CN104269075B - Navigation mark based on multiple sensors collision monitoring system - Google Patents
Navigation mark based on multiple sensors collision monitoring system Download PDFInfo
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- CN104269075B CN104269075B CN201410541196.5A CN201410541196A CN104269075B CN 104269075 B CN104269075 B CN 104269075B CN 201410541196 A CN201410541196 A CN 201410541196A CN 104269075 B CN104269075 B CN 104269075B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
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Abstract
The invention discloses a kind of navigation mark based on multiple sensors collision monitoring system, including: collision detection unit, for measuring the attitude angle information and acceleration information gathering light tender；Range finding prewarning unit, for measuring the range information of other boats and ships and light tender, and is transferred to information processing and memory element by information by information transmission unit；Information processing and memory element, be used for accepting and process attitude angle information and acceleration information, ranging information and image information；Take pictures evidence obtaining unit, for obtaining real-time image information；Information transmission unit, the information transmission between each unit, and real-time image information is transmitted to sea-route management department；Power supply unit, for providing power supply for system.The present invention can carry out early warning process to the boats and ships entering risk distance in time, detects collision, and the associating decision method of gyroscope and acceleration transducer decreases detection error.
Description
Technical field
The present invention relates to safety of ship technical field, particularly relate to a kind of navigation mark based on multiple sensors collision monitoring system.
Background technology
Light tender is the boats and ships important aids to navigation at inland river safe navigation, and the major function of light tender is to indicate the direction in navigation channel, boundary and obstruction, discloses relevant navigation channel information, points out safety, economic navigation channel for ship's navigation.
Along with the development of China's economy, inland water transport is the most flourishing, and concentration of vessel is gradually increased, and navigation mark collision accident happens occasionally.Current light tender collision checking method generally uses acceleration transducer and measures light tender acceleration information and then judge whether light tender is hit, but, only use single sensor to make after light tender is collided and easily produce great false alarm rate, not only cause the damage of equipment on navigation mark and navigation mark, the maintenance cost of great number is brought to Compensation Liability for Damage Caused by the Fault in the Administration of Aids to Navigation department, if and light tender breaks down after being hit, it is impossible to when fulfiling navigation mark functional, also can bring serious impact to shipping safety.
In order to solve the problems referred to above, it is necessary to build that a set of accuracy is high, safety is good and the light tender anti-collision warning of low false alarm rate and monitoring system.
Summary of the invention
The technical problem to be solved in the present invention is for defect of the prior art, it is provided that a kind of navigation mark based on multiple sensors collision monitoring system.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of navigation mark based on multiple sensors collision monitoring system, including:
Collision detection unit, for measuring the attitude angle information and acceleration information gathering light tender；
Range finding prewarning unit, for measuring the range information of other boats and ships and light tender, and is transferred to information processing and memory element by information by information transmission unit；
Information processing and memory element, for receiving and process attitude angle information and the acceleration information of collision detection unit, the ranging information from radar and the image information from evidence obtaining unit return of taking pictures, and process and store；Specifically include:
Collision determination device, according to accekeration and the attitude angle data including course angle, roll angle and the angle of pitch, by 4 criterions respectively compared with corresponding threshold value, when any two of which and above criterion exceed corresponding threshold value, i.e. judge that collision occurs, otherwise judge that collision does not occurs.
Collision warning device, for when distance exceedes pre-set threshold value, sends early warning signal；And start take pictures evidence obtaining unit take pictures；
Take pictures evidence obtaining unit, for obtaining real-time image information；
Information transmission unit, the information transmission between each unit, and by real-time image information transmission to sea-route management department, and acceleration information, attitude angle information and ranging information are sent the data base to remote server；
Power supply unit, for providing power supply for system.
By such scheme, described collision detection unit includes gyroscope, acceleration transducer and sensor information collection plate；Gyroscope is laid in light tender central deck close beneath, acceleration transducer is arranged near the stem of light tender, stern and two sides of a ship in the cabin below deck, described gyroscope and acceleration transducer are installed on sensor information collection plate, and respectively attitude angle value and acceleration measurement are returned to sensor information collection plate.
By such scheme, described range finding prewarning unit is mainly made up of radar range finder, and radar range finder is laid in light tender highest point.
By such scheme, described in take pictures evidence obtaining unit be multiple stage photographing unit, the installation position of photographing unit determines according to the position of light tender: if light tender is in the middle of river course, then need around light tender to arrange 4 to 6 photographing units；If light tender is near bank, then only 2 to 3 photographing units need to be set near the water surface.
By such scheme, the radius of gyration of finding range and boats and ships that the pre-set threshold value in described collision warning device combines radar calculates and determines.
By such scheme, the threshold values in described collision determination device is determined by the attitude angle data being collided actual to surge data and light tender and acceleration information analysis.
The beneficial effect comprise that:
1. native system uses the attitude angle data of gyroscope and acceleration transducer Monitoring Data to combine whether judgement collision occurs, and can preferably avoid the false alarm caused due to stormy waves；
2. if boats and ships enter risk distance near light tender, exceeding pre-set threshold value, native system will send early warning information and shoot photo；If it is determined that collision occurs, it is possible in time the video information of warning message and Offending Ship is returned to sea-route management department, it is simple to supervision department's evidence obtaining carries out later stage process work.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the structural representation of the embodiment of the present invention；
Fig. 2 is the gyroscope layout drawing of the embodiment of the present invention.
Fig. 3 is the acceleration transducer artwork of the embodiment of the present invention.
Fig. 4 is radar range finder and the photographing unit artwork of the embodiment of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
As it is shown in figure 1, a kind of light tender collision monitoring system, light tender having collision detection unit and range finding prewarning unit, collision detection unit is combined by gyroscope and acceleration transducer and is constituted, and range finding prewarning unit is made up of radar range finder.
Meanwhile, light tender is additionally provided with power supply unit, take pictures evidence obtaining unit, information processing and memory element and information transmission unit.
Collision detection unit measures attitude angle information and the acceleration information of light tender, and these information are transferred to information processing and memory element.Collision detection unit includes gyroscope, acceleration transducer and sensor information collection plate.Gyroscope is laid at light tender central deck close beneath, near stem, stern and two sides of a ship of light tender, in cabin below deck, acceleration transducer is set, gyroscope and acceleration transducer are installed on sensor information collection plate, and respectively attitude angle value and acceleration measurement are returned to sensor information collection plate；
As in figure 2 it is shown, gyroscope 1 totally one be arranged on sensor information collection plate and be fixed on below light tender central deck.
Range finding prewarning unit measures the range information of other boats and ships and light tender, and these information are transferred to information processing and memory element.Range finding prewarning unit is mainly made up of radar range finder, and radar range finder is laid in light tender highest point.Fig. 4 is radar range finder 3 and photographing unit 4 artwork.Radar range finder 3 is laid in light tender highest point, around clear
As it is shown on figure 3, acceleration transducer 2 is laid in cabin, 4 acceleration transducers 2 are laid under the deck of bow, stern, port and starboard.
Power supply unit is mainly made up of solar panel, accumulator and power-supply controller of electric, its effect be for hardware system other parts provide required for unidirectional current；Solar panel is connected with power-supply controller of electric, and power-supply controller of electric is connected with accumulator, and power-supply controller of electric is connected with collision detection unit, range finding prewarning unit, each road load of take pictures evidence obtaining unit, information processing and transmission system；
Evidence obtaining unit of taking pictures mainly is made up of photographing unit 4, and its Main Function is shooting photo；It is generally required to arrange multiple stage photographing unit to carry out evidence obtaining of taking pictures, the position of light tender to be considered: if light tender and middle, then need around light tender to arrange 4 to 6 photographing units 4；If light tender is near bank, then only 2 to 3 photographing units 4 need to be set near the water surface.
Information processing and memory element receive the attitude angle information from collision detection unit and acceleration information, the ranging information from radar and the image information from evidence obtaining unit return of taking pictures, and process and store；The range information that returns from radar of data of range finding early warning, when distance exceedes pre-set threshold value, system will be determined with the danger of collision, and start photographing unit and carry out evidence obtaining of taking pictures, and carries out early warning, prompting ship's avoiding by 3G network simultaneously；The radius of gyration of finding range and boats and ships that this pre-set threshold value combines radar calculates.Although generally boats and ships are found that obstruction, but owing to boats and ships inertia is big, mobility is poor, is the most still difficult to evade；It is therefore desirable to the radius of gyration of the finding range and boats and ships combining radar calculates, determine suitable threshold values.
The data of collision determination come from resolve acceleration collection and navigation mark location terminal message after the accekeration that obtains and the attitude angle data obtained after resolving range finding angle measurement terminal message: course angle, roll angle and the angle of pitch.These 4 criterions are respectively compared with corresponding threshold value, and when the most any 2 and above criterion exceed threshold value, system can judge that light tender receives collision, otherwise judge not collide generation；Need the attitude angle data that be collided actual to surge data and light tender and acceleration information to be analyzed, determine suitable threshold value；
Information transmission unit uses GPRS and 3G communication technology, by real-time image information transmission to sea-route management department, and acceleration information, attitude angle information and ranging information is sent the data base to remote server.
In the present embodiment, information processing and memory element use an industrial computer；
The concrete execution process of light tender collision monitoring system is: industrial computer receives the real-time acceleration information of acceleration sensor, the real-time attitude angle data from gyroscope, the real time distance information from radar range finder and the realtime image data from evidence obtaining unit of taking pictures.After industrial computer receives these data, it is divided into 3 parts to process simultaneously.Part 1, processes acceleration information and attitude angle data, carries out collision determination；Part II, processes ranging data, it is determined whether early warning；Third portion, is transmitted real-time view data to sea-route management department monitoring client by information transmission unit.Collision once being detected, industrial computer can send warning message to remote server data storehouse, and the monitoring client of sea-route management department is real time access server, the most just just can receive warning message in the same time；Once detected that boats and ships are close, then image capture device can shoot photo and be stored in industrial computer, and by 3G technology, photo writes server database and carry out early warning, and monitoring client can access and view the photo before collision occurs.
It should be appreciated that for those of ordinary skills, can be improved according to the above description or be converted, and all these modifications and variations all should be belonged to the protection domain of claims of the present invention.
Claims (5)
1. navigation mark based on a multiple sensors collision monitoring system, including:
Collision detection unit, for measuring the attitude angle information and acceleration information gathering light tender；Described collision detection unit is combined by gyroscope and acceleration transducer and is constituted；
Range finding prewarning unit, for measuring the range information of other boats and ships and light tender, and is transferred to information processing and memory element by information by information transmission unit；
Information processing and memory element, for receiving and process attitude angle information and the acceleration information of collision detection unit, the ranging information from radar and the image information from evidence obtaining unit return of taking pictures；Specifically include:
Collision determination device, according to accekeration and the attitude angle data including course angle, roll angle and the angle of pitch, by 4 criterions respectively compared with corresponding threshold value, when the most any 2 and above criterion exceed threshold value, judge that light tender receives collision, otherwise judge not collide generation；Threshold value in described collision determination device is determined by the attitude angle data being collided actual to surge data and light tender and acceleration information analysis；
Collision warning device, for when distance exceedes predetermined threshold value, sends early warning signal；And start take pictures evidence obtaining unit take pictures；
Take pictures evidence obtaining unit, for obtaining real-time image information；
Information transmission unit, the information transmission between each unit, and by real-time image information transmission to sea-route management department, and acceleration information, attitude angle information and ranging information are sent the data base to remote server；
Power supply unit, for providing power supply for system.
Navigation mark the most according to claim 1 collision monitoring system, it is characterised in that described collision detection unit includes gyroscope, acceleration transducer and sensor information collection plate；Gyroscope is laid in light tender central deck close beneath, acceleration transducer is arranged near the stem of light tender, stern and two sides of a ship in the cabin below deck, described gyroscope and acceleration transducer are installed on sensor information collection plate, and respectively attitude angle value and acceleration measurement are returned to sensor information collection plate.
Navigation mark the most according to claim 1 collision monitoring system, it is characterised in that,Described range finding prewarning unit is mainly made up of radar range finder, and radar range finder is laid in light tender highest point.
Navigation mark the most according to claim 1 collision monitoring system, it is characterized in that, described evidence obtaining unit of taking pictures is multiple stage photographing unit, and the installation position of photographing unit determines according to the position of light tender: if light tender is in the middle of river course, then need around light tender to arrange 4 to 6 photographing units；If light tender is near bank, then only 2 to 3 photographing units need to be set near the water surface.
Navigation mark the most according to claim 1 collision monitoring system, it is characterised in that the radius of gyration of finding range and boats and ships that the predetermined threshold value in described collision warning device combines radar calculates and determines.
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| WO2022106022A1 (en) * | 2020-11-20 | 2022-05-27 | DUNLOP OIL & MARINE Ltd. | System for generating a warning signal |
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| CN107176271A (en) * | 2017-05-18 | 2017-09-19 | 武汉理工大学 | A kind of SCM Based shipping anti-collision early warning system |
| CN107610530A (en) * | 2017-09-27 | 2018-01-19 | 镇江市鹏申电子科技有限公司 | It is a kind of can early warning object ship acoustooptic alarm system |
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| CN109100766A (en) * | 2018-09-25 | 2018-12-28 | 武汉理工大学 | A kind of navigation mark monitoring system and monitoring method based on Beidou navigation |
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| CN202396065U (en) * | 2011-12-20 | 2012-08-22 | 武汉理工大学 | Multifunctional solar integrated navigation light |
| CN203024771U (en) * | 2013-01-29 | 2013-06-26 | 重庆航天火箭电子技术有限公司 | Navigation mark measuring and controlling terminal |
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| WO2022106022A1 (en) * | 2020-11-20 | 2022-05-27 | DUNLOP OIL & MARINE Ltd. | System for generating a warning signal |
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