CN107895509A - A kind of vertical ship lift navigation ship auxiliary security control loop - Google Patents

A kind of vertical ship lift navigation ship auxiliary security control loop Download PDF

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Publication number
CN107895509A
CN107895509A CN201711311572.1A CN201711311572A CN107895509A CN 107895509 A CN107895509 A CN 107895509A CN 201711311572 A CN201711311572 A CN 201711311572A CN 107895509 A CN107895509 A CN 107895509A
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China
Prior art keywords
ship
module
infrared
navigation
infrared ambulator
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CN201711311572.1A
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Chinese (zh)
Inventor
陈述
袁越
申浩播
王越
张明
朱炜
汪飞
郑霞忠
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China Three Gorges University CTGU
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China Three Gorges University CTGU
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Priority to CN201711311572.1A priority Critical patent/CN107895509A/en
Publication of CN107895509A publication Critical patent/CN107895509A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft
    • G08G3/02—Anti-collision systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Ocean & Marine Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

A kind of vertical ship lift navigation ship auxiliary security control loop, including range finder module, ship type analog module, steering angle computing module, voice message output module.The output end of range finder module is intended module input with ship pattern and is connected, and the output end of ship type analog module is connected with the input of steering angle computing module, and the output end of steering angle computing module is connected with the input of voice message output module.The range finder module includes infrared ambulator, buoy；Buoy is installed in the infrared ambulator bottom by way of splicing, and the infrared ambulator equipped with buoy is connected under the collective effect of chute and buoy by sliding pallet and chute so that infrared ambulator is with floating under the change in vertical direction of horizontal plane.A kind of vertical ship lift navigation ship auxiliary security control loop of the present invention, can effectively improve the safety coefficient of navigation ship running in ship reception chamber, shorten time of the ship by ship chamber.

Description

A kind of vertical ship lift navigation ship auxiliary security control loop
Technical field
A kind of vertical ship lift navigation ship auxiliary security control loop of the present invention, is related to ship lift navigable technique field.
Background technology
Ship lift is lifted by power drive ship, to overcome a kind of navigation of the concentration height of water on navigation channel to set Apply.Popular to say, ship lift is exactly to build on navigable river to overcome the elevator or escalator that the height of water supplies ship to take.But It is that ship lift easily collides when being passed through in railway carriage or compartment with ship chamber, this allows for ship and slowed down by the speed of ship chamber, mistake Ship efficiency reduces.With the development of water conservancy and hydropower industry, the effect of ship lift is more important, in order that the navigation benefit of hinge obtains To give full play to, ship lift, which is optimized, has higher necessity.
The content of the invention
The present invention provides a kind of vertical ship lift navigation ship auxiliary security control loop, can effectively improve in ship reception chamber and lead to The safety coefficient of boat ship running, shortens time of the ship by ship chamber.
The technical scheme that the present invention takes is：
A kind of vertical ship lift navigation ship auxiliary security control loop, including range finder module, ship type analog module, steering Angle calculation module, voice message output module.The output end of range finder module is intended module input with ship pattern and is connected, ship pattern The output end for intending module is connected with the input of steering angle computing module, and output end and the voice of steering angle computing module carry Show the input connection of output module.
The range finder module includes infrared ambulator, buoy；Symmetrical laying at left and right sides of ship reception chamber inner concrete structure Chute, the adjacent chute of ship reception chamber homonymy install buoy at intervals of m, the infrared ambulator bottom by way of splicing, Infrared ambulator equipped with buoy is connected by sliding pallet with chute, and by infrared ambulator number consecutively 1#, 2#, 3#,；Under the collective effect of chute and buoy so that infrared ambulator is with the change of horizontal plane vertical Fluctuate in direction；
The infrared ambulator includes message processing module, infrared transmission module, infrared receiving module；Information processing mould Block is connected with infrared transmission module, infrared receiving module respectively.
A kind of vertical ship lift navigation ship auxiliary security drive simulation method, infrared ray send from infrared transmission module and touched Infrared receiving module is reflected back toward to ship wall, and message processing module is according to infrared ray from being issued to received time t and infrared It is as follows to the distance l of ship wall, calculation formula that the spread speed v of line calculates ship reception chamber side：
Assuming that the numbering that First encounters the infrared ambulator of ship wall is a, last infrared ray for encountering ship wall is surveyed The numbering of distance meter is b, and thus can draws the horizontal displacement S and yaw displacement H of navigation ship, and calculation formula is as follows：
Horizontal displacement：S=(a-b) τ, τ more level off to 0, and the degree of accuracy for surveying horizontal displacement S is bigger；
Yaw displacement：H=l1-l2；
l1The distance of ship forefront and ship reception chamber, l are measured for infrared ambulator2Ship is measured for infrared ambulator Rearmost and the distance of ship reception chamber (5)；
The steering angle computing module input is connected with ship type analog module output end, according in ship type analog module Calculate navigation ship length and ship reception chamber to ship wall beeline, it can be deduced that the deflection angle α for ship of opening the navigation or air flight, Calculation formula is as follows：
The data calculated are transferred to voice message output module by the steering angle computing module in time, to driver Send prompting, and the angular deflection situation that real-time broadcasting is current, the angle for instructing driver to deflect.
A kind of vertical ship lift navigation ship auxiliary security control loop of the present invention, advantage are：
1. infrared range-measurement system adds buoy in range finder module of the present invention, and infrared range-measurement system is arranged on by sliding pallet and held It on the chute of ship railway carriage or compartment laying, may be such that infrared range-measurement system vertically floats with the change of horizontal plane, supervised so as to reach dynamic Survey the horizontal range of ship chamber and ship.
2. infrared range-measurement system ranging is sensitive in range finder module of the present invention, navigation ship can timely be monitored, and it is fast Speed is made a response, and that improves navigation ship crosses engine efficiency.
3. the voice message output module that the present invention takes, by the way that ship running information is reported in time, instruct ship Travel direction and angle, shorten ship and spend the machine time, improve the safety coefficient of ship running.
4.. various pieces are all modularized processings in the present invention, so as to save the development time of product and expense, are reduced Production cost, while the uniformity and reliability of product are also improved, there is good promotional value.
Brief description of the drawings
Fig. 1 is the module connection diagram of the present invention.
Fig. 2 is the range finder module structural representation of the present invention.
Fig. 3 is the plane partial schematic diagram of the present invention.
Fig. 4 is the range finder module solid partial schematic diagram of the present invention.
Fig. 5 is the ship reception chamber position view of the present invention.
Embodiment
As shown in Fig. 1~5, a kind of vertical ship lift navigation ship auxiliary security control loop, including range finder module 1, ship Type analog module 2, steering angle computing module 3, voice message output module 4.The output end of range finder module 1 intends mould with ship pattern The input of block 2 is connected, and the output end of ship type analog module 2 is connected with the input of steering angle computing module 3, steering angle meter The output end for calculating module 3 is connected with the input of voice message output module 4.
Ship type analog module 2, steering angle computing module 3 use tri- rich data processors of QM-Data200 264-155D, Tri- rich data processors of QM-Data200 264-155D are existing ripe processor, possess ship type simulative display, steering angle Computing module function.
Voice message output module 4 uses YD-S1 voice prompting devices.
The range finder module 1 includes infrared ambulator 1.1, buoy 1.2；At left and right sides of the inner concrete structure of ship reception chamber 5 Symmetrical laying chute 6, the adjacent chute of the homonymy of ship reception chamber 5 pass through splicing at intervals of τ m, the bottom of infrared ambulator 1.1 Mode installs buoy 1.2, and the infrared ambulator 1.1 equipped with buoy 1.2 is connected by sliding pallet with chute 6, and infrared ray is surveyed Distance meter 1.1 number consecutively 1#, 2#, 3#,；
Under the collective effect of chute 6 and buoy 1.2 so that infrared ambulator 1.1 is with the change of horizontal plane vertical Fluctuate in direction.
The infrared ambulator 1.1 includes message processing module, infrared transmission module, infrared receiving module；At information Reason module is connected with infrared transmission module, infrared receiving module respectively.
Message processing module uses TNETV2685FIBZUTA5 processors.
Infrared transmission module uses 3AWMC06A infrared emission tubes.
Infrared receiving module uses CHQ0038 infrared receiving terminals.
In range finder module 1, the horizontal range between ship wall and ship reception chamber 5 is caught by infrared ambulator 1.1, when infrared The most short horizontal range l that line rangefinder 1.1 is measured is less than the safe distance l set in range finder module0When, range finder module 1 will Most short horizontal range l between navigation ship wall and ship reception chamber 5 is transferred to steering angle computing module 3；Ship type analog module 2 utilizes The range data that range finder module 1 gathers, horizontal displacement and the yaw displacement of navigation ship are calculated, and result of calculation input is turned To angle calculation module 3；In steering angle computing module 3, according to the level of the navigation ship drawn in ship type analog module 2 Displacement and yaw displacement, calculate the angle [alpha] of navigation ship deflection, and result of calculation is transferred to language by steering angle computing module 3 Sound prompts output module 4；Deflection angle is finally answered by the voice broadcast of voice message output module 4 navigation ship, so as to realize pair The dynamic monitoring auxiliary of ship drives.For the present invention after the deflection angle of navigation ship is measured, meeting voice message driver should be inclined Gyration, facilitate driver to understand the driving information of ship, be easy to driver to carry out the driving of ship, effectively avoid ship collision Ship reception chamber, the safety coefficient of ship running is improved, shorten time of the ship by ship chamber.
A kind of vertical ship lift navigation ship auxiliary security drive simulation method, infrared ray send from infrared transmission module and touched Infrared receiving module is reflected back toward to ship wall, and message processing module is according to infrared ray from being issued to received time t and infrared It is as follows to the distance l of ship wall, calculation formula that the spread speed v of line calculates the side of ship reception chamber 5：
Assuming that the numbering that First encounters the infrared ambulator of ship wall is a, last infrared ray for encountering ship wall is surveyed The numbering of distance meter is b, and thus can draws the horizontal displacement S and yaw displacement H of navigation ship, and calculation formula is as follows：
Horizontal displacement：S=(a-b) τ, τ more level off to 0, and the degree of accuracy for surveying horizontal displacement S is bigger；
Yaw displacement：H=l1-l2；
l1The distance of ship forefront and ship reception chamber, l are measured for infrared ambulator2Ship is measured for infrared ambulator The distance of rearmost and ship reception chamber；
The input of steering angle computing module 3 is connected with the output end of ship type analog module 2, according to ship type analog module The length and ship reception chamber 5 of the navigation ship calculated in 2 arrive the beeline of ship wall, it can be deduced that the deflection angle for ship of opening the navigation or air flight α is spent, calculation formula is as follows：
The data calculated are transferred to voice message output module 4 by the steering angle computing module 3 in time, to driving Member sends prompting, and the angular deflection situation that real-time broadcasting is current, the angle for instructing driver to deflect.

Claims (3)

  1. The ship auxiliary security control loop 1. a kind of vertical ship lift is opened the navigation or air flight, including range finder module (1), ship type analog module (2), Steering angle computing module (3), voice message output module (4)；It is characterized in that：The output end of range finder module (1) and ship type Analog module (2) input connects, and the output end of ship type analog module (2) connects with the input of steering angle computing module (3) Connect, the output end of steering angle computing module (3) is connected with the input of voice message output module (4)；It is characterized in that：
    The range finder module (1) includes infrared ambulator (1.1), buoy (1.2)；Ship reception chamber (5) inner concrete structure or so Chute (6) is symmetrically laid in both sides, the adjacent chute of ship reception chamber (5) homonymy at intervals of m, infrared ambulator (1.1) bottom Buoy (1.2) is installed by way of splicing, the infrared ambulator (1.1) equipped with buoy (1.2) passes through sliding pallet and chute (6) Connection, and by infrared ambulator (1.1) number consecutively 1#, 2#, 3#,；
    Under the collective effect of chute (6) and buoy (1.2) so that infrared ambulator (1.1) is hanging down with the change of horizontal plane Nogata is to fluctuating.
  2. A kind of 2. vertical ship lift navigation ship auxiliary security control loop according to claim 1, it is characterised in that：It is described Infrared ambulator (1.1) includes message processing module, infrared transmission module, infrared receiving module；Message processing module is distinguished It is connected with infrared transmission module, infrared receiving module.
  3. A kind of ship auxiliary security drive simulation method 3. vertical ship lift is opened the navigation or air flight, it is characterised in that：
    Infrared ray is sent from infrared transmission module to be encountered ship wall and is reflected back toward infrared receiving module, and message processing module is according to infrared Line calculates ship reception chamber (5) side to the distance l of ship wall from the spread speed v for being issued to received time t and infrared ray, calculates Formula is as follows：
    <mrow> <mi>l</mi> <mo>=</mo> <mfrac> <mrow> <mi>v</mi> <mo>&amp;CenterDot;</mo> <mi>t</mi> </mrow> <mn>2</mn> </mfrac> <mo>;</mo> </mrow>
    Assuming that the numbering that First encounters the infrared ambulator of ship wall is a, last encounters the infrared ambulator of ship wall Numbering be b, thus can draws the horizontal displacement S and yaw displacement H of navigation ship, and calculation formula is as follows：
    Horizontal displacement：S=(a-b) τ, τ more level off to 0, and the degree of accuracy for surveying horizontal displacement S is bigger；
    Yaw displacement：H=l1-l2；
    l1The distance of ship forefront and ship reception chamber, l are measured for infrared ambulator2It is last that ship is measured for infrared ambulator Side and the distance of ship reception chamber；
    Steering angle computing module (3) input is connected with ship type analog module (2) output end, according to ship type analog module (2) calculated in navigation ship length and ship reception chamber (5) arrive ship wall beeline, it can be deduced that ship of opening the navigation or air flight it is inclined Gyration α, calculation formula are as follows：
    <mrow> <mi>&amp;alpha;</mi> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>cot</mi> <mfrac> <mi>H</mi> <mi>S</mi> </mfrac> <mo>;</mo> </mrow>
    The data calculated are transferred to voice message output module (4) by the steering angle computing module (3) in time, to driving Member sends prompting, and the angular deflection situation that real-time broadcasting is current, the angle for instructing driver to deflect.
CN201711311572.1A 2017-12-11 2017-12-11 A kind of vertical ship lift navigation ship auxiliary security control loop Pending CN107895509A (en)

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Application Number Priority Date Filing Date Title
CN201711311572.1A CN107895509A (en) 2017-12-11 2017-12-11 A kind of vertical ship lift navigation ship auxiliary security control loop

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711311572.1A CN107895509A (en) 2017-12-11 2017-12-11 A kind of vertical ship lift navigation ship auxiliary security control loop

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CN107895509A true CN107895509A (en) 2018-04-10

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201974534U (en) * 2010-11-05 2011-09-14 西安航天自动化股份有限公司 Ship detector adopted by ship lift to judge in-place state of ship in chamber
CN204370374U (en) * 2014-12-29 2015-06-03 武汉理工大学 The safe checking motion of a kind of wharf anchors

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201974534U (en) * 2010-11-05 2011-09-14 西安航天自动化股份有限公司 Ship detector adopted by ship lift to judge in-place state of ship in chamber
CN204370374U (en) * 2014-12-29 2015-06-03 武汉理工大学 The safe checking motion of a kind of wharf anchors

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Application publication date: 20180410

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