CN104680842A - Automatic driving system of tugboat - Google Patents
Automatic driving system of tugboat Download PDFInfo
- Publication number
- CN104680842A CN104680842A CN201310638327.7A CN201310638327A CN104680842A CN 104680842 A CN104680842 A CN 104680842A CN 201310638327 A CN201310638327 A CN 201310638327A CN 104680842 A CN104680842 A CN 104680842A
- Authority
- CN
- China
- Prior art keywords
- towboat
- tugboat
- automatic driving
- driving system
- ships
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
Abstract
The invention discloses an automatic driving system of a tugboat. The automatic driving system is provided with an integrated antenna and a GPS (Global Positioning System), wherein the integrated antenna has a satellite signal receiving function; the GPS is used for acquiring a current tugboat position; the tugboat further comprises an automatic driving unit; the automatic driving unit is used for receiving navigational speed and navigational direction information sent by a server, controlling a propeller and a rudder of the tugboat by virtue of a bus and finishing automatic driving of the tugboat. According to the technical scheme, the automatic driving system of the tugboat has the advantages that a GPS positioning technology is utilized as a main positioning means, and a positioning floating beacon with a radar back wave reflection function is utilized as an auxiliary positioning means, so that the current tugboat position and distances between the tugboat and surrounding ships are effectively mastered in real time; furthermore, the navigational direction and navigational speed of the tugboat are controlled within a limited range by virtue of the bus, and automatic driving is finished.
Description
Technical field
The present invention relates to a kind of towboat automated driving system.Relate to the traffic control system of Patent classificating number G08 telltale G08G traffic control system G08G3/00 sail device.
Background technology
Along with the fast development of China's shipping industry, international Seaborne trade becomes more and more busier, and the use of towboat becomes more and more frequent, in the face of so a large amount of towboats, relies on traditional artificial loose type way to manage, has been difficult to accomplish to dispatch accurately and assess.
Present GPS technology development reaches its maturity, and positioning precision is also accurate to the scope of several meters from original tens meters.And popularizing along with technology, the use of GPS has become more and more extensive.Also become more and more easier with the mutual of miscellaneous equipment, cost is also more and more lower.
Along with development and the application of fax electronic control technology, increasing towboat starts to adopt electric-control system, popularizing, for automatic Pilot and control create solid foundation of bus.
Summary of the invention
The present invention is directed to the proposition of above problem, and a kind of towboat automated driving system of development, have:
With antenna integrated, the GPS positioning system that gathers current tug position of satellite signal receiving function;
Be arranged on the fixed buoy of towboat working sea area, described fixed buoy has radar responder;
Be arranged on the seaward-looking radar on towboat, launch radar wave, and accept the echo of described radar responder, obtain self-position;
CPU (central processing unit), receives the positional information of the current towboat that described GPS positioning system collects and the home position signal of described seaward-looking radar, calculates the position of current towboat and the distance of periphery boats and ships;
The communication system of seashore dispatching center is sent to by antenna by position with the range information of periphery boats and ships;
Described seashore dispatching center has: store the database of towboat planning location, the communication base station receiving the positional information that each towboat is uploaded and server;
Described server, according to the tug position uploaded and programme path, calculates the speed of a ship or plane and the course of towboat in real time, by described communication base station, is sent to towboat;
Described boats and ships also have automatic Pilot unit, and described automatic Pilot unit receives the speed of a ship or plane and course information that are sent by described server, by thruster and the rudder for ship of bus marco boats and ships, completes the automatic Pilot of boats and ships.
Described GPS positioning system and communication system share described antenna integrated.
There is display unit, the harbour district chart that the position of each towboat calculated according to the server of described seashore dispatching center is run at stored towboat in real time shows.
Described GPS positioning system and seaward-looking radar temporally threshold value accept GPS positioning signal respectively and confirm self-position.
Described towboat also has alarm display unit, and the warning message issued by the server of seashore dispatching center by described antenna integrated reception, is shown to the human pilot of described towboat.
Owing to have employed technique scheme, a kind of towboat automated driving system provided by the invention, by being main positioning means with GPS location technology, there is the positioning buoy of radar return reflection function for auxiliary positioning means, the position of current towboat and the distance of distance periphery boats and ships are effectively grasped in real time, rely on bus simultaneously, in limited scope, control course and the speed of a ship or plane of boats and ships, complete automatic Pilot.
Accompanying drawing explanation
In order to the technical scheme of clearer explanation embodiments of the invention or prior art, introduce doing one to the accompanying drawing used required in embodiment or description of the prior art simply below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The module diagram of Fig. 1 to be module diagram Fig. 2 of the present invention be towboat equipment of the present invention
Embodiment
For making the object of embodiments of the invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, clear complete description is carried out to the technical scheme in the embodiment of the present invention:
As shown in Figure 1: a kind of towboat automated driving system, has:
With antenna integrated, the GPS positioning system that gathers current tug position of satellite signal receiving function;
Be arranged on the fixed buoy of towboat working sea area, described fixed buoy has radar responder;
Be arranged on the seaward-looking radar on towboat, launch radar wave, and accept the echo of described radar responder, obtain self-position; As shown in Figure 2.
CPU (central processing unit), receives the positional information of the current towboat that described GPS positioning system collects and the home position signal of described seaward-looking radar, calculates the position of current towboat and the distance of periphery boats and ships;
The communication system of seashore dispatching center is sent to by antenna by position with the range information of periphery boats and ships;
Described seashore dispatching center has: store the database of towboat planning location, the communication base station receiving the positional information that each towboat is uploaded and server;
Described server, according to the tug position uploaded and programme path, calculates the speed of a ship or plane and the course of towboat in real time, by described communication base station, is sent to towboat;
Described boats and ships also have automatic Pilot unit, and described automatic Pilot unit receives the speed of a ship or plane and course information that are sent by described server, by thruster and the rudder for ship of bus marco boats and ships, completes the automatic Pilot of boats and ships.
In order to reduce the quantity of antenna, cost-saving described GPS positioning system and communication system share described antenna integrated.
Conveniently intuitively observe the positional information of the included all towboats of system rapidly, as a preferably embodiment, system is also to have display unit, and the harbour district chart that the position of each towboat calculated according to the server of described seashore dispatching center is run at stored towboat in real time shows.
In order to reduce the operand of system, described GPS positioning system and seaward-looking radar temporally threshold value accept GPS positioning signal respectively and confirm self-position.While minimizing operation times, also can ensure suitable operational precision, adopt ripe computer hardware to tackle, effectively control into the cost of a system.
The above; be only the present invention's preferably embodiment; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (5)
1. a towboat automated driving system, has:
With antenna integrated, the GPS positioning system that gathers current tug position of satellite signal receiving function;
Be arranged on the fixed buoy of towboat working sea area, described fixed buoy has radar responder;
Be arranged on the seaward-looking radar on towboat, launch radar wave, and accept the echo of described radar responder, obtain self-position;
CPU (central processing unit), receives the positional information of the current towboat that described GPS positioning system collects and the home position signal of described seaward-looking radar, calculates the position of current towboat and the distance of periphery boats and ships;
The communication system of seashore dispatching center is sent to by antenna by position with the range information of periphery boats and ships;
Described seashore dispatching center has: store the database of towboat planning location, the communication base station receiving the positional information that each towboat is uploaded and server;
Described server, according to the tug position uploaded and programme path, calculates the speed of a ship or plane and the course of towboat in real time, by described communication base station, is sent to towboat;
Described boats and ships also have automatic Pilot unit, and described automatic Pilot unit receives the speed of a ship or plane and course information that are sent by described server, by thruster and the rudder for ship of bus marco boats and ships, completes the automatic Pilot of boats and ships.
2. a kind of towboat automated driving system according to claim 1, is further characterized in that: described GPS positioning system and communication system share described antenna integrated.
3. a kind of towboat automated driving system according to claim 1, is further characterized in that to have display unit, and the harbour district chart that the position of each towboat calculated according to the server of described seashore dispatching center is run at stored towboat in real time shows.
4. a kind of towboat automated driving system according to claim 1, be further characterized in that described GPS positioning system and seaward-looking radar temporally threshold value accept respectively GPS positioning signal and confirm self-position.
5. a kind of towboat automated driving system according to claim 1, be further characterized in that: described towboat also has alarm display unit, by the warning message that described antenna integrated reception is issued by the server of seashore dispatching center, be shown to the human pilot of described towboat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310638327.7A CN104680842A (en) | 2013-11-29 | 2013-11-29 | Automatic driving system of tugboat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310638327.7A CN104680842A (en) | 2013-11-29 | 2013-11-29 | Automatic driving system of tugboat |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104680842A true CN104680842A (en) | 2015-06-03 |
Family
ID=53315820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310638327.7A Pending CN104680842A (en) | 2013-11-29 | 2013-11-29 | Automatic driving system of tugboat |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104680842A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108872978A (en) * | 2018-05-11 | 2018-11-23 | 湖北中南鹏力海洋探测系统工程有限公司 | A kind of waterborne vessel paths planning method based on high-frequency ground wave radar ocean current data |
| CN110087985A (en) * | 2016-06-30 | 2019-08-02 | 康士伯海事有限公司 | The close control of towboat |
-
2013
- 2013-11-29 CN CN201310638327.7A patent/CN104680842A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110087985A (en) * | 2016-06-30 | 2019-08-02 | 康士伯海事有限公司 | The close control of towboat |
| CN110087985B (en) * | 2016-06-30 | 2021-09-28 | 康士伯海事股份有限公司 | Tug approach control |
| CN108872978A (en) * | 2018-05-11 | 2018-11-23 | 湖北中南鹏力海洋探测系统工程有限公司 | A kind of waterborne vessel paths planning method based on high-frequency ground wave radar ocean current data |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150603 |