., Ltd. also can be adopted to produce.
Video acquisition module 2-3 in piloting instrument 2 can gather the video of the two-way simulating signal exported from day blind ultraviolet imagery passage 2-2-2 and visible or infrared light imaging band 2-2-3 respectively subsequently, and convert thereof into day blind ultraviolet video digital signal 2-3-1 and visible or infrared light video signal 2-3-2, send information processing terminal 2-4 to.For one of ordinary skill in the art, function and the working method of video acquisition module 2-3 are well known in the art, and are therefore not described in detail the workflow of video acquisition module 2-3 herein.
Information processing terminal 2-4 in piloting instrument 2 is a microprocessor, and it mainly performs following functions: solar blind ultraviolet light signal process and information synthesis export.Solar blind ultraviolet light signal process is namely according to day blind ultraviolet video digital signal Ship ' navigation attitude data, and ship's navigation attitude data comprises boats and ships boat and the relative orientation in solar blind UV source, harbour place and the relative distance in boats and ships and solar blind UV source, harbour place.
Information processing terminal 2-4 operationally according to process flow diagram shown in Fig. 5 carry out following steps (for day blind ultraviolet video and visible light video):
1) day blind ultraviolet video digital signal 2-3-1 and visible light video digital signal 2-3-2 is obtained; Then carry out visible light video and day blind ultraviolet video synthesis, obtain the real-time synthetic video under Same Scene;
2) angle when above-mentioned three axle electronic compasss rotate is obtained, and the day of above-mentioned acquisition blind ultraviolet video digital signal 2-3-1 is calculated, obtain the navigation attitude data of boats and ships, when navigation attitude data comprises ship's navigation and the relative orientation in solar blind UV source, harbour place and the distance in boats and ships and solar blind UV source, harbour place;
3) by the information superposition of above-mentioned relative orientation and relative distance to above-mentioned visible ray/day blind ultraviolet synthetic video;
4) obtain described sail information (as speed during ship's navigation, course, geographic position longitude and latitude, draft etc.) from above-mentioned utility appliance, described sail information is added to the above-mentioned visible ray/day including ship's navigation attitude data of having synthesized on blind ultraviolet synthetic video.
Finally, these data preserved by the information processing terminal, as required it is exported in real time to display frequently, or in order to follow-up check analysis time use.In a further embodiment, above-mentioned visible or infrared light imaging band also can select short-wave infrared imaging band.As be applied to short-wave infrared InGaAs material planar array detector or attachment near infrared filter CCD/CMOS device, it is more clear that it photographed than visual light imaging the picture photographed at the picture that the greasy weather photographs, and thus can provide clearer reference background background for day blind ultraviolet image.
According to technical concept of the present invention, above-mentioned visible or infrared light imaging band also can be low-light level imaging passage, thermal infrared imaging passage, because when using night, near infrared imaging passage or low-light level imaging passage can provide than visual light imaging passage image-forming information more clearly.
When the visual light imaging passage in optical imagery module 2-2 be near infrared imaging passage or low-light level imaging passage time, specific implementation method is identical with described in the present embodiment, herein no longer repeated description.
The method of blind ultraviolet video 2-3-1 Ship ' navigation of a kind of day of the digital signal by obtaining attitude data is below provided, but should be appreciated that computing method are not unique in actual applications, are also not limited to this:
1) data are read: suppose the coordinate (x that each solar blind UV source, harbour place is corresponding in world coordinate system
t, y
t, z
t) set in advance, as (x
t, y
t, z
t) be the longitude of solar blind UV source reality, latitude and height above sea level, and the coordinate of solar blind UV source, harbour place in boats and ships coordinate system is (x
b, y
b, z
b), the coordinate in day blind ultraviolet imagery passage coordinate system is (x
c, y
c, z
c), the initial point of this day blind ultraviolet imagery passage coordinate system and the initial point of boats and ships coordinate system overlap; The image coordinates of solar blind UV source, final harbour place on imaging surface is (x
i, y
i), (x
i, y
i) can read from the day of digital signal blind ultraviolet video.The focal distance f of day blind ultraviolet imagery passage is known; Day, blind ultraviolet imagery passage was by just the solar blind UV source on boats and ships being turned to the angle of rotating during viewing harbour solar blind UV source
can be read by three axle electronic compasss.
2) coordinate (x of solar blind UV source, harbour place in day blind ultraviolet imagery passage coordinate system is calculated
c, y
c, z
c): according to
Solve (x
c, y
c, z
c) (wherein (the X of patterns of capitalization
i, Y
i), (X
c, Y
c, Z
c) represent the Vector Groups that the coordinate figure in some solar blind UV sources forms, lower same);
3) by the coordinate (x of solar blind UV source, harbour place in day blind ultraviolet imagery passage coordinate system
c, y
c, z
c) convert the coordinate (x in boats and ships coordinate system to
b, y
b, z
b): according to
Wherein R
cfor rotation matrix when video camera rotates, by
determine, and
it is the angle of the day blind ultraviolet imagery passage rotation that three axle electronic compasss provide;
4) by the coordinate (x of harbour solar blind UV source in world coordinate system
t, y
t, z
t) and coordinate (x in boats and ships coordinate system
b, y
b, z
b), solve relative orientation and the distance in boats and ships and solar blind UV source, harbour place: by
Solve matrix R
band T
b.R
breflect boats and ships and solar blind UV source, harbour place relative orientation spatially, T
breflect the distance in solar blind UV source, boats and ships relative harbour place.
Adopt before the method, need to carry out different attitude of ship and apart under a series of imaging device self-calibrations, to set up the relation of image coordinates and solar blind UV source coordinate position.To those skilled in the art, imaging device self-calibration is a proven technique, therefore no longer scaling method is described herein, but utilize demarcated day blind ultraviolet imagery passage to carry out data calculating.
Based on above-mentioned steps, relative orientation, the relative distance in boats and ships and solar blind UV source, harbour place can be obtained, and in existing routine techniques, there is not the technology according to the light source information Ship ' navigation attitude detected under the greasy weather.Current art always mainly relies on the relevant information during radio means acquisition ship's navigations such as radar, but not only there is ground unrest in wireless device, also be easy to the interference being subject to the signal such as sleety weather or sea clutter, the technology therefore in the present invention has good advantage to greasy weather ship piloting alongside.
Certainly, consider that the mounting means in solar blind UV source is in actual use different, wherein involved computing formula can change according to actual conditions.The present embodiment is just chosen one of them preferred embodiment to illustrate, does not represent and can only use above-mentioned computing formula in the invention.
The output form of display system 3 comprises screen display, Projection Display, wears display and glasses display etc.The real-time sail information that its displaying contents provides from information processing terminal 2-4 in piloting instrument 2.
Embodiment 2
The present embodiment is substantially the same manner as Example 1, difference is that piloting instrument 2 is made up of three axle electronic compass 2-1, optical imagery module 2-2 and information processing terminal 2-4, namely video acquisition module 2-3 is not comprised in piloting instrument 2, visible or infrared light imaging band 2-2-3 in piloting instrument 2 and the direct output digital video of day blind ultraviolet imagery passage 2-2-2 to information processing terminal 2-4, as shown in Figure 6.
Embodiment 3
Based on a pilotage docking system for solar blind ultraviolet light signal under greasy weather, it comprises solar blind UV origin system 1, piloting instrument 2 and display system 3.
Identical with embodiment 1 of solar blind UV origin system 1 and display system 3.With in embodiment 1 unlike, the information that in piloting instrument 2, information processing terminal 2-4 exports is not the synthetic video of day blind ultraviolet/visible light, and is through the pilotage simulating live-action figure of virtual reality technology process.
In the present embodiment, the utility appliance 2-5 in piloting instrument by Real-time Obtaining water transport electronic chart or three-dimensional electronic sea charts such as GPS or AIS, and is sent to the information processing terminal.Now, described information processing terminal 2-4 performs following steps: 1) obtain day blind ultraviolet video digital signal and visible light video digital signal;
2) angle when three axle electronic compasss rotate is obtained, and the day of above-mentioned acquisition blind ultraviolet video digital signal is calculated, obtain the navigation attitude data of boats and ships, navigation attitude data comprises boats and ships boat and the relative orientation in solar blind UV source, harbour place and the distance in boats and ships and solar blind UV source, harbour place;
3) described sail information is obtained from utility appliance;
4) blind for day ultraviolet video digital signal, visible light video digital signal, calculating gained navigation attitude data and water transport electronic chart or three-dimensional electronic sea chart are combined, exported the simulating live-action figure of pilotage by virtual reality technology.
Can imagine, when there is no actual object of reference, boats and ships can not only according to water transport electronic chart or three-dimensional electronic sea chart in boundless and indistinct large fog-navigation.But after having had above-mentioned visible light video and day blind ultraviolet video information, boats and ships just can differentiate according to scene shown on video this water transport electronic chart or three-dimensional electronic sea chart whether correct.If the object profile in electronic chart can match with the object profile in visible light video, day blind ultraviolet video information, so boats and ships can pilotage alongside etc. accordingly under the information realization greasy weather.Certainly, the information such as speed and draft when utility appliance 2-5 also can provide the geographic position of the boats and ships described in embodiment 1 in hydrological environment, ship's navigation.In a further embodiment, if display does not need to show the video after information processing, eyepiece also can be directly adopted to observe extraneous outdoor scene.Below provide a specific works process of the present invention:
See Fig. 7, it is specific works scene during ship berthing.Hull all around string is provided with solar blind UV source 1-1 with port and pier place.Piloting instrument 2 and display system 3 are aboard ship installed.Optical imagery module 2-2 in piloting instrument 2 is connected with three axle electronic compass 2-1 and is erected at hull appropriate location, clearly can detect the solar blind ultraviolet light signal at hull and sea port berths place.Video acquisition module 2-3 in piloting instrument 2, information processing terminal 2-4 and utility appliance 2-5 are equipped in ship wheel house.
When the ship navigated by water under the greasy weather needs alongside, first it inform harbour water transport base station by telecommunication modes such as radio.When water transport base station receives the signal that boats and ships send, the solar blind UV source at port berth place can be lighted, as pilot signals during ship berthing.
Subsequently, boats and ships receive the feedback information of water transport base station, learn the solar blind UV source signal characteristics at port berth place, and light the solar blind UV source on this ship, and now piloting instrument 2 is started working.
The scene that in optical imagery module 2-2, visible or infrared light imaging band is comparatively fuzzy under detecting the greasy weather, within its day, blind ultraviolet imagery passage can detect the day blind UV signal on sea port berths place and this ship, and only have day blind UV signal, get rid of the interference of other ground unrests completely.The video council of this two-way simulating signal is sent to ship wheel house, converts the video of digital signal to and send information processing terminal 2-4 to through video acquisition module 2-3.Information processing terminal 2-4 carries out respective handling according to the step described in above-mentioned embodiment, obtain the information such as orientation, distance in solar blind UV source, relative harbour place during ship's navigation, and send display system 3 to after two-path video being carried out synthesis superposition; Or send the simulating live-action figure through virtual reality technology process to display system 3.
Final display system 3 can show the composite signal from information processing terminal 2-4.In the present embodiment, its output form is screen display.Certainly, this display mode described in the present embodiment can not in order to limit other display modes that theory of the present invention may be taked.
In a further embodiment, the present invention also employing can wear display mode.With reference to figure 8, except solar blind UV source, other parts comprise optical imagery module 2-2, information processing terminal 2-4 and glasses display 3.Wherein piloting instrument of the present invention is divided into two parts: optical imagery module 2-2 is placed in the pilot crown, and incident light axis direction and pilot's direction of visual lines are consistent, and guarantees that it has real visual experience; Information processing terminal 2-4 to be placed in pilot's waist, knapsack etc., and it performs video acquisition, information processing etc. in above-mentioned piloting instrument function, and composite signal is back to pilot institute wear a pair of spectacles display 3.Glasses display 3 is worn by pilot, with when observing ship's navigation day blind ultraviolet/visible light or infrared light binary channels synthesis view.
The present invention also comprises following applicable cases: not only for ship berthing under the greasy weather, also can be used for observation navigation channel when boats and ships under the greasy weather navigate by water in water route, now, as long as install solar blind UV source at both sides, navigation channel place as navigation mark.According to theory of the present invention, also piloting instrument can be arranged on water transport base station (as port and pier, navigation channel Surveillance center etc.).Water transport base station can monitor attitude of ship, management shipping order and accept boats and ships send signal.
Above the introduced preferred embodiment being only patent of the present invention, certainly, under the inclement weather conditions such as night or sleet, the method for the invention stands good.Therefore can not limit the interest field of patent of the present invention with this, the equivalent variations done according to Patent right requirement of the present invention, still belongs to the scope that patent of the present invention contains.
Claims (12)
1., based on the pilotage docking system of solar blind ultraviolet light signal, comprise solar blind UV origin system, piloting instrument and display system;
Described solar blind UV origin system comprises some solar blind UV sources; It is characterized in that, described piloting instrument is made up of three axle electronic compasss, optical imagery module and the information processing terminal; Described three axle electronic compasss are connected with optical imagery module, obtain each angle information of described optical imagery module when rotating, and send angle information to the information processing terminal;
Described optical imagery module is made up of spectroscope, visible or infrared light imaging band and solar blind UV imaging band, described spectroscope by incident ray by a certain percentage or wavelength be divided into two bundles, it is made to enter described visible or infrared light imaging band and solar blind UV imaging band respectively, described visible or infrared light imaging band receives visible light signal or infrared signal, export visible or infrared light video signal, described solar blind UV imaging band receives solar blind ultraviolet light signal, export solar blind UV video signal, the described information processing terminal is used for the digital signal according to two-path video, the navigation attitude data of Ship ' and output composite signal are to described display system.
2. the pilotage docking system based on solar blind ultraviolet light signal according to claim 1, is characterized in that, described composite signal is the compound display of the navigation attitude data of visible ray and solar blind UV synthetic video and boats and ships.
3. the pilotage docking system based on solar blind ultraviolet light signal according to claim 1, is characterized in that, described near infrared imaging passage is short-wave infrared imaging band.
4. the pilotage docking system based on solar blind ultraviolet light signal according to claim 1, it is characterized in that, also modulation module is provided with in described solar blind UV origin system, described modulation module is connected with described solar blind UV source, for modulating the light-emitting mode in solar blind UV source to load information needed to solar blind UV source.
5. the pilotage docking system based on solar blind ultraviolet light signal according to claim 1, it is characterized in that, also utility appliance is provided with, for obtaining speed when exporting ship's navigation, course, geographic position longitude and latitude, draft information export the information processing terminal in described piloting instrument.
6. the pilotage docking system based on solar blind ultraviolet light signal according to claim 1, is characterized in that, described display system adopts the display of screen display, Projection Display or glasses.
7. the pilotage docking system based on solar blind ultraviolet light signal according to claim 1, is characterized in that, be also provided with video acquisition module in described piloting instrument; Described visible or infrared light imaging band receives visible light signal or infrared signal, export visible or infrared light video analog signal to video acquisition module, described solar blind UV imaging band receives solar blind ultraviolet light signal, export solar blind UV video analog signal to video acquisition module, described video acquisition module gathers the analogue video signal of above-mentioned two paths, and convert thereof into the video of digital signal, send the described information processing terminal to.
8. the pilotage docking system based on solar blind ultraviolet light signal according to claim 3, is characterized in that, described short-wave infrared imaging band is the planar array detector of InGaAs material or the CCD/CMOS device of attachment near infrared filter.
9. the pilotage docking system based on solar blind ultraviolet light signal according to claim 5, is characterized in that, the sail information that described utility appliance obtains comprises water transport electronic chart by GPS or AIS Real-time Obtaining or three-dimensional electronic sea chart.
10. the pilotage docking system based on solar blind ultraviolet light signal according to claim 5, is characterized in that, be provided with following modules in the described information processing terminal:
1) for obtaining solar blind UV video signal and visible light video digital signal, carrying out the synthesis of visible light video and solar blind UV video, obtaining the module of the real-time video composite signal under Same Scene;
2) for obtaining angle when above-mentioned three axle electronic compasss rotate, and the solar blind UV video signal of above-mentioned acquisition is calculated, obtain the module of the navigation attitude data of boats and ships, when navigation attitude data comprises ship's navigation and the relative orientation in solar blind UV source, harbour place and the relative distance in boats and ships and solar blind UV source, harbour place;
3) for by the information superposition of above-mentioned relative orientation and relative distance to the module on above-mentioned visible ray/solar blind UV synthetic video;
4) for obtaining described sail information from utility appliance, the module described sail information is added on the above-mentioned visible ray the including ship's navigation attitude data/solar blind UV synthetic video synthesized.
The 11. pilotage docking system based on solar blind ultraviolet light signal according to claim 9, it is characterized in that, described composite signal is solar blind UV video signal, visible light video digital signal, calculating gained navigation attitude data and water transport electronic chart or three-dimensional electronic sea chart are combined, the simulating live-action figure obtained by virtual reality technology.
The 12. pilotage docking system based on solar blind ultraviolet light signal according to claim 9, is characterized in that, be provided with following modules in the described information processing terminal:
1) for obtaining the module of solar blind UV video signal and visible light video digital signal;
2) for obtaining angle when above-mentioned three axle electronic compasss rotate, and the solar blind UV video signal of above-mentioned acquisition is calculated, obtain the module of the navigation attitude data of boats and ships, when navigation attitude data comprises ship's navigation and the relative orientation in solar blind UV source, harbour place and the relative distance in boats and ships and solar blind UV source, harbour place;
3) for obtaining the module of described sail information from utility appliance;
4) for solar blind UV video signal, visible light video digital signal, calculating gained navigation attitude data and water transport electronic chart or three-dimensional electronic sea chart being combined, the module of the simulating live-action figure of pilotage is exported by virtual reality technology.
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| CN103175523B (en) * | 2012-12-18 | 2015-08-12 | 江苏南大五维电子科技有限公司 | Based on the piloting instrument of solar blind ultraviolet light signal |
| CN103745617A (en) * | 2014-01-11 | 2014-04-23 | 上海冠卓企业发展有限公司 | Assistant berthing monitoring system |
| CN105841688B (en) * | 2015-01-15 | 2018-08-10 | 江苏南大五维电子科技有限公司 | A kind of ship auxiliary anchors alongside the shore method and system |
| CN105842724B (en) * | 2015-01-15 | 2018-07-17 | 江苏南大五维电子科技有限公司 | A kind of ship auxiliary anchors alongside the shore method and system |
| WO2018098742A1 (en) * | 2016-11-30 | 2018-06-07 | 深圳益强信息科技有限公司 | Imaging method and device for bad environment |
| WO2018098729A1 (en) * | 2016-11-30 | 2018-06-07 | 深圳益强信息科技有限公司 | Solar-blind ultraviolet-based piloting method and device |
| CN108646239A (en) * | 2018-05-10 | 2018-10-12 | 芜湖航飞科技股份有限公司 | A kind of detection and identification device based on radar and photoelectric technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6677889B2 (en) * | 2002-01-22 | 2004-01-13 | Raytheon Company | Auto-docking system |
| JP2003276677A (en) * | 2002-03-27 | 2003-10-02 | Mitsui Eng & Shipbuild Co Ltd | Departing/landing bridge support device for ship |
| US8253576B2 (en) * | 2009-09-04 | 2012-08-28 | Raytheon Company | Search and rescue using ultraviolet radiation |
| CN201689138U (en) * | 2010-03-25 | 2010-12-29 | 浙江红相科技有限公司 | Solar-blinded ultraviolet imaging instrument based on narrow-band spectrum |
| CN102236327A (en) * | 2010-04-27 | 2011-11-09 | 上海冠卓企业发展有限公司 | Laser berthing monitoring system for ship |
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