CN107241393A - A kind of vessel motion control method and its system based on LORA technologies - Google Patents
A kind of vessel motion control method and its system based on LORA technologies Download PDFInfo
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- CN107241393A CN107241393A CN201710367078.0A CN201710367078A CN107241393A CN 107241393 A CN107241393 A CN 107241393A CN 201710367078 A CN201710367078 A CN 201710367078A CN 107241393 A CN107241393 A CN 107241393A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
The invention provides a kind of vessel motion control method and its system based on LORA technologies, each ship terminal obtains the sail information in itself scheduled time, and by being sent installed in internal LORA communication modules；LORA gateways obtain the sail information that each ship terminal is sent, and the sail information is sent to adjacent LORA gateways, after LORA gateway forwards, headquarters server is sent to；Headquarters server obtains each sail information of ship terminal in preset time, and is laid out according to each default ships' routing, is that each ship terminal sends course line configured information, the microcontroller of each ship terminal controls boat trip according to course line configured information.The method disclosed in the present and system apply the marine site communication in the length and breadth of land, and LORA gateways composition is fairly simple, it is easy to builds, it is possible to achieve the mutual communication between waterborne vessel and headquarters server, is that the driving safety of ship provides safeguard.
Description
Technical field
The present invention relates to technical field of information communication, more particularly to a kind of vessel motion control based on LORA technologies
Method and its system.
Background technology
Internet of Things IOT is the information industry tide again after computer, internet, mobile communication, is to move from now on
The developing direction of dynamic interconnection.With the development of Internet of Things, such as this short distance communication of bluetooth, zigbee or such as WIFI,
This high power consumption communications of 3G/4G can not meet requirement.And LORA wireless technologys can abandon determination with reference to advantage, it can do
To over long distances and low power consumption transmission, therefore LORA wireless technologys just arise at the historic moment.
LoRa is the low-power consumption networking technology researched and developed by SemTech, using direct sequence spread spectrum technology, is shared using the whole world
ISM public frequencys 137-1020MHZ carries out wireless data transmission.Because it uses Sub-GHZ frequency ranges, relatively low work(is made it easier for
Telecommunication is consumed, and with stronger technical ability through walls.Low-power consumption is also substantially improved the service life of battery.Based on these
Advantage so that LoRa technologies obtain large-scale development application in Internet of Things.
Fortune ship just as in too air travel, it is necessary to stopping nearest harbour obtains continuous food and fresh water supply,
It will be clear that the trend of the position itself navigated by water, the distance arrived at and neighbouring other ships.Find nearest port
Distance, the trend of other ships that mouth, acquisition are arrived at are required for and the external world（General headquarters or other ships）There is communication to join
System, in the prior art, usually using 3G or 4G networks set up ship with the external world contact, but be due among marine site,
If 3G or 4G network is probably due to signal is weaker, it is impossible to set up effective connection.
Therefore, prior art awaits further improvement.
The content of the invention
In view of above-mentioned weak point of the prior art, a kind of based on LORA skills it is an object of the invention to provide the user
The vessel motion control method and its system of art, effective communication connection, Huo Zhejian can not be set up by overcoming in prior art marine site
The defect of vertical wireless data transmission high energy consumption.
The technical proposal for solving the technical problem of the invention is as follows：
A kind of vessel motion control method based on LORA technologies, wherein, comprise the following steps：
Step A, each ship terminal obtain the sail information in itself scheduled time, and by communicating mould installed in internal LORA
Block is sent；
Step B, LORA gateway obtains the sail information that each ship terminal is sent, and the sail information is sent to adjacent
LORA gateways, and the forwarding of adjacent LORA gateways is sequentially passed through, it is sent to headquarters server；
Step C, the headquarters server obtain each sail information of ship terminal in preset time, and according to default each
Individual ships' routing layout, is that each ship terminal sends course line configured information；
Step D, LORA gateway receives the course line configured information, and by the course line configured information by adjacent LORA gateways
Forward, be sent in the ship terminal corresponding with the course line configured information successively；
Step E, the microcontroller of each ship terminal control boat trip according to the course line configured information.
The described vessel motion control method based on LORA technologies, wherein, also include in the step A：
Step A1, the GPS module installed in each ship terminal inner obtain current ship terminal positional information and it is default when
Interior ship trajectory, the boat using the ship trajectory in the positional information and preset time as the ship in preset time
Row information is sent to the microcontroller of ship terminal；
Step A2, the microcontroller of the ship terminal obtain the sail information, and the sail information are spread to wirelessly
Signal is sent.
The described vessel motion control method based on LORA technologies, wherein, also include in the step C：
Step C1, the LORA being connected with headquarters server communication receiving terminal obtain the wireless signal that LORA gateways are sent, and will
The wireless signal changes into data signal and sent to headquarters server.
The described vessel motion control method based on LORA technologies, wherein, the configured information includes：Ensuing boat
Row is arranged, nearest ship positional information and nearest port of call's message cease.
The described vessel motion control method based on LORA technologies, wherein, the step C also includes:
The configured information that headquarters server is sent is spread to wireless signal and is sent to LORA nets by step C2, LORA communication receiving terminal
Close.
A kind of vessel motion control system based on LORA technologies, wherein, including：At least one ship terminal, at least one
Individual LORA gateways and headquarters server；
The ship terminal includes：LORA communication modules, micro controller module and d GPS locating module；
The d GPS locating module, for obtaining each sail information of ship terminal in the given time；
The LORA communication modules, for the sail information and positional information in the scheduled time of ship terminal to be sent；
The LORA gateways, for obtaining the sail information that each ship terminal is sent, by the sail information send to
Adjacent LORA gateways, and the forwarding of adjacent LORA gateways is sequentially passed through, it is sent to headquarters server；
The headquarters server, for obtaining each sail information of ship terminal in preset time, and according to default each
Individual ships' routing layout, is that each ship terminal sends course line configured information；
The LORA gateways, are additionally operable to receive the course line configured information, and the course line configured information is passed through into adjacent LORA
The forwarding successively of gateway, is sent in the ship terminal corresponding with the course line configured information；
The micro controller module of each ship terminal, for controlling boat trip according to the course line configured information.
The described vessel motion control system based on LORA technologies, wherein, the sail information bag in the preset time
Include：Ship trajectory in the positional information and preset time of current ship terminal；
The micro-control module of the ship terminal, is additionally operable to obtain the sail information, and the sail information is spread into nothing
Line signal is sent.
The described vessel motion control system based on LORA technologies, wherein, in addition to：LORA communicates receiving terminal；
The LORA communications receiving terminal is connected with headquarters server, is additionally operable to the wireless signal changing into data signal hair
Deliver to headquarters server.
The described vessel motion control system based on LORA technologies, wherein, the course line configured information includes：Next
Navigation arrangement, nearest ship positional information and the nearest port of call's message breath.
The described vessel motion control system based on LORA technologies, wherein, the LORA communications receiving terminal also includes：Control
Molding block；
The control module, the configured information for headquarters server to be sent spreads to wireless signal and is sent to LORA gateways.
Beneficial effect, the invention provides a kind of vessel motion control method and its system based on LORA technologies, each
Ship terminal obtains the sail information in itself scheduled time, and by being sent installed in internal LORA communication modules；LORA nets
Close and obtain the sail information that each ship terminal is sent, the sail information is sent to adjacent LORA gateways, and successively
By the forwarding of adjacent LORA gateways, headquarters server is sent to；The headquarters server obtains each ship terminal default
Sail information in time, and be laid out according to each default ships' routing, it is that each ship terminal sends course line configured information；
LORA gateways receive the course line configured information, and by successively forwarding of the course line configured information by adjacent LORA gateways,
It is sent in the ship terminal corresponding with the course line configured information；The microcontroller of each ship terminal is according to the course line
Configured information controls boat trip.The method disclosed in the present and system apply the marine site communication in the length and breadth of land, LORA gateway groups
It is the traveling peace of ship into fairly simple, it is easy to build, it is possible to achieve the mutual communication between waterborne vessel and headquarters server
Provide safeguard entirely.
Brief description of the drawings
Fig. 1 is the step flow chart of the vessel motion control method of the present invention based on LORA technologies.
Fig. 2 is the method and step flow chart of method concrete application embodiment of the present invention.
Fig. 3 is the theory structure schematic diagram of the vessel motion control system of the present invention based on LORA technologies.
Fig. 4 is the theory structure schematic diagram of ship terminal of the present invention.
Embodiment
To make the objects, technical solutions and advantages of the present invention clearer, clear and definite, develop simultaneously embodiment pair referring to the drawings
The present invention is further described.It should be appreciated that specific embodiment described herein is used only for explaining of the invention, and without
It is of the invention in limiting.
The invention discloses a kind of vessel motion control method based on LORA technologies, as shown in figure 1, including following step
Suddenly：
Step S1, each ship terminal obtain the sail information in itself scheduled time, and by being communicated installed in internal LORA
Module is sent.
Navigate by water and terminal be mounted on multiple ships in marine site, the terminal can be any intelligent terminal,
Such as：It can be intelligent computer, be mobile phone or Intelligent worn device in order to easy to use preferred due in marine site.
D GPS locating module is installed in the ship terminal, entered for the coordinate position at any time according to residing for present terminal
Row positioning, obtains the ship trajectory in the positional information and preset time of ship in real time.Further, the ship terminal inner
LORA communication modules are also equipped with, positional information and preset that the ship terminal is obtained by using LORA communication modules
Ship trajectory in time is sent.
In order to ensure in the smooth reception of accurate transmission and LORA gateways to information to sail information, the step S1 also
Including：
Step S11, the GPS module installed in each ship terminal inner obtain current ship terminal positional information and it is default when
Interior ship trajectory, the boat using the ship trajectory in the positional information and preset time as the ship in preset time
Row information is sent to ship terminal microcontroller；
Step S12, the ship terminal microcontroller obtain the sail information, and the sail information is spread into wireless communication
Number send.
In order to ensure that LORA gateways can receive the sail information sent from multiple different ship terminals, pass through first
LORA technologies realize that the communication between each ship terminal is connected, and navigation of the microcontroller to receiving of ship terminal
Information carries out spread processing, is sent in the form of wireless signal.Due to carrying out spread processing to sail information, so that ship
Communication between terminal and LORA gateways is completed on the basis of different frequency and message transmission rate, different transmission rates
Communication will not be interfered with each other, and will also create the frequency range of one group of virtualization to increase gateway capacity.Therefore it can obtain preferably
Information exchange effect.
Step S2, LORA gateway obtains the sail information that each ship terminal is sent, and the sail information is sent
To adjacent LORA gateways, and the forwarding of adjacent LORA gateways is sequentially passed through, be sent to headquarters server.
The multiple LORA gateways being distributed in marine site are used to receive what is sent respectively from ship terminal and headquarters server
Information, and adjacent LORA gateways are communicated information to successively, the transmission of multiple LORA gateways is sequentially passed through, information is passed respectively
It is delivered to headquarters server and ship terminal.
Step S3, the headquarters server obtain each sail information of ship terminal in preset time, and according to pre-
If each ships' routing layout, be each ship terminal send course line configured information.
Headquarters server is got after the sail information that each ship terminal is sent, and parses the current institute of each ship terminal
Locate positional information and the new advancement of the ship terminal, and be laid out according to pre-designed boat trip, for current ship
The position at place carries out navigation control to ship respectively, that is, provides newest course line configured information.
Specifically, the course line configured information includes：It is ensuing to navigate by water arrangement, nearest ship positional information and stop recently
Moor harbour information.
In order to realize that the course line configured information that headquarters server is sent can be received smoothly by ship terminal, the step
Also include in S3：
Step S31, the LORA being connected with headquarters server communication receiving terminal obtain the wireless signal that LORA gateways are sent, and will
The wireless signal changes into data signal and sent to headquarters server.
The configured information that headquarters server is sent is spread to wireless signal and is sent to by step S32, LORA communication receiving terminal
LORA gateways.
Step S4, LORA gateway receives the course line configured information, and the course line configured information is passed through into adjacent LORA
The forwarding successively of gateway, is sent in the ship terminal corresponding with the course line configured information.
Identical, the course line configured information that LORA gateways are received from headquarters server sequentially passes through multiple LORA gateways
Forwarding, is sent in each ship terminal, and the LORA communication modules of each ship terminal receive the course line configured information.
Step S5, the microcontroller of each ship terminal control boat trip according to the course line configured information.
The microcontroller of each ship terminal is got after the course line configured information from LORA communication modules, according to described
Course line configured information is controlled to boat trip.
It is contemplated that, each ship terminal can also be reminded the fresh information received by prompting module, also
The information such as the track of current ship position information and navigation can be shown in real time by display module.
In order to which method of the present invention is described in more detail, solved below with its concrete application embodiment
Analysis.
As shown in Fig. 2 when carrying out vessel motion control using method of the present invention, comprising the following steps：
Micro controller module in H1, ship terminal（That is MCU）The coordinate information of ship itself is obtained from d GPS locating module, it is micro-
On the one hand controller module shows the ship own coordinate information of acquisition on a display screen, on the one hand with the new advancement of ship
LORA communication modules are sent to, LORA communication modules receive the coordinate information and ship new advancement of ship itself, spread to
Wireless signal is sent to nearest LORA gateways in real time.
Communication between ship terminal and LORA gateways is completed on the basis of different frequency and message transmission rate, by
In employing spread spectrum, the communication of different transmission rates will not be interfered with each other, and it is next to will also create the frequency range of one group of virtualization
Increase gateway capacity.The message transmission rate scope of LORA wide area networks is 0.3kbps to 37.5kbps, is set to maximize terminal
The life-span of standby battery and whole network capacity, LORA WAN networks server control number by a kind of rate adaptation scheme
According to transmission rate and the radio frequency power output of each positioner equipment.
H2, LORA gateway receive ship coordinate information and ship new advancement letter under the control module control inside it
Breath, then sends information to next stage gateway or general headquarters' control end or other ships.
H3, LORA communication receiving terminal obtain the coordinate information and ship new advancement information of ship, demodulate digital letter
Number, it is sent to headquarters server.
H4, headquarters server receives ship coordinate information and ship new advancement information, and general headquarters staff is used to slap
Hold the running situation of waterborne vessel, and by the configured information of general headquarters, such as the ensuing course of ship, apart from ship it is nearest can
Stop harbour, the distance apart from purpose harbour and it should be understood that the trend of other ships etc. be sent to LORA communication receiving terminals.
The configured information of general headquarters staff is spread to wireless signal and is sent to LORA nets by H5, LORA communication receiving terminal
Close.
The configured information that H6, LORA gateway receive general headquarters staff is ultimately sent to waterborne vessel.
H7, waterborne vessel terminal receives the configured information or other ships for the general headquarters staff that LORA gateways are sent
Activity information, be sent to control module.The staff that control module will be shown on ship on Information Pull display screen, helps
Staff understands the situation of ship on ship, it is clear apart from ship it is nearest stop harbour, to stop supplements and light
Water；The activity information that ship itself reaches the distance at purpose harbour etc. or other ships is understood simultaneously.
Using LORA wireless technologys low-power consumption long-distance transmissions the characteristics of constitute LORA low-power consumption wide area networks, use micro- place
Manage device and carry out information processing, due to LORA wireless technologys transmission range farther out, and have stronger ability through walls, interference free performance is good
It is good, and positional information is obtained using GPS module, positioning more accurate quick, technology is easily achieved, and cost is relatively low.
A kind of vessel motion control system based on LORA technologies is also disclosed on the basis of the open above method in the present invention
System, as shown in figure 3, including：At least one ship terminal 10, at least one LORA gateway 30 and headquarters server 201；
With reference to shown in Fig. 4, the ship terminal 10 includes：LORA communication modules 101, micro controller module 102 and GPS location mould
Block 104；It is envisioned that each terminal can also contain a display module 103.
The d GPS locating module 104, for obtaining each sail information of ship terminal in the given time；
The LORA communication modules 101, for the sail information and positional information in the scheduled time of ship terminal to be sent；
The LORA gateways 30, for obtaining the sail information that each ship terminal is sent, the sail information is sent
To adjacent LORA gateways, and the forwarding of adjacent LORA gateways is sequentially passed through, be sent to headquarters server；
The headquarters server 201, for obtaining each sail information of ship terminal in preset time, and according to default
Each ships' routing is laid out, and is that each ship terminal sends course line configured information；
The display module 103, for being shown to the information that ship terminal is received, to point out user to receive new letter
Breath.
The LORA gateways 30, are additionally operable to receive the course line configured information, and the course line configured information is passed through into phase
The forwarding successively of adjacent LORA gateways, is sent in the ship terminal corresponding with the course line configured information；
The micro controller module of each ship terminal, for controlling boat trip according to the course line configured information.
Sail information in the preset time includes：Navigation in the positional information and preset time of current ship terminal
Track；
The micro-control module of the ship terminal, is additionally operable to obtain the sail information, and the sail information is spread into nothing
Line signal is sent.
As shown in figure 3, the vessel motion control system based on LORA technologies, in addition to：LORA communicates receiving terminal
202；The LORA communications receiving terminal is connected with headquarters server, is additionally operable to the wireless signal changing into data signal hair
Deliver to headquarters server.
The course line configured information includes：Ensuing navigation arrangement, nearest ship positional information and harbour of berthing recently
Information.
The LORA communications receiving terminal also includes：Control module；
The control module, the configured information for headquarters server to be sent spreads to wireless signal and is sent to LORA gateways.
In order to preferably carry out system assembles, it can also be easy to directly in headquarters server directly according to LORA modules
The information for carrying out headquarters server is received and sent.
It is contemplated that on the premise of the above method and system, in order to ensure preferable the effect of information transmission, ship terminal
The information sent can be encrypted with headquarters server, to the information that receives according to decipherment algorithm set in advance
Processing is decrypted.In order to ensure preferably to recognize the information that each ship terminal is sent, each ship terminal can be passed through
Unique identifier is identified.
Beneficial effect, the invention provides a kind of vessel motion control method and its system based on LORA technologies, each
Ship terminal obtains the sail information in itself scheduled time, and by being sent installed in internal LORA communication modules；LORA nets
Close and obtain the sail information that each ship terminal is sent, the sail information is sent to adjacent LORA gateways, and successively
By the forwarding of adjacent LORA gateways, headquarters server is sent to；The headquarters server obtains each ship terminal default
Sail information in time, and be laid out according to each default ships' routing, it is that each ship terminal sends course line configured information；
LORA gateways receive the course line configured information, and by successively forwarding of the course line configured information by adjacent LORA gateways,
It is sent in the ship terminal corresponding with the course line configured information；The microcontroller of each ship terminal is according to the course line
Configured information controls boat trip.The method disclosed in the present and system apply the marine site communication in the length and breadth of land, LORA gateway groups
It is the traveling peace of ship into fairly simple, it is easy to build, it is possible to achieve the mutual communication between waterborne vessel and headquarters server
Provide safeguard entirely.
It is understood that for those of ordinary skills, can be with technique according to the invention scheme and its hair
Bright design is subject to equivalent substitution or change, and all these changes or replacement should all belong to the guarantor of appended claims of the invention
Protect scope.
Claims (10)
1. a kind of vessel motion control method based on LORA technologies, it is characterised in that comprise the following steps：
Step A, each ship terminal obtain the sail information in itself scheduled time, and by communicating mould installed in internal LORA
Block is sent；
Step B, LORA gateway obtains the sail information that each ship terminal is sent, and the sail information is sent to adjacent
LORA gateways, and the forwarding of adjacent LORA gateways is sequentially passed through, it is sent to headquarters server；
Step C, the headquarters server obtain each sail information of ship terminal in preset time, and according to default each
Individual ships' routing layout, is that each ship terminal sends course line configured information；
Step D, LORA gateway receives the course line configured information, and by the course line configured information by adjacent LORA gateways
Forward, be sent in the ship terminal corresponding with the course line configured information successively；
Step E, the microcontroller of each ship terminal control boat trip according to the course line configured information.
2. the vessel motion control method according to claim 1 based on LORA technologies, it is characterised in that the step A
In also include：
Step A1, the GPS module installed in each ship terminal inner obtain current ship terminal positional information and it is default when
Interior ship trajectory, the boat using the ship trajectory in the positional information and preset time as the ship in preset time
Row information is sent to the microcontroller of ship terminal；
Step A2, the microcontroller of the ship terminal obtain the sail information, and the sail information are spread to wirelessly
Signal is sent.
3. the vessel motion control method according to claim 2 based on LORA technologies, it is characterised in that the step C
In also include：
Step C1, the LORA being connected with headquarters server communication receiving terminal obtain the wireless signal that LORA gateways are sent, and will
The wireless signal changes into data signal and sent to headquarters server.
4. the vessel motion control method according to claim 3 based on LORA technologies, it is characterised in that the instruction letter
Breath includes：Ensuing navigation is arranged, nearest ship positional information and nearest port of call's message cease.
5. the vessel motion control method according to claim 3 based on LORA technologies, it is characterised in that the step C
Also include:
The configured information that headquarters server is sent is spread to wireless signal and is sent to LORA nets by step C2, LORA communication receiving terminal
Close.
6. a kind of vessel motion control system based on LORA technologies, it is characterised in that including：At least one ship terminal, extremely
Few a LORA gateway and headquarters server；
The ship terminal includes：LORA communication modules, micro controller module and d GPS locating module；
The d GPS locating module, for obtaining each sail information of ship terminal in the given time；
The LORA communication modules, for the sail information and positional information in the scheduled time of ship terminal to be sent；
The LORA gateways, for obtaining the sail information that each ship terminal is sent, by the sail information send to
Adjacent LORA gateways, and the forwarding of adjacent LORA gateways is sequentially passed through, it is sent to headquarters server；
The headquarters server, for obtaining each sail information of ship terminal in preset time, and according to default each
Individual ships' routing layout, is that each ship terminal sends course line configured information；
The LORA gateways, are additionally operable to receive the course line configured information, and the course line configured information is passed through into adjacent LORA
The forwarding successively of gateway, is sent in the ship terminal corresponding with the course line configured information；
The micro controller module of each ship terminal, for controlling boat trip according to the course line configured information.
7. the vessel motion control system according to claim 6 based on LORA technologies, it is characterised in that when described default
Interior sail information includes：Ship trajectory in the positional information and preset time of current ship terminal；
The micro-control module of the ship terminal, is additionally operable to obtain the sail information, and the sail information is spread into nothing
Line signal is sent.
8. the vessel motion control system according to claim 7 based on LORA technologies, it is characterised in that also include：
LORA communicates receiving terminal；
The LORA communications receiving terminal is connected with headquarters server, is additionally operable to the wireless signal changing into data signal hair
Deliver to headquarters server.
9. the vessel motion control system according to claim 8 based on LORA technologies, it is characterised in that the course line refers to
Show that information includes：Ensuing navigation is arranged, nearest ship positional information and nearest port of call's message cease.
10. the vessel motion control system according to claim 9 based on LORA technologies, it is characterised in that the LORA
Communication receiving terminal also includes：Control module；
The control module, the configured information for headquarters server to be sent spreads to wireless signal and is sent to LORA gateways.
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| CN110381437A (en) * | 2019-07-08 | 2019-10-25 | 福州数据技术研究院有限公司 | Ship networked system and method based on wide area broadband collaboration and LoRa |
| CN110381437B (en) * | 2019-07-08 | 2020-11-17 | 福州数据技术研究院有限公司 | Ship networking system and method based on wide area broadband collaboration and LoRa |
| CN110958577A (en) * | 2019-12-13 | 2020-04-03 | Oppo广东移动通信有限公司 | Information interaction method and related device |
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