CN105388790B - A kind of intelligent steamer Overthrow preventing device based on wireless transmission - Google Patents
A kind of intelligent steamer Overthrow preventing device based on wireless transmission Download PDFInfo
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- CN105388790B CN105388790B CN201510852472.4A CN201510852472A CN105388790B CN 105388790 B CN105388790 B CN 105388790B CN 201510852472 A CN201510852472 A CN 201510852472A CN 105388790 B CN105388790 B CN 105388790B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Selective Calling Equipment (AREA)
- Alarm Systems (AREA)
Abstract
The present invention provides a kind of intelligent steamer Overthrow preventing device based on wireless transmission, including the sensor node module and controller module connected by wireless transmission method；Wherein sensor node module is arranged on the outside of hull, for perceiving the parameter information in steamer driving process；Controller module setting is located on the quarter, and each controller module includes wireless transmission unit, electronic control unit, igniting unit and gas bag unit, and wherein gas bag unit is exported towards outside hull；The parameter information of wireless transport module receiving sensor node module acquisition, hull obliquity is judged according to parameter information by electronic control unit, and calculate tilt angle, judge whether to reach critical value using echo state network algorithm, igniting unit is triggered when reaching critical value to light a fire to gas bag unit, opens air bag.By using apparatus of the present invention, does not need to change existing Ship Structure and design, by installation intelligent control and protective device, prevent steamer from toppling.
Description
Technical field
The invention belongs to field of intelligent control, and in particular to a kind of intelligent steamer Overthrow preventing device based on wireless transmission.
Background technique
When steamer navigates by water in water, such as encounters bad weather or manual operation is improper, the accident toppled is relatively more
See even have the phenomenon that back-off (for example, 2015 beginning of the years, " Hoegh Osaka " cargo ship rollover event of Britain when serious；
" Dong Fangzhixing " number passenger steamer back-off in domestic on June 1st, 2015 etc.), cause irredeemable great personnel, property loss.
Present invention seek to address that this problem, i.e., effectively prevent and steamer prevented to topple.
Summary of the invention
The technical problem to be solved by the present invention is providing a kind of intelligent steamer Overthrow preventing device based on wireless transmission, lead to
Installation intelligent control and protective device are crossed, prevents steamer from toppling.
A kind of technical solution taken by the invention to solve the above technical problem are as follows: intelligent steamer based on wireless transmission
Overthrow preventing device, it is characterised in that: it includes the sensor node module and controller module connected by wireless transmission method；
Wherein:
Sensor node module is arranged on the outside of hull, and quantity is greater than or equal to 4, for perceiving in steamer driving process
Parameter information, and controller module is passed to by wireless transmission method；
Controller module setting is located on the quarter, and each controller module includes wireless transmission unit, electronic control unit, igniting list
Member and gas bag unit, wherein gas bag unit is exported towards outside hull, and the quantity of controller module is according to air bag buoyancy and hull
Tonnage setting；The parameter information of wireless transport module receiving sensor node module acquisition, by electronic control unit according to parameter information
Judge hull obliquity, and calculate tilt angle, judges whether to reach critical value using echo state network algorithm, work as arrival
Igniting unit is triggered when critical value to light a fire to gas bag unit, opens air bag.
According to the above scheme, the sensor node module is fixed on the outside of hull by adsorbent equipment.
According to the above scheme, the adsorbent equipment is direct current sucked type electromagnet.
According to the above scheme, the sensor node module and controller module difference built-in lithium battery power supply, controller
Light current alarm module is additionally provided in module, for issuing report in sensor node module and/or controller module not enough power supply
Alert signal.
According to the above scheme, the wireless transmission method is Zigbee.
The invention has the benefit that
1, air bag is set by upper on the quarter, hull obliquity is judged according to the parameter information of steamer driving status and is inclined
Rake angle triggers igniting unit when reaching critical value and lights a fire to gas bag unit, open gas using echo state network algorithm
Capsule topples to prevent hull；By using apparatus of the present invention, do not need to change existing Ship Structure and design, it is easy for installation；
Whole device has the characteristics that small in size, at low cost, small power consumption, signal are strong, real-time is high and the operation is stable.
2, sensor node module is fixed on the outside of hull by using adsorbent equipment, arrangement is convenient, function easily extends.
Detailed description of the invention
Fig. 1 is the structural block diagram of one embodiment of the invention.
Specific embodiment
Below with reference to specific example and attached drawing, the invention will be further described.
A kind of intelligent steamer Overthrow preventing device based on wireless transmission, as shown in Figure 1, including being connected by wireless transmission method
The sensor node module and controller module connect；Wherein: sensor node module is arranged on the outside of hull, and quantity is greater than or waits
In 4, controller module is passed to for perceiving the parameter information in steamer driving process, and by wireless transmission method；Control
Device module setting processed is located on the quarter, and each controller module includes wireless transmission unit, electronic control unit, igniting unit and air bag list
Member, wherein gas bag unit is exported towards outside hull, and the quantity of controller module is arranged according to air bag buoyancy and hull tonnage；Nothing
The parameter information of line transmission module receiving sensor node module acquisition judges that hull tilts according to parameter information by electronic control unit
Position, and tilt angle is calculated, judge whether to reach critical value using echo state network algorithm, be triggered when reaching critical value
Igniting unit is lighted a fire to gas bag unit, opens air bag.
Preferably, the sensor node module is fixed on the outside of hull by adsorbent equipment, such as adsorbent equipment is
Direct current sucked type electromagnet.
It is further preferred that the wireless transmission method is Zigbee.The sensor node module and controller
Module distinguishes built-in lithium battery power supply, and sustainable power supply was additionally provided with light current alarm module in controller module, is used for up to 48 months
Alarm signal is issued in sensor node module and/or controller module not enough power supply.
Gas bag unit includes air bag generating unit, interior to contain sodium azide (NaN3) or ammonium nitrate (NH4NO3) etc. substances.When
Steamer travel in water in by side hurricane or human operational error, when generating strong collision, and with the state of toppling,
Electronic control unit judges whether to trigger igniting unit according to status information, these substances can decompose rapidly reaction, generates largely
Gas is full of air bag.Sodium azide, which decomposes, generates nitrogen and solid-state sodium；Decomposing ammonium nitrate generates a large amount of nitrous oxide
(N2O) gas and vapor (H2O)。
Air bag buoyancy is calculated with the deadweight tonnage (D.W.T) of practical steamer, the air bag buoyancy designed in invention, single air bag
Buoyancy is up to 10 tons, and the diameter of airbag deployment is 1 meter long, and 8 meters long, the weight after inflation is about 250 kilograms, with 300 kilometers/hour
Dynamic ejection, the time that single air bag is inflated to expansion volume is about 70 to 90 seconds.
It is each to sense when sensor node module and controller module pass through Zigbee protocol networking for the first time in the present embodiment
Respective positions coordinate information is determined that, if there is the sensor node being newly added, apparatus system can again really by device node module
Fixed each node coordinate, more new location information.Controller module can judge ship in conjunction with real time data according to sensor node position
Body is which side tilts, and according to calculating tilt angle, and according to control strategy, judges whether to reach critical value, to sentence
Whether disconnected to light a fire, opening prevents the air bag that topples, and prevents toppling for steamer.Electronic control unit is using double ARM kernels in controller module
Processing unit, runs android4.4 operating system, and branch can be by wireless telecommunications, multimedia application, long-range monitoring, distributed
Business processing etc. combines.Zigbee transceiver module is wirelessly connected to positioning master control by radio frequency 2.4GHz signal
Device.
In the present embodiment, each sensor node module has a plurality of types of sensors, comprising: velocity sensor adds
Velocity sensor, gravity sensor, pressure sensor, air velocity transducer etc..According to specific application environment and requirement, sensor die
Block is arranged on the outside of hull, and number of nodes is not less than 4 (>=4), and function is equivalent to the sensing terminal in network, will be acquired
Shipping agency information the controller module that setting is located on the quarter is wirelessly transmitted to by built-in Zigbee sending module.Sensor
Module has adsorbent equipment, is securable on the outside of hull.Meanwhile sensor node be hermetically sealed design, have waterproof and dustproof and
Moisture-proof feature.
In the present embodiment, controller module is fixed by bolts at ship side, has waterproof (Ip9) and dust-proof (Ip6) is special
Point.Controller module is mounted at the ship side of steamer, and air bag ejection door is against on the outside of ship side.Controller module has light current automatic
Warning function, when whole system (controller and sensor node) is in light current state, in the way of being previously set, notice
Administrator charges to controller module or sensor node module in time.Single controller module includes an air bag, air bag
It can bear 10 × 103The quantity of the buoyancy of N, controller module is calculated with the deadweight tonnage (D.W.T) of practical steamer.
Electronic control unit judges whether the Controlling model algorithm inflated to air bag, is based on echo state network (Echo
State Networks, ESN) model, in the present embodiment, algorithm the following steps are included:
(1) hull status information sample phase: the sensor node (number of nodes >=4) being distributed on the outside of hull, it will
Sensing data is transmitted by Zigbee protocol, is uploaded to control module in real time, and the location information of these nodes is it is known that sensor
After the completion of node module and controller module networking, by hull status information when not toppling, W is constructedout(WoutIndicate reserve pool
DR (Dynamic Reservior), connection weight matrix for output is output and input).The original state of arbitrarily selected network,
The original state that network is chosen under usual situation is 0, i.e. x (0)=0.It is input to the nodal information of echo state network, for sensing
The collected hull information of device module, comprising: travel speed, wind speed, acceleration, crash acceleration etc. form training sample (u
(n), n=1,2 ... P), by input connection weight matrix WinIt is added into DR (DR is random matrix), is sequentially completed system
State and error outputCalculating and collection.In order to calculate output connection weight matrix, need from steamer normally travel certain
One moment m starts to collect (sampling) internal state variable, and with vector (x1(i),x2(i)…,xN(i)) (i=m, m+1 ..., P)
Matrix Β (P-m+1, N) is constituted for row, while corresponding sample data ε (n) is also collected, and constitutes a column vector Τ (P-m
+1,1)。
(2) the weight computing stage: systematic observation matrix and sample data are collected into according in sample phase, output is calculated and connects
Meet weight matrix Wout.Due to state variable x (n) and outputBetween be linear relationship, and needing the target realized is to utilize net
Network reality outputDesired output ε (n) is approached, whether online calculated result meets the threshold value of expected determination, i.e.,
Namely wish to calculate weight(For matrix WoutElement), it is minimum to meet system mean square deviation, i.e. demand
Solve following optimization problem:
(3) the judgement triggering igniting unit stage: from the viewpoint of mathematics, the problem of formula (2) is a linear regression, in turn
The inverse matrix problem for seeking matrix Β, i.e. W can be attributed toout=Β-1Τ, so far, ESN network training are completed, trained network
It can be used for the steamer running condition information of time series.Expected output ε (n), key parameter when will topple for steamer,
It is demarcated according to the ship of different tonnages.
Overturn-preventing control strategy in device using first calculating and is analyzed, the workflow judged afterwards.Via sensing
The real time data that device module uploads, in electronic control unit after fusion calculation, if numerical value is more than the Network Warning threshold preset
Value, the then each controller module being installed at steamer ship side, interior electronic control unit trigger igniting unit, open air bag, prevent from taking turns
Ship topples.
Above embodiments are merely to illustrate design philosophy and feature of the invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
It is within the scope of the present invention according to equivalent variations made by disclosed principle, mentality of designing or modification.
Claims (3)
1. a kind of intelligent steamer Overthrow preventing device based on wireless transmission, it is characterised in that: it includes passing through wireless transmission method
The sensor node module and controller module of connection；Wherein:
Sensor node module is arranged on the outside of hull, and quantity is greater than or equal to 4, for perceiving the ginseng in steamer driving process
Number information, and controller module is passed to by wireless transmission method；
Controller module setting locate on the quarter, each controller module include wireless transmission unit, electronic control unit, igniting unit and
Gas bag unit, wherein gas bag unit is exported towards outside hull, and the quantity of controller module is according to air bag buoyancy and hull tonnage
Setting；The parameter information of wireless transport module receiving sensor node module acquisition, is judged by electronic control unit according to parameter information
Hull obliquity, and tilt angle is calculated, judge whether to reach critical value using echo state network algorithm, it is critical when reaching
Igniting unit is triggered when value to light a fire to gas bag unit, opens air bag；
The sensor node module is fixed on the outside of hull by adsorbent equipment；The adsorbent equipment is direct current sucked type
Electromagnet；
The electronic control unit judges whether the Controlling model algorithm inflated to air bag, is based on echo state network model, control
Simulation algorithm the following steps are included:
(1) hull status information sample phase: sensing data is uploaded to controller module by sensor node module in real time, these
The location information of node is it is known that after the completion of sensor node module and controller module networking, by hull shape when not toppling
State information constructs reserve pool, outputs and inputs the connection weight matrix for output；The original state of arbitrarily selected network, input
It is the collected hull information of sensor node module, including travel speed, wind to the nodal information of echo state network model
Speed, acceleration, crash acceleration form training sample, are added into random matrix by inputting connection weight matrix, successively complete
The calculating and collection exported at systematic observation matrix and error；
(2) the weight computing stage: systematic observation matrix and training sample are collected into according in sample phase, calculate output connection weight
Matrix；Due to being linear relationship between state variable and error output, and needing the target realized is to utilize network actual error
Output approaches desired output, and whether online calculated result meets the threshold value of expected determination, that is, calculates in output connection weight matrix
It is minimum that weight meets system mean square deviation；
(3) the judgement triggering igniting unit stage: steamer of the trained echo state network model for time series travels shape
State information, it is contemplated that error output be key parameter of steamer when will topple, demarcated according to the ship of different tonnages.
2. the intelligent steamer Overthrow preventing device according to claim 1 based on wireless transmission, it is characterised in that: the biography
Sensor node module and controller module difference built-in lithium battery are powered, and are additionally provided with light current alarm module in controller module, are used
In issuing alarm signal in sensor node module and/or controller module not enough power supply.
3. the intelligent steamer Overthrow preventing device according to claim 1 based on wireless transmission, it is characterised in that: the nothing
Line transmission mode is Zigbee.
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| CN201510852472.4A CN105388790B (en) | 2015-11-27 | 2015-11-27 | A kind of intelligent steamer Overthrow preventing device based on wireless transmission |
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| CN201510852472.4A CN105388790B (en) | 2015-11-27 | 2015-11-27 | A kind of intelligent steamer Overthrow preventing device based on wireless transmission |
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| CN105388790A CN105388790A (en) | 2016-03-09 |
| CN105388790B true CN105388790B (en) | 2019-07-23 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105701999B (en) * | 2016-04-22 | 2018-05-29 | 天津开发区瑞锋科技有限公司 | A kind of ship collision, attitude monitoring alarm system |
| CN107600359A (en) * | 2017-09-14 | 2018-01-19 | 南通如港船舶配套机械有限公司 | A kind of Anti-tilt system for ship |
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