CN108089151A - A kind of floating drum automatic recognition system based on the infrared sectoring space detection of multi beam - Google Patents
A kind of floating drum automatic recognition system based on the infrared sectoring space detection of multi beam Download PDFInfo
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- CN108089151A CN108089151A CN201711347462.0A CN201711347462A CN108089151A CN 108089151 A CN108089151 A CN 108089151A CN 201711347462 A CN201711347462 A CN 201711347462A CN 108089151 A CN108089151 A CN 108089151A
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/15—Correlation function computation including computation of convolution operations
Abstract
The invention belongs to floating drum identification technology fields, and specifically disclose a kind of floating drum automatic recognition system based on the infrared sectoring space detection of multi beam, including infrared emission unit and infrared receiver, infrared emission unit includes being arranged at intervals and positioned at the first and second infrared transmission module of hull homonymy, for successively generating infrared light；Infrared receiver is mounted on floating drum, including infrared receiving module, microcontroller and communication module, infrared receiving module is used for when the first and second infrared transmission modules are successively scanned, gather the scanned time difference data of two infrared transmission modules, and send the data to microcontroller, microcontroller receiving time difference data and the real-time spatial position signal data for being converted into floating drum, are then sent to communication module, and the real-time spatial position signal data of floating drum is sent to host computer by communication module.The automatic identification of the achievable floating drum of the present invention, has many advantages, such as accuracy of identification height, strong applicability.
Description
Technical field
The invention belongs to floating drum identification technology fields, and the infrared sectoring space of multi beam is based on more particularly, to one kind
The floating drum automatic recognition system of detection.
Background technology
With the rapid development of oil transportation at sea, also showed increased, marine oil overflow accident take place frequently oil spill accident,
Not only can Marine Pollution ecological environment, serious harm but will be brought to World Ecosystem environment, influences the sustainable of the entire mankind
Development.
The recovery and treatment method of oil spilling has Physical, chemical method and bioanalysis at present, compares, using the machine of Physical
Recognized by tool oil receiving equipment industry the most, in these years there are tens kinds of oil receiving equipments to develop birth in succession, wherein in floating drum
The representative that brush formula oil-collecting boat is advanced technology in the world is put, oil spilling recycling principle is：Ship is recycled in the fixed speed of a ship or plane to moving ahead
Into when, the cabin two sides oil fence forms fan-shaped oil containment zone on sea, and oil water mixture is guided to cabin, via in cabin
Dynamic inclined surface brush oil receiving equipment realize oil water mixture separation, the oil collecting zone that oil spilling is recycled to by receiving oil pump in cabin,
Seawater is then directly discharged into sea.Wherein, oil fence front end is fixed with floating drum, and floating drum is captured by acquisition equipment, which leads to
It crosses telescopic arm with hull to be connected, pontoon position is substantially judged by artificial vision during use, then according to the position using capturing
Device captures floating drum, then is pulled out floating drum by telescopic arm, and oil spilling is recycled with forming fan section on sea.Due to floating drum position
It puts by manually being judged, existence position judges inaccurate, the problems such as acquisition procedure is slow, and capture rate is low.
In order to improve floating drum accuracy of identification, a kind of identifying system suitable for oceanographic buoy of research and design is needed, that is, studies one
Kind is suitable for outdoor floating drum alignment system.Conventional alignment system has global positioning system (GPS), Wi-Fi technology, ultra wide band
(UWB) technology, radio frequency identification (RFID) technology, wherein, global positioning system is carried by 24 orbiters and target
Receiver forms a network, realizes navigation locating function, which is applied in outdoor measurement, not only equipment is complicated, valency
Lattice are expensive, and can generate serious multipath effect；Wi-Fi technology, ultra wide band (UWB) technology, radio frequency identification (RFID) technology
For common indoor positioning technologies, these technologies are used in outdoor especially maritime environment can generate that observation error is big, and algorithm is multiple
It is miscellaneous, easily changed by ambient lighting, shade, the problems such as factors are influenced such as block.
The content of the invention
For the disadvantages described above or Improvement requirement of the prior art, the present invention provides one kind to be based on the infrared sectoring of multi beam
The floating drum automatic recognition system of space detection, passes through the structure to key component such as infrared emission unit and infrared receiver
And its research and design of concrete arrangement, the identifying system of achievable floating drum automatic identification is obtained, there is accuracy of identification
The advantages that height, strong applicability, the floating drum automatic identification especially suitable for marine special overflow oil recovering ship.
To achieve the above object, it is automatic to propose a kind of floating drum based on the infrared sectoring space detection of multi beam by the present invention
Identifying system, including infrared emission unit and infrared receiver, wherein：
The infrared emission unit is mounted on hull, including being arranged at intervals and positioned at the first infrared hair of hull homonymy
Module and the second infrared transmission module are penetrated, for successively generating infrared light；
The infrared receiver is mounted on floating drum to be detected, including infrared receiving module, microcontroller and communication
Module, the infrared receiving module are used for that this to be infrared when the first infrared transmission module and the second infrared transmission module are successively scanned
During line receiving module, the time difference data that the two infrared transmission module infrared light scannings are crossed is gathered respectively, and the data are sent out
Microcontroller is given, on the one hand which is used to send data acquisition command to infrared receiving module, be on the other hand used to receive
Time difference data, and the time difference data are converted to the real-time spatial position signal data of floating drum, it is then sent to communication mould
The real-time spatial position signal data of floating drum is sent to the host computer on hull by block, the communication module.
As it is further preferred that the structure of first infrared transmission module and the second infrared transmission module is identical,
Fan-shaped optical plane and a branch of synchronous infrared light of two beams with certain angle can be sent.
As it is further preferred that the angle of two fan-shaped optical planes is preferably 30 °, and wherein one fan-shaped optical plane with it is red
The angle of outer transmitting module rotation axis is preferably 30 °, and another sector optical plane and the angle of infrared transmission module rotation axis are preferred
For 45 °.
As it is further preferred that the spacing distance of first infrared transmission module and the second infrared transmission module is preferred
For 3000mm.
As it is further preferred that time difference data are converted to the real-time spatial position signal data of floating drum including as follows
Step：
(1) the time difference data crossed according to the first infrared transmission module infrared light scanning ask for infrared receiving module compared with
The horizontal angle α of first infrared transmission module1With pitch angle β1：
Wherein, θoffFor the angle of the fan-shaped plan L1 in the first infrared transmission module and fan-shaped plan L2, Φ1For sector
The angle of plane L1 and the first infrared transmission module rotation axis, Φ2For fan-shaped plan L2 and the first infrared transmission module rotation axis
Angle, ω1For the first infrared transmission module rotation angular speed,For the fan-shaped plan L1 in the first infrared transmission module
The inswept time difference with synchronizable optical,For the fan-shaped plan L2 in the first infrared transmission module and synchronizable optical inswept time difference；
(2) the time difference data crossed according to the second infrared transmission module infrared light scanning ask for infrared receiving module compared with
The horizontal angle α of second infrared transmission module2With pitch angle β2：
Wherein, θoffFor the angle of the fan-shaped plan L1 in the second infrared transmission module and fan-shaped plan L2, Φ1For sector
The angle of plane L1 and the second infrared transmission module rotation axis, Φ2For fan-shaped plan L2 and the second infrared transmission module rotation axis
Angle, ω2For the angular speed of the second infrared transmission module rotation, Δ 't1For the fan-shaped plan L1 in the second infrared transmission module
Inswept time difference, Δ with synchronizable optical 't2For the fan-shaped plan L2 in the second infrared transmission module and synchronizable optical inswept time
Difference；
(3) according to horizontal angle α1, pitch angle β1, horizontal angle α2With pitch angle β2Calculate target point three-dimensional coordinate：
Wherein, OM is the distance between the first infrared transmission module and the second infrared transmission module.
In general, by the above technical scheme conceived by the present invention compared with prior art, mainly possess following
Technological merit：
1. the present invention passes through the structure to key component infrared emission unit and infrared receiver and its specific arrangement side
The research and design of formula obtain the identifying system of achievable floating drum automatic identification, it can be achieved that the accurate identification of pontoon position, has
Effect shortens the capture time of floating drum, improves the organic efficiency of marine oil overflow, reduces labor strength, has accuracy of identification height,
The advantages that it is strong that anti-blocking object blocks ability, high degree of automation, strong antijamming capability.
2. the present invention makes two infrared transmission module elder generations by two infrared transmission modules of hull homonymy arranged for interval
Fan-shaped infrared light is generated afterwards, it is poor by the sweep time for capturing each infrared transmission module, it is carried out according to time difference data simple
The spatial positional information of floating drum can be obtained in real time by calculating, and have many advantages, such as that acquisition is convenient and reliable, data processing is simple.
3. the present invention on floating drum by setting infrared receiver, with the infrared light number of real-time reception infrared emission unit
According to and passing through microcontroller Infrared Data carried out processing and be converted to the real-time spatial position signal data of floating drum, with from qualitative
The position of floating drum is accurately determined with quantitative aspect, solution at present only rests on the positioning of floating drum to be qualitatively judged by artificial vision
The problem of floating drum general orientation.
4. it is follow-up overflow oil recovering ship to catching automatically achievable detection of the overflow oil recovering ship to floating drum spatial position of the present invention
It obtains the research of floating drum direction and provides strong support.
Description of the drawings
Fig. 1 is a kind of floating drum automatic identification based on the infrared sectoring space detection of multi beam provided in an embodiment of the present invention
The structure diagram of system；
Fig. 2 is a kind of floating drum automatic identification based on the infrared sectoring space detection of multi beam provided in an embodiment of the present invention
The measuring principle figure of system；
Fig. 3 is pulse signal sampling time diagram provided in an embodiment of the present invention；
Fig. 4 is posture figure when sector optical plane L1 provided in an embodiment of the present invention is swept to receiver；
Fig. 5 is 3 d space coordinate measuring principle figure provided in an embodiment of the present invention；
Fig. 6 is the scheme of installation of three transmitters in infrared transmission module provided in an embodiment of the present invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Conflict is not formed each other to can be combined with each other.
As shown in Figure 1, a kind of floating drum based on the infrared sectoring space detection of multi beam provided in an embodiment of the present invention is certainly
Dynamic identifying system, including infrared emission unit and infrared receiver, wherein, infrared emission unit is used to emit infrared light,
Infrared receiver is used for the real-time spatial position signal data for receiving infrared light and floating drum being obtained according to infrared light, floating to realize
The automatic identification of cylinder.By the mutual cooperation of said two units, can accurately, it is rapid, pontoon position is examined in real time
It surveys and identifies.
Each unit is described in detail below.
As illustrated in fig. 1 and 2, infrared emission unit is mounted on hull, including being arranged at intervals and positioned at hull homonymy
First infrared transmission module and the second infrared transmission module, for successively generating infrared light.Specifically, the first infrared emission mould
Block and the second infrared transmission module are located in same level, and spacing is L, and L is preferably 3000mm, two infrared emission moulds
The structure of block is identical, function is also identical, can send two beams with certain angle thetaoffFan-shaped plan L1 and fan-shaped plan L2
(as shown in solid black lines in Fig. 2) and a branch of synchronous infrared light wave beam (as shown in black circular dashed line in Fig. 2), wherein L1 with it is red
Outer transmitting module rotation axis Z (as shown in black triangle dotted line in Fig. 2) angle is Φ1, L2 and infrared transmission module rotation axis Z
Angle is Φ2, direct current generator is connected on the rotating platform of infrared transmission module, which can drive transmitter with fixation
Angular velocity omega rotate.
Specifically, first infrared transmission module and the second infrared transmission module are fixed including 3 relative positions
Infrared transmitter, for generating three beams infrared light described above, i.e. two beam fan-shaped plan light and a branch of synchronous infrared light.Such as figure
Shown in 6, on the rotating platform that it is R with Radius that three infrared transmitters in same infrared transmission module, which are mounted on, radius R
Preferably 100mm, three certain angles in infrared transmitter interval are horizontally mounted, and three meets at a bit, the point and rotary flat
The rotation overlapping of axles of platform using the point as origin, using rotation axis as Z axis, is made with the origin line of two infrared transmission modules
For X-axis.Specifically, the synchronous infrared transmitter of infrared light of transmitting and the angle of X-axis are preferably 60 °, transmitting fan-shaped plan light L1
Infrared transmitter with the angle of the infrared transmitter of the synchronous infrared light of transmitting be preferably 30 °, transmitting fan-shaped plan light L2's is red
The angle of external transmitter and the infrared transmitter of transmitting fan-shaped plan light L1 is preferably 30 °.Infrared transmitter uses in the present invention
Near-infrared a wordline laser device, a length of 780nm of infrared waves sent, the fan angle size for sending out sectored light are 60 °, power
200mw, transmitting range is up to 5 meters.
To realize the acquisition of spatial point coordinate information, each parameter size of above-mentioned two infrared transmission module is specifically such as table 1
It is shown.
1 liang of infrared transmission module parameter list of table
| Parameter type | First infrared transmission module | Second infrared transmission module |
| Two fan beam angle thetasoff | 30° | 30° |
| L1 and rotation axis angle Φ1 | 30° | 30° |
| L2 and rotation axis angle Φ2 | 45° | 45° |
| Angular velocity of rotation ω | 180°/s | 300°/s |
As illustrated in fig. 1 and 2, infrared receiver is mounted on floating drum to be detected, including infrared receiving module, monolithic
Machine and communication module, it is red when the first infrared transmission module and the second infrared transmission module successively scanned infrared receiving module
Outer receiving module will collect the fan-shaped infrared time difference data inswept compared with synchronous infrared light of the first infrared transmission module two,
And the fan-shaped infrared time difference data inswept compared with synchronous infrared light of the second infrared transmission module two, and these data are passed
To microcontroller, which connects infrared receiving module and communication module respectively, and one side is used to send out to infrared receiving module
It send data acquisition command that it is made to start gathered data, is on the other hand used to receive the time difference that infrared receiving module collects
According to, and the real-time spatial position signal data of floating drum is converted to after the time difference data is handled, it is then sent to communication
The real-time spatial position signal data of floating drum is sent to the host computer on hull by module, the communication module.Preferably, institute
Microcontroller is stated as STC89C52+ microcontrollers.
Specifically, floating drum is fixed on the watertight door of profile, before capturing floating drum, floating drum is first with shipboard watertight door
Together, as shown in Fig. 2, being opened along the movement locus of watertight door, radius R is in 2750mm, when floating drum is moved to shipboard watertight door
During position as shown in Figure 2, i.e., shipboard watertight door is opened maximum position is switched on direct current generator and successively drives two infrared hairs
The angular velocity omega that module is penetrated to set rotates.Floating drum is a hollow-core construction, is formed by the aluminium alloy sheet weld of thickness 10mm,
Size is750mm × 1200 (height) mm.
Further, infrared receiver sensor drive module is integrated on microcontroller, which drives
Dynamic model block is used to drive the priority multi beam sector infrared light that infrared receiver sensor generates first, second infrared transmission module
It is read out with the time difference of synchronizable optical, and is sent to microcontroller and carries out data processing.
Further, infrared receiving module is specially infrared receiver sensor, and communication module is used to send out microcontroller
The floating drum spatial position data sent is sent to host computer by wireless blue tooth module, is connect including HC-06 bluetooth modules and communication
Mouthful.
When measurement starts, the rotating platform of infrared transmission module rotates the infrared hair driven thereon according to fixed angular speed ω
Emitter scans entire measurement space, the infrared light that infrared receiver sensor (i.e. infrared receiving module) sends infrared transmitter
Signal is converted to pulse signal, when synchronous infrared beam sweeps to target point (i.e. infrared receiving module), will be used as one this moment
The initial time t of measurement period0, when two beam sector infrared beams are swept to target point, the record moment is respectively t1And t2, such as Fig. 3
It is shown, whereinFor t1With t0Time difference,For t2With t0Time difference.
For single infrared transmission module, the spatial information of target point can by the horizontal angle compared with infrared transmission module and
Pitch angle is described, as shown in figure 4, when being swept to infrared receiver sensor for the first beam sectored light of infrared transmission module
Posture figure.If the intersecting lens of fan-shaped optical plane and XOY plane is OB, wherein O points are the origin of single infrared transmission module, X-axis
For the line of two infrared transmission module origins, Y-axis is the vertical line of plane XOZ and by O points and is directed toward infrared receiver and senses
Device, target point P are projected as point A on XOY plane, according to space geometry relation, then have PA ⊥ planes AOB, ∠ BPA=Φ1,
It can obtain：
Wherein,ω is the angular speed of transmitter rotation, and α is target point P phases
For the horizontal angle of infrared transmission module X-axis, β is pitch angles of the target point P compared with infrared transmission module；
Infrared transmitter continuation is rotated with angular velocity omega, when the second beam sectored light is swept to receiver, can similarly be obtained：
sin(α+θoff-θ2)=tan Φ2·tanβ (1-2)
Wherein,
Simultaneous formula (1-1) and (1-2) can be solved in single infrared transmission module, and object to be measured point is compared with infrared hair
The horizontal angle α and pitch angle β for penetrating module be：
Since single infrared transmission module is only capable of realizing the measurement to measuring target level angle α and pitch angle β, to realize
The measurement of three coordinate of space at least needs the combination of infrared transmission module known to two relative positions.As shown in figure 5, O points are the
One infrared transmission module origin, M points are the second infrared transmission module origin, and the relative distance OM of the two is for example 3000mm, by
This three-dimensional coordinate that can obtain object to be measured point is：
In formula, α1、β1It is horizontal angle and pitch angle of the tested point P compared with the first infrared transmission module, α2、β2It is to be measured
Compared with the horizontal angle and pitch angle of the second infrared transmission module, these two pair observation can ask point P according to formula (1-3), (1-4)
Solution, the accurate identification of pontoon position is completed with this.
The present invention by measure the time difference signal of the infrared fan-shaped priority scanned infrared receiving module of multi beam solve distance and
Coordinate improves the precision of entire alignment system using mathematical space geometric projection technology, and the signal of GPS system complexity is not required
Conditioning mechanism and expensive atomic clock equipment, so as to the propulsion overflow oil recovering ship automatization level of high degree,
Can accurately, it is rapid, the position of floating drum is detected in real time.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., should all include
Within protection scope of the present invention.
Claims (5)
1. a kind of floating drum automatic recognition system based on the infrared sectoring space detection of multi beam, which is characterized in that including infrared
Transmitter unit and infrared receiver, wherein：
The infrared emission unit is mounted on hull, including being arranged at intervals and positioned at the first infrared emission mould of hull homonymy
Block and the second infrared transmission module, for successively generating infrared light；
The infrared receiver is mounted on floating drum to be detected, including infrared receiving module, microcontroller and communication module,
The infrared receiving module is used to connect when the first infrared transmission module and the scanned infrared ray of the second infrared transmission module priority
When receiving module, the time difference data that the two infrared transmission module infrared light scannings are crossed is gathered respectively, and is sent the data to
Microcontroller, on the one hand which is used to send data acquisition command to infrared receiving module, on the other hand for receiving time
Difference data, and the time difference data are converted to the real-time spatial position signal data of floating drum, communication module is then sent to, it should
The real-time spatial position signal data of floating drum is sent to the host computer on hull by communication module.
2. the floating drum automatic recognition system as described in claim 1 based on the infrared sectoring space detection of multi beam, feature
It is, the structure of first infrared transmission module and the second infrared transmission module is identical, can send two beams with a clamp
The fan-shaped optical plane at angle and a branch of synchronous infrared light.
3. the floating drum automatic recognition system as claimed in claim 2 based on the infrared sectoring space detection of multi beam, feature
It is, the angle of two fan-shaped optical planes is preferably 30 °, and wherein one fan-shaped optical plane and the folder of infrared transmission module rotation axis
Angle is preferably 30 °, and another sector optical plane and the angle of infrared transmission module rotation axis are preferably 45 °.
4. such as floating drum automatic identification system of the claim 1-3 any one of them based on the infrared sectoring space detection of multi beam
System, which is characterized in that the spacing distance of first infrared transmission module and the second infrared transmission module is preferably 3000mm.
5. such as floating drum automatic identification system of the claim 1-4 any one of them based on the infrared sectoring space detection of multi beam
System, which is characterized in that the real-time spatial position signal data that time difference data are converted to floating drum includes the following steps：
(1) the time difference data crossed according to the first infrared transmission module infrared light scanning asks for infrared receiving module compared with first
The horizontal angle α of infrared transmission module1With pitch angle β1：
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Wherein, θoffFor the angle of the fan-shaped plan L1 in the first infrared transmission module and fan-shaped plan L2, Φ1For fan-shaped plan L1
With the angle of the first infrared transmission module rotation axis, Φ2For fan-shaped plan L2 and the angle of the first infrared transmission module rotation axis,
ω1For the first infrared transmission module rotation angular speed,For the fan-shaped plan L1 and synchronizable optical in the first infrared transmission module
The inswept time difference,For the fan-shaped plan L2 in the first infrared transmission module and synchronizable optical inswept time difference；
(2) the time difference data crossed according to the second infrared transmission module infrared light scanning asks for infrared receiving module compared with second
The horizontal angle α of infrared transmission module2With pitch angle β2：
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Wherein, θoffFor the angle of the fan-shaped plan L1 in the second infrared transmission module and fan-shaped plan L2, Φ1For fan-shaped plan L1
With the angle of the second infrared transmission module rotation axis, Φ2For fan-shaped plan L2 and the angle of the second infrared transmission module rotation axis,
ω2For the second infrared transmission module rotation angular speed,For the fan-shaped plan L1 and synchronizable optical in the second infrared transmission module
The inswept time difference,For the fan-shaped plan L2 in the second infrared transmission module and synchronizable optical inswept time difference；
(3) according to horizontal angle α1, pitch angle β1, horizontal angle α2With pitch angle β2Calculate target point three-dimensional coordinate：
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Wherein, OM is the distance between the first infrared transmission module and the second infrared transmission module.
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