CN105070103A - Data communication based ship underwater submerged rock avoiding system - Google Patents
Data communication based ship underwater submerged rock avoiding system Download PDFInfo
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- CN105070103A CN105070103A CN201510469534.3A CN201510469534A CN105070103A CN 105070103 A CN105070103 A CN 105070103A CN 201510469534 A CN201510469534 A CN 201510469534A CN 105070103 A CN105070103 A CN 105070103A
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Abstract
The invention relates to a data communication based ship underwater submerged rock avoiding system, which comprises a ship bottom fixing bracket, sharpness processing equipment and submerged rock identification equipment, wherein the sharpness processing equipment and the submerged rock identification equipment are located at the ship bottom fixing bracket, the sharpness processing equipment is used for carrying out sharpness processing on an image right ahead the ship bottom, and the submerged rock identification equipment is used for carrying out submerged rock identification on the sharpness processed image. According to the invention, a submerged rock at the position right ahead the bottom part of a ship body can be automatically identified, positioned and avoided in the ship advancing process, thereby avoiding occurrence of an accident that the ship bottom runs on the submerged rock.
Description
Technical field
The present invention relates to data communication field, particularly relate to a kind of boats and ships ledge avoidance system based on data communication.
Background technology
In motion, if be in shoal water zone or ledge is too high, then hull bottom easily collide with submerged reef boats and ships, thus causes boats and ships impaired, and under serious conditions, possible bottom of ship is intake, and causes property loss and personal damage on ship.
In order to avoid occurring that boats and ships and ledge collision situation occur, need to settle ledge detection system at bottom of ship, but, system not such in prior art.
For this reason, the present invention proposes a kind of boats and ships ledge avoidance system based on data communication, can according to the concrete condition of bottom of ship submerged reef, determine the processing policy of boats and ships, or excavate or hide, thus avoid submerged reef and bottom of ship to collide, keep the security of ship running.
Summary of the invention
In order to solve the technical matters that prior art exists, the invention provides a kind of boats and ships ledge avoidance system based on data communication, first the scattered light composition of underwater picture is removed, high-precision ledge recognition technology is adopted to determine submerged reef area subsequently, and based on the comparative result of ledge horizontal area and submerged reef area threshold, determine the submerged reef processing policy of boats and ships, also introduce ledge location technology simultaneously, for the traveling of boats and ships provides safety guarantee.
According to an aspect of the present invention, provide a kind of boats and ships ledge avoidance system based on data communication, described avoidance system comprises hull bottom fixed mount, sharpening treatment facility and submerged reef identification equipment, described sharpening treatment facility and described submerged reef identification equipment are all positioned on described hull bottom fixed mount, described sharpening treatment facility is used for performing sharpening process to the image in hull bottom dead ahead, and described submerged reef identification equipment is used for carrying out submerged reef identification to the image after sharpening process.
More specifically, described based in the boats and ships ledge avoidance system of data communication, also comprise: excavating equipment, be arranged on described hull bottom fixed mount, comprise digging motor and excavate driver, described excavation driver is connected with described digging motor, for excavating front submerged reef, Galileo positioning equipment, is arranged on boats and ships, for receiving the Galileo locator data that Galilean satellite sends, power-supply unit, be arranged on boats and ships, comprise solar powered device, accumulator, change-over switch and electric pressure converter, described change-over switch is connected respectively with described solar powered device and described accumulator, dump energy according to accumulator determines whether be switched to described solar powered device to be powered by described solar powered device, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage, FLASH memory device, be arranged on boats and ships, black and white threshold value and threshold number of pixels are prestored, described black and white threshold value is used for performing binary conversion treatment to image, described FLASH memory device has also prestored gray processing submerged reef masterplate, and described gray processing submerged reef masterplate obtains for taking obtained submerged reef image execution gray processing process to benchmark submerged reef, described FLASH memory device has also prestored submerged reef area threshold, submerged reef height threshold and submerged reef width threshold value, described submerged reef area threshold and boats and ships excavate output power and are directly proportional, described submerged reef height threshold is directly proportional to the instantaneous output power of climbing of boats and ships, and described submerged reef width threshold value is directly proportional to the instantaneous output power that detours of described boats and ships, underwater photograph technical equipment, be positioned on described hull bottom fixed mount, comprise semisphere watertight transparent cover, floor light subset and CMOS camera, described semisphere watertight transparent cover is for holding described floor light subset and described CMOS camera, described floor light subset provides floor light for the underwater photograph technical of described CMOS camera, and the target of described CMOS camera to hull bottom dead ahead takes to obtain the underwater picture comprising hull bottom target, ultrasonic ranging equipment, is arranged on described hull bottom fixed mount, for measuring the distance of described hull bottom fixed mount distance below submerged reef, and exports as submerged reef relative distance, described sharpening treatment facility is connected respectively with described CMOS camera, described ultrasonic ranging equipment and described floor light subset, to obtain described submerged reef relative distance and described floor light brightness, and to remove in described underwater picture because floor light subset irradiates the scattered light composition that target is alow formed based on described submerged reef relative distance and described floor light brightness, to obtain sharpening underwater picture, described submerged reef identification equipment is connected respectively with described sharpening treatment facility and described FLASH memory device, comprise Image semantic classification subset, binary conversion treatment subset, column border detection subset, row rim detection subset, Target Segmentation subset and target recognin equipment, described Image semantic classification subset is connected with described sharpening treatment facility, strengthen and wavelet filtering process to perform adaptive edge successively to described sharpening underwater picture, to obtain pretreated water hypograph, described binary conversion treatment subset is connected respectively with described Image semantic classification subset and described FLASH memory device, the brightness of each pixel of described pretreated water hypograph is compared respectively with described black and white threshold value, when the brightness of pixel is greater than described black and white threshold value, pixel is designated as white pixel, when the brightness of pixel is less than described black and white threshold value, pixel is designated as black picture element, thus obtains binaryzation underwater picture, described column border detects subset and is connected respectively with described binary conversion treatment subset and described FLASH memory device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels are designated as edge columns, described row rim detection subset is connected respectively with described binary conversion treatment subset and described FLASH memory device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels is designated as edge lines, described Target Segmentation subset and described column border detect subset and described row rim detection subset is connected respectively, region edge columns and edge lines interweaved as target domain of the existence, and is partitioned into described target domain of the existence to export as target subimage from described binaryzation underwater picture, described target recognin equipment is connected respectively with described Target Segmentation subset and described FLASH memory device, by described target subimage and described gray processing submerged reef stencil matching, the match is successful, then export and there is submerged reef signal, it fails to match, then export and there is not submerged reef signal, submerged reef state analysis equipment, be connected respectively with described submerged reef identification equipment and described ultrasonic ranging equipment, when receive described there is submerged reef signal time, the area percentage occupying described binaryzation underwater picture based on described submerged reef relative distance and described target subimage calculates ledge horizontal area, the height percent longitudinally highly occupying the longitudinal height of described binaryzation underwater picture based on described submerged reef relative distance and described target subimage calculates ledge height, the width percentage occupying described binaryzation underwater picture transverse width based on described submerged reef relative distance and described target subimage transverse width calculates ledge width, AT89C51 single-chip microcomputer, be arranged on ship control indoor, be connected with described submerged reef identification equipment by cable, also be connected with described Galileo positioning equipment, when receive described there is submerged reef signal time, described sharpening underwater picture and described target subimage are carried out respectively compressed encoding to obtain compressed image and targeted compression image under water, wireless communication interface, is connected with described AT89C51 single-chip microcomputer, for receive described there is submerged reef signal time, by described compressed image under water, described targeted compression image with describedly there is submerged reef signal and be sent to search and rescue platform waterborne by cordless communication network, display device, is connected with described AT89C51 single-chip microcomputer, for receive described there is submerged reef signal time, showing described sharpening underwater picture and described target subimage, also there is letter signal corresponding to submerged reef signal for showing with described, wherein, described AT89C51 single-chip microcomputer is also connected respectively with described submerged reef state analysis equipment, described submerged reef identification equipment and described FLASH memory device, when receive described there is submerged reef signal time, described ledge horizontal area is compared with described submerged reef area threshold, described ledge horizontal area is less than or equal to described submerged reef area threshold and then sends excavation drive singal, and described ledge horizontal area is greater than described submerged reef area threshold and then enters leadswinging pattern, described AT89C51 single-chip microcomputer operates below performing in described leadswinging pattern: then send rising drive singal when described ledge height is less than or equal to described submerged reef height threshold, when described ledge height is greater than described submerged reef height threshold, the comparative result of further judgement described ledge width and described submerged reef width threshold value: detour about then sending when described ledge width is less than or equal to described submerged reef width threshold value drive singal, otherwise, send retrogressing drive singal, described AT89C51 single-chip microcomputer is also connected with boats and ships driving arrangement, to be detoured in described rising drive singal, described left and right drive singal or retreat drive singal and be sent to described boats and ships driving arrangement, described AT89C51 single-chip microcomputer is also connected with described excavation driver, so that described excavation drive singal is sent to described excavation driver.
More specifically, described based in the boats and ships ledge avoidance system of data communication: described AT89C51 single-chip microcomputer is not when existing submerged reef signal described in receiving, close described wireless communication interface, receive described there is submerged reef signal time, open described wireless communication interface.
More specifically, described based in the boats and ships ledge avoidance system of data communication: described submerged reef identification equipment and described sharpening treatment facility are integrated on one piece of surface-mounted integrated circuit.
More specifically, described based in the boats and ships ledge avoidance system of data communication: the compression and coding standard that described AT89C51 single-chip microcomputer adopts is MPEG-2 compression and coding standard.
More specifically, described based in the boats and ships ledge avoidance system of data communication: described display device is liquid crystal display.
More specifically, described based in the boats and ships ledge avoidance system of data communication, described avoidance system also comprises: two-way speaker, be connected with described AT89C51 single-chip microcomputer, for receive described there is submerged reef signal time, play there is phonetic warning file corresponding to submerged reef signal with described.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the boats and ships ledge avoidance system based on data communication illustrated according to an embodiment of the present invention.
Reference numeral: 1 hull bottom fixed mount; 2 sharpening treatment facilities; 3 submerged reef identification equipments
Embodiment
Below with reference to accompanying drawings the embodiment of the boats and ships ledge avoidance system based on data communication of the present invention is described in detail.
Hitting a submerged reef is one of the danger that must avoid of ship running, and it is related to the safety of hull and ship's staff, but, still lack the concrete detection architecture to hull bottom submerged reef and corresponding evasive strategy at present, cause ship running still to there is certain danger.
In order to overcome above-mentioned deficiency, the present invention has built a kind of boats and ships ledge avoidance system based on data communication, and the concrete condition based on ledge formulates different processing policies, improves the security of ship running.
Fig. 1 is the block diagram of the boats and ships ledge avoidance system based on data communication illustrated according to an embodiment of the present invention, described avoidance system comprises hull bottom fixed mount, sharpening treatment facility and submerged reef identification equipment, described sharpening treatment facility and described submerged reef identification equipment are all positioned on described hull bottom fixed mount, described sharpening treatment facility is used for performing sharpening process to the image in hull bottom dead ahead, and described submerged reef identification equipment is used for carrying out submerged reef identification to the image after sharpening process.
Then, continue to be further detailed the concrete structure of the boats and ships ledge avoidance system based on data communication of the present invention.
Described avoidance system also comprises: excavating equipment, is arranged on described hull bottom fixed mount, and comprise digging motor and excavate driver, described excavation driver is connected with described digging motor, for excavating front submerged reef.
Described avoidance system also comprises: Galileo positioning equipment, is arranged on boats and ships, for receiving the Galileo locator data that Galilean satellite sends.
Described avoidance system also comprises: power-supply unit, be arranged on boats and ships, comprise solar powered device, accumulator, change-over switch and electric pressure converter, described change-over switch is connected respectively with described solar powered device and described accumulator, dump energy according to accumulator determines whether be switched to described solar powered device to be powered by described solar powered device, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage.
Described avoidance system also comprises: FLASH memory device, be arranged on boats and ships, black and white threshold value and threshold number of pixels are prestored, described black and white threshold value is used for performing binary conversion treatment to image, described FLASH memory device has also prestored gray processing submerged reef masterplate, and described gray processing submerged reef masterplate obtains for taking obtained submerged reef image execution gray processing process to benchmark submerged reef; Described FLASH memory device has also prestored submerged reef area threshold, submerged reef height threshold and submerged reef width threshold value, described submerged reef area threshold and boats and ships excavate output power and are directly proportional, described submerged reef height threshold is directly proportional to the instantaneous output power of climbing of boats and ships, and described submerged reef width threshold value is directly proportional to the instantaneous output power that detours of described boats and ships.
Described avoidance system also comprises: underwater photograph technical equipment, be positioned on described hull bottom fixed mount, comprise semisphere watertight transparent cover, floor light subset and CMOS camera, described semisphere watertight transparent cover is for holding described floor light subset and described CMOS camera, described floor light subset provides floor light for the underwater photograph technical of described CMOS camera, and the target of described CMOS camera to hull bottom dead ahead takes to obtain the underwater picture comprising hull bottom target.
Described avoidance system also comprises: ultrasonic ranging equipment, is arranged on described hull bottom fixed mount, for measuring the distance of described hull bottom fixed mount distance below submerged reef, and exports as submerged reef relative distance.
Described sharpening treatment facility is connected respectively with described CMOS camera, described ultrasonic ranging equipment and described floor light subset, to obtain described submerged reef relative distance and described floor light brightness, and to remove in described underwater picture because floor light subset irradiates the scattered light composition that target is alow formed based on described submerged reef relative distance and described floor light brightness, to obtain sharpening underwater picture.
Described submerged reef identification equipment is connected respectively with described sharpening treatment facility and described FLASH memory device, comprise Image semantic classification subset, binary conversion treatment subset, column border detection subset, row rim detection subset, Target Segmentation subset and target recognin equipment, described Image semantic classification subset is connected with described sharpening treatment facility, strengthen and wavelet filtering process to perform adaptive edge successively to described sharpening underwater picture, to obtain pretreated water hypograph; Described binary conversion treatment subset is connected respectively with described Image semantic classification subset and described FLASH memory device, the brightness of each pixel of described pretreated water hypograph is compared respectively with described black and white threshold value, when the brightness of pixel is greater than described black and white threshold value, pixel is designated as white pixel, when the brightness of pixel is less than described black and white threshold value, pixel is designated as black picture element, thus obtains binaryzation underwater picture; Described column border detects subset and is connected respectively with described binary conversion treatment subset and described FLASH memory device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels are designated as edge columns; Described row rim detection subset is connected respectively with described binary conversion treatment subset and described FLASH memory device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels is designated as edge lines; Described Target Segmentation subset and described column border detect subset and described row rim detection subset is connected respectively, region edge columns and edge lines interweaved as target domain of the existence, and is partitioned into described target domain of the existence to export as target subimage from described binaryzation underwater picture; Described target recognin equipment is connected respectively with described Target Segmentation subset and described FLASH memory device, by described target subimage and described gray processing submerged reef stencil matching, the match is successful, then export and there is submerged reef signal, it fails to match, then export and there is not submerged reef signal.
Submerged reef state analysis equipment, be connected respectively with described submerged reef identification equipment and described ultrasonic ranging equipment, when receive described there is submerged reef signal time, the area percentage occupying described binaryzation underwater picture based on described submerged reef relative distance and described target subimage calculates ledge horizontal area, the height percent longitudinally highly occupying the longitudinal height of described binaryzation underwater picture based on described submerged reef relative distance and described target subimage calculates ledge height, the width percentage occupying described binaryzation underwater picture transverse width based on described submerged reef relative distance and described target subimage transverse width calculates ledge width.
Described avoidance system also comprises: AT89C51 single-chip microcomputer, be arranged on ship control indoor, be connected with described submerged reef identification equipment by cable, also be connected with described Galileo positioning equipment, when receive described there is submerged reef signal time, described sharpening underwater picture and described target subimage are carried out respectively compressed encoding to obtain compressed image and targeted compression image under water; Wireless communication interface, is connected with described AT89C51 single-chip microcomputer, for receive described there is submerged reef signal time, by described compressed image under water, described targeted compression image with describedly there is submerged reef signal and be sent to search and rescue platform waterborne by cordless communication network.
Described avoidance system also comprises: display device, be connected with described AT89C51 single-chip microcomputer, for receive described there is submerged reef signal time, showing described sharpening underwater picture and described target subimage, also there is letter signal corresponding to submerged reef signal for showing with described.
Wherein, described AT89C51 single-chip microcomputer is also connected respectively with described submerged reef state analysis equipment, described submerged reef identification equipment and described FLASH memory device, when receive described there is submerged reef signal time, described ledge horizontal area is compared with described submerged reef area threshold, described ledge horizontal area is less than or equal to described submerged reef area threshold and then sends excavation drive singal, and described ledge horizontal area is greater than described submerged reef area threshold and then enters leadswinging pattern.
Described AT89C51 single-chip microcomputer operates below performing in described leadswinging pattern: then send rising drive singal when described ledge height is less than or equal to described submerged reef height threshold, when described ledge height is greater than described submerged reef height threshold, the comparative result of further judgement described ledge width and described submerged reef width threshold value: detour about then sending when described ledge width is less than or equal to described submerged reef width threshold value drive singal, otherwise, send retrogressing drive singal.
Described AT89C51 single-chip microcomputer is also connected with boats and ships driving arrangement, to be detoured in described rising drive singal, described left and right drive singal or retreat drive singal and be sent to described boats and ships driving arrangement; Described AT89C51 single-chip microcomputer is also connected with described excavation driver, so that described excavation drive singal is sent to described excavation driver.
Alternatively, described based in the boats and ships ledge avoidance system of data communication: described AT89C51 single-chip microcomputer is not when existing submerged reef signal described in receiving, close described wireless communication interface, receive described there is submerged reef signal time, open described wireless communication interface; Described submerged reef identification equipment and described sharpening treatment facility are integrated on one piece of surface-mounted integrated circuit; The compression and coding standard that described AT89C51 single-chip microcomputer adopts is MPEG-2 compression and coding standard; Described display device is liquid crystal display; Described avoidance system also comprises: two-way speaker, is connected with described AT89C51 single-chip microcomputer, for receive described there is submerged reef signal time, play there is phonetic warning file corresponding to submerged reef signal with described.
Adopt the boats and ships ledge avoidance system based on data communication of the present invention, the technical matters of hull bottom submerged reef testing mechanism is lacked for boats and ships in prior art, by transformation boats and ships bottom structure, with hull bottom fixed mount for detection platform, increase sharpening treatment facility, submerged reef identification and condition detecting device, with submerged reef concrete condition determination boats and ships processing policy, thus ensure the normal traveling of boats and ships.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (7)
1. the boats and ships ledge avoidance system based on data communication, described avoidance system comprises hull bottom fixed mount, sharpening treatment facility and submerged reef identification equipment, described sharpening treatment facility and described submerged reef identification equipment are all positioned on described hull bottom fixed mount, described sharpening treatment facility is used for performing sharpening process to the image in hull bottom dead ahead, and described submerged reef identification equipment is used for carrying out submerged reef identification to the image after sharpening process.
2., as claimed in claim 1 based on the boats and ships ledge avoidance system of data communication, it is characterized in that, described avoidance system also comprises:
Excavating equipment, is arranged on described hull bottom fixed mount, and comprise digging motor and excavate driver, described excavation driver is connected with described digging motor, for excavating front submerged reef;
Galileo positioning equipment, is arranged on boats and ships, for receiving the Galileo locator data that Galilean satellite sends;
Power-supply unit, be arranged on boats and ships, comprise solar powered device, accumulator, change-over switch and electric pressure converter, described change-over switch is connected respectively with described solar powered device and described accumulator, dump energy according to accumulator determines whether be switched to described solar powered device to be powered by described solar powered device, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage;
FLASH memory device, be arranged on boats and ships, black and white threshold value and threshold number of pixels are prestored, described black and white threshold value is used for performing binary conversion treatment to image, described FLASH memory device has also prestored gray processing submerged reef masterplate, and described gray processing submerged reef masterplate obtains for taking obtained submerged reef image execution gray processing process to benchmark submerged reef; Described FLASH memory device has also prestored submerged reef area threshold, submerged reef height threshold and submerged reef width threshold value, described submerged reef area threshold and boats and ships excavate output power and are directly proportional, described submerged reef height threshold is directly proportional to the instantaneous output power of climbing of boats and ships, and described submerged reef width threshold value is directly proportional to the instantaneous output power that detours of described boats and ships;
Underwater photograph technical equipment, be positioned on described hull bottom fixed mount, comprise semisphere watertight transparent cover, floor light subset and CMOS camera, described semisphere watertight transparent cover is for holding described floor light subset and described CMOS camera, described floor light subset provides floor light for the underwater photograph technical of described CMOS camera, and the target of described CMOS camera to hull bottom dead ahead takes to obtain the underwater picture comprising hull bottom target;
Ultrasonic ranging equipment, is arranged on described hull bottom fixed mount, for measuring the distance of described hull bottom fixed mount distance below submerged reef, and exports as submerged reef relative distance;
Described sharpening treatment facility is connected respectively with described CMOS camera, described ultrasonic ranging equipment and described floor light subset, to obtain described submerged reef relative distance and described floor light brightness, and to remove in described underwater picture because floor light subset irradiates the scattered light composition that target is alow formed based on described submerged reef relative distance and described floor light brightness, to obtain sharpening underwater picture;
Described submerged reef identification equipment is connected respectively with described sharpening treatment facility and described FLASH memory device, comprise Image semantic classification subset, binary conversion treatment subset, column border detection subset, row rim detection subset, Target Segmentation subset and target recognin equipment, described Image semantic classification subset is connected with described sharpening treatment facility, strengthen and wavelet filtering process to perform adaptive edge successively to described sharpening underwater picture, to obtain pretreated water hypograph; Described binary conversion treatment subset is connected respectively with described Image semantic classification subset and described FLASH memory device, the brightness of each pixel of described pretreated water hypograph is compared respectively with described black and white threshold value, when the brightness of pixel is greater than described black and white threshold value, pixel is designated as white pixel, when the brightness of pixel is less than described black and white threshold value, pixel is designated as black picture element, thus obtains binaryzation underwater picture; Described column border detects subset and is connected respectively with described binary conversion treatment subset and described FLASH memory device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels are designated as edge columns; Described row rim detection subset is connected respectively with described binary conversion treatment subset and described FLASH memory device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels is designated as edge lines; Described Target Segmentation subset and described column border detect subset and described row rim detection subset is connected respectively, region edge columns and edge lines interweaved as target domain of the existence, and is partitioned into described target domain of the existence to export as target subimage from described binaryzation underwater picture; Described target recognin equipment is connected respectively with described Target Segmentation subset and described FLASH memory device, by described target subimage and described gray processing submerged reef stencil matching, the match is successful, then export and there is submerged reef signal, it fails to match, then export and there is not submerged reef signal;
Submerged reef state analysis equipment, be connected respectively with described submerged reef identification equipment and described ultrasonic ranging equipment, when receive described there is submerged reef signal time, the area percentage occupying described binaryzation underwater picture based on described submerged reef relative distance and described target subimage calculates ledge horizontal area, the height percent longitudinally highly occupying the longitudinal height of described binaryzation underwater picture based on described submerged reef relative distance and described target subimage calculates ledge height, the width percentage occupying described binaryzation underwater picture transverse width based on described submerged reef relative distance and described target subimage transverse width calculates ledge width,
AT89C51 single-chip microcomputer, be arranged on ship control indoor, be connected with described submerged reef identification equipment by cable, also be connected with described Galileo positioning equipment, when receive described there is submerged reef signal time, described sharpening underwater picture and described target subimage are carried out respectively compressed encoding to obtain compressed image and targeted compression image under water;
Wireless communication interface, is connected with described AT89C51 single-chip microcomputer, for receive described there is submerged reef signal time, by described compressed image under water, described targeted compression image with describedly there is submerged reef signal and be sent to search and rescue platform waterborne by cordless communication network;
Display device, is connected with described AT89C51 single-chip microcomputer, for receive described there is submerged reef signal time, showing described sharpening underwater picture and described target subimage, also there is letter signal corresponding to submerged reef signal for showing with described;
Wherein, described AT89C51 single-chip microcomputer is also connected respectively with described submerged reef state analysis equipment, described submerged reef identification equipment and described FLASH memory device, when receive described there is submerged reef signal time, described ledge horizontal area is compared with described submerged reef area threshold, described ledge horizontal area is less than or equal to described submerged reef area threshold and then sends excavation drive singal, and described ledge horizontal area is greater than described submerged reef area threshold and then enters leadswinging pattern;
Wherein, described AT89C51 single-chip microcomputer operates below performing in described leadswinging pattern: then send rising drive singal when described ledge height is less than or equal to described submerged reef height threshold, when described ledge height is greater than described submerged reef height threshold, the comparative result of further judgement described ledge width and described submerged reef width threshold value: detour about then sending when described ledge width is less than or equal to described submerged reef width threshold value drive singal, otherwise, send retrogressing drive singal;
Wherein, described AT89C51 single-chip microcomputer is also connected with boats and ships driving arrangement, to be detoured in described rising drive singal, described left and right drive singal or retreat drive singal and be sent to described boats and ships driving arrangement;
Wherein, described AT89C51 single-chip microcomputer is also connected with described excavation driver, so that described excavation drive singal is sent to described excavation driver.
3., as claimed in claim 2 based on the boats and ships ledge avoidance system of data communication, it is characterized in that:
Described AT89C51 single-chip microcomputer, when there is not submerged reef signal described in receiving, cuts out described wireless communication interface, receive described there is submerged reef signal time, open described wireless communication interface.
4., as claimed in claim 2 based on the boats and ships ledge avoidance system of data communication, it is characterized in that:
Described submerged reef identification equipment and described sharpening treatment facility are integrated on one piece of surface-mounted integrated circuit.
5., as claimed in claim 2 based on the boats and ships ledge avoidance system of data communication, it is characterized in that:
The compression and coding standard that described AT89C51 single-chip microcomputer adopts is MPEG-2 compression and coding standard.
6., as claimed in claim 2 based on the boats and ships ledge avoidance system of data communication, it is characterized in that:
Described display device is liquid crystal display.
7., as claimed in claim 2 based on the boats and ships ledge avoidance system of data communication, it is characterized in that, described avoidance system also comprises:
Two-way speaker, is connected with described AT89C51 single-chip microcomputer, for receive described there is submerged reef signal time, play there is phonetic warning file corresponding to submerged reef signal with described.
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| CN113291427A (en) * | 2021-06-10 | 2021-08-24 | 丁鸿雨 | Ocean engineering ship is with preventing striking reef system based on thing networking |
| CN115307647A (en) * | 2022-10-12 | 2022-11-08 | 中国船舶重工集团公司第七一九研究所 | Ship vibration noise pre-analysis system based on broadband line spectrum real-time analysis |
| CN115307647B (en) * | 2022-10-12 | 2023-01-06 | 中国船舶重工集团公司第七一九研究所 | Ship vibration noise pre-analysis system based on broadband line spectrum real-time analysis |
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