CN108335528A - Bridge warning method and system based on coordinate system positioning and tracking - Google Patents
Bridge warning method and system based on coordinate system positioning and tracking Download PDFInfo
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- CN108335528A CN108335528A CN201810210564.6A CN201810210564A CN108335528A CN 108335528 A CN108335528 A CN 108335528A CN 201810210564 A CN201810210564 A CN 201810210564A CN 108335528 A CN108335528 A CN 108335528A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000004888 barrier function Effects 0.000 claims description 11
- 241001442234 Cosa Species 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 4
- JWDYCNIAQWPBHD-UHFFFAOYSA-N 1-(2-methylphenyl)glycerol Chemical compound CC1=CC=CC=C1OCC(O)CO JWDYCNIAQWPBHD-UHFFFAOYSA-N 0.000 claims description 3
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 claims description 3
- 244000089409 Erythrina poeppigiana Species 0.000 claims description 3
- 235000009776 Rathbunia alamosensis Nutrition 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000000205 computational method Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
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Classifications
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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
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- Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of bridge collision avoidance, and discloses a bridge warning method and system based on coordinate system positioning and tracking. The method comprises the following steps: s1, establishing a plane coordinate system for a channel; s2, carrying out area division on the plane coordinate system, and dividing the plane coordinate system into an effective coordinate area, a non-channel area, a pier protection area and a passable area; s3, determining the position of the ship in a plane coordinate system, and judging the area where the ship is located; s4, measuring the ship speed; and S5, alarming according to the position and the speed of the ship. The invention can position the specific position of the ship in the channel and can carry out collision early warning on the specific position, and the early warning accuracy is high; and the device can work normally under the severe environments of low visibility, strong wind, strong rain and the like.
Description
Technical field
The present invention relates to bridge-collision-avoidance technical fields, more particularly, to a kind of bridge based on coordinate system locating and tracking
Alarming method for power and system.
Background technology
In the current era of high speed development, logistics it is important self-evident, but during Shipping, always avoid
The not generation of the collision accident of ship and bridge, to find out its cause, be ship headway when passing through bridge is too fast, navigation
The reasons such as position is inaccurate, low visibility, and channel buoy position shifts, so that it cannot being carried out well to ship accurate
True guiding.
The bridge alarming method for power of the prior art there are the distance of early warning is short, from send out early warning to collision occur between time
It is short, receive the problem of the time deficiency of the danger of the ship's avoiding after early warning.The prior art to vessel position using video camera determine,
It is vulnerable to the influence of environment, in the case of bad environments, cannot be collided between ship and barrier, ship and ship
Early warning.
Invention content
The present invention is at least one defect overcome described in the above-mentioned prior art, provides a kind of ship that can position in navigation channel and has
Body position simultaneously can carry out it anti-collision warning, the high bridge alarming method for power based on coordinate system locating and tracking of early warning accuracy.
A kind of bridge alarming method for power based on coordinate system locating and tracking is provided, is included the following steps：
S1. plane coordinate system is established to navigation channel；
S2. region division is carried out to plane coordinate system, is divided into effective coordinates regional, non-navigation channel region, bridge pier protection zone
And it can traffic areas；
S3. to ship, position is determined in plane coordinate system, and judges region；
S4. ship's speed is measured；
S5. it is alarmed according to the position of ship and ship's speed.
Further, it is X-axis along the vertical bridge direction in river using straight line where bridge as Y-axis in the step S1, with
Installed where bridge at laser system is origin.
Further, the step S3 includes the following steps：
S31. detection origin to the distance L of ship, ship and origin line with X-axis angle A；
S32. the coordinate (cosA*L, sinA*L) of ship is calculated according to step S31；
S33. ship region is determined according to the coordinate of ship.
It is detected into row distance by the rangefinder being arranged on bridge.
Further, in the step S4,
S41. the time for detecting ship is measured, detects that ship, time used are t=Tn+1-Tn when (n+1)th time；
S42. origin at this time is measured to the distance Ln of ship, the included angle A n of the line of ship and origin with X-axis；Calculate the coordinate of ship
For (cosAn*Ln, sinAn*Ln)；
S43. the speed for calculating ship is V=(cosA*L-cosAn*Ln)/t.
Further, the step S5 includes：
S51. if ship's speed V is more than preset maximum velocity threshold, warning ship slows down；
If S52. ship leaves current location in bridge pier protection zone or non-navigation channel region, warning ship；
S53. when detecting that the object speed in navigation channel region is less than preset minimum speed threshold value, warning ship boat
There is barrier in road, and ship is warned to slow down.
Further, in the step S51, the computational methods of maximum velocity threshold are as follows：
Detect that water velocity is Vs；Ship is into fashionable position (X1, Yn)；
Ship needs to change region maximum displacement Yn=(Y3+Y2)/2；
Steering angle Az；
Vs*(Y2+Y3)/500*2。
Further, the alarming method for power is warned by display screen or voice.
Further, according to establishment of coordinate system visual lamp screen coordinates regional to prompt position of the ship in navigation channel.
The above-mentioned bridge warning side based on coordinate system locating and tracking is applied another object of the present invention is to provide a kind of
The system of method.Including rangefinder, controller and control flow；The rangefinder includes that the highest point in pontic bridge opening is arranged for surveying
The first laser rangefinder for measuring ship is arranged and is less than at first laser rangefinder for measuring barrier in pontic vertical height
Second laser rangefinder；The bridge caution system further includes the huge display screen and phonetic alarm being arranged in pontic；It is described
The distance measuring signal of rangefinder is sent to controller, and controller judges the coordinate of navigation channel object by preset navigation channel coordinate system
Position, and be shown on huge display screen by control flow.This system is by being arranged the rangefinder difference in pontic different height
Ship and barrier are detected, and extrapolate position of the object in the coordinate system of navigation channel automatically by function formula, is used
Huge display screen is shown and/or anti-collision warning is realized in voice prompt.
Compared with the existing technology, beneficial effects of the present invention are：
The present invention realizes the locating and tracking to ship in navigation channel by establishing coordinate system；Dealing ship can be referred to
It leads, warn, and ship operation person can be allowed to know position of the ship in canal, speed when ensureing that ship passes through bridge
It spends, the accuracy in course；Meanwhile, it is capable to find the medium-and-large-sized floating material in navigation channel in time, and prompted, timely block fairway,
To ensure safety of the ship in navigation channel.This caution system is mainly used in shipping, the shunting of ship, the accurate code of large-sized object
Pile；Also, it can also be worked normally under the adverse circumstances such as visibility is low, strong wind, heavy rain.
Description of the drawings
Fig. 1 is the schematic diagram of front three-dimensional structure of laser range finder of the embodiment 1 with laser level device.
Fig. 2 is the reverse side dimensional structure diagram of laser range finder of the embodiment 1 with laser level device.
Fig. 3 is laser level device mounting seat structural schematic diagram.
Fig. 4 is navigation channel coordinate system schematic diagram.
Fig. 5 is navigation channel region division schematic diagram.
Fig. 6 is Ship Speed Measurement schematic diagram.
Fig. 7 is that LED light screen coordinates regional divides schematic diagram.
Specific implementation mode
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；
In order to more preferably illustrate that the present embodiment, the certain components of attached drawing have omission, zoom in or out, actual product is not represented
Size；To those skilled in the art, the omitting of some known structures and their instructions in the attached drawings are understandable.
For the ordinary skill in the art, above-mentioned term can be understood in concrete meaning of the invention with concrete condition.Below
The following further describes the technical solution of the present invention in conjunction with the accompanying drawings and embodiments.
Embodiment 1
The present embodiment provides a kind of bridge caution system based on coordinate system locating and tracking, including rangefinder, controller and
Control flow；Rangefinder includes the first laser rangefinder that the highest point in pontic bridge opening is arranged and is used to measure ship, is arranged in bridge
Body vertical height is less than the second laser rangefinder for measuring barrier at first laser rangefinder；The bridge caution system
Further include the huge display screen and phonetic alarm being arranged in pontic；The controller is arranged in bridge pier operating room, rangefinder
Distance measuring signal is sent to controller, and controller judges the coordinate position of navigation channel object by preset navigation channel coordinate system, and
It is shown on huge display screen by control flow.
Rangefinder is one kind of laser range finder, microwave ranger, sonar ranging instrument.In the present embodiment, rangefinder uses
Laser range finder needs often to be calibrated since laser beam horizontal position precision can be reduced with usage time.In order to rectify automatically
The laser beam horizontal position of positive laser range finder, laser range finder are equipped with laser level device.
Laser level device include driving mechanism, single-degree-of-freedom gravitational accelerometer 4 and be used for fixed laser ranging
The electricity loss brake of the output end mounted on driver 1 of 3 position of laser beam emitting head of instrument.
Driving mechanism includes driver 1, laser beam emitting head rotating seat 2；The output end connection laser beam emitting head rotation of driver 1
Swivel base 2；Driver 1 can be one kind in motor, cylinder, hydraulic cylinder.In the present embodiment, driver 1 is with self-locking function
Motor, motor driving shaft are connect by shaft coupling 6 with laser beam emitting head rotating seat 2.Gravitational accelerometer 4 is that quartzy gravity accelerates
Degree meter.Laser beam emitting head 3 is mounted on laser beam emitting head rotating seat 2；The Laser emission of gravitational accelerometer 4 and laser range finder
First 3 are co-axially mounted.Laser beam emitting head rotating seat 2 is T-type, and the transverse part of T-type and the output end of motor driving shaft connect, T-type
Vertical part is equipped with the through-hole to match with the diameter of laser beam emitting head, and laser beam emitting head 3 passes through through-hole and laser beam emitting head rotating seat 2
It is vertically arranged.Laser beam emitting head 1 can be rotated with the vertical plane of motor driving shaft.It further include L-type installation pedestal 5；Driving mechanism
Output end connect with laser beam emitting head 3 by the through-hole being arranged in L-type installation pedestal 5.Laser level device further includes being used for
The concentric laser head micromatic setting and micrometer in adjustment laser beam emitting head position and gravitational accelerometer position (is not drawn in figure
Go out)；As shown in figure 3, laser head micromatic setting includes mounting base 8, laser beam emitting head 3 passes through mounting base 8 and gravitational accelerometer 4
Connection；The connecting side of laser beam emitting head 3 and mounting base 8 is equipped with recess portion 31, and mounting base 8 is equipped with protrusion 81, the relief width of recess portion 31
Degree is more than 81 width of protrusion, and the protrusion 81 of mounting base 8 is arranged among recess portion 31；Laser head micromatic setting further includes two pairs symmetrical
Be arranged for adjust protrusion recess location adjusting screw 7.The sliding part of micrometer is fixed in mounting base 8, for surveying
Fixed fine tuning distance.What is connect with controller is used to control the switch that power supply is cut-off, and passes through cut-offfing for controller timing control switch
To laser level device power on/off.Realization power on/off can also be cut-off by hand control switch.In this way, can to avoid it is long when
Between unnecessary energization, ensure its working life, meanwhile, periodically carry out laser beam emitting head rectification, ensure that laser beam
Measurement accuracy.
Laser level device operation principle is as follows：Laser beam emitting head 3 and acceleration of gravity are adjusted by adjusting adjusting screw 7
The relative position of meter 4, keeps its concentric.Controller controls motor and rotates 180 degree, and gravitational accelerometer 4 is missed by indexing
Difference is eliminated, and zero-bit is found；Controller receives the acceleration signal of gravitational accelerometer 4, and controls motor according to acceleration signal
Motion state；When controller receives the zero signal of gravitational accelerometer 4, control motor stops, and locks stop position.This
When, laser beam emitting head is adjusted to horizontal position.This laser level device uses closed-loop control, and leveling precision is high, angular error
Less than 0.1mil；And it is simple for structure, easy for installation.
Height error of the laser beam of laser range finder transmitting equipped with this laser level device in 1000m is less than
10cm, by periodical power on/off, automatic capturing horizontal position after energization is not necessarily to manual control, can guarantee the precision of laser beam
Steadily in the long term.
Bridge alarming method for power based on coordinate system locating and tracking is as follows.
S1. as shown in figure 4, establishing plane coordinate system to navigation channel in advance, origin O, X-axis, Y-axis are determined；
Be X-axis along the vertical bridge direction in river using straight line where bridge as Y-axis, using at where laser range finder as origin.
S2. as shown in figure 5, carrying out region division to plane coordinate system, it is divided into effective coordinates regional, non-navigation channel region, bridge
Pier protection zone and can traffic areas；Each area limit line is mutually parallel.Effective coordinates regional (0,0) arrives (X1, Y3)；
Non- navigation channel region (0,0) arrives (X1, Y1)；(X1, Y2) is arrived in bridge pier protection zone (X1, Y1)；Can traffic areas (X1, Y2) to (X1,
Y3)。
S3. to object, position is determined in plane coordinate system, and judges region；
S31. detection origin to the distance L of object, ship and origin line with X-axis angle A；When laser range finder is having
It imitates and detects ship time in coordinate system, meeting automatic feedback goes out the two data；
S32. the coordinate (cosA*L, sinA*L) of ship is calculated according to step S31；
S33. ship region is determined according to the coordinate of ship.
S4. as shown in fig. 6, measuring ship's speed；
S41. the time for detecting ship is measured, detects that ship, time used are t=Tn+1-Tn when (n+1)th time；
S42. origin at this time is measured to the distance Ln of ship, the included angle A n of the line of ship and origin with X-axis；Calculate the coordinate of ship
For (cosAn*Ln, sinAn*Ln)；
S43. the speed for calculating ship is V=(cosA*L-cosAn*Ln)/t.
S5. it is alarmed according to the position of ship and ship's speed.
It is detected into row distance by the rangefinder being arranged on bridge.
S51. if ship's speed V is more than preset maximum velocity threshold, warning ship slows down；
The computational methods of maximum velocity threshold are as follows：
Detect that water velocity is Vs；Ship is into fashionable position (X1, Yn)；
In the present embodiment, effective distance X1=600m is measured；The safe distance of gap bridge is 100m；Ship will be adjusted in 500m
It is whole to pass through the traveling state of bridge well；I.e. 500 be coordinate system X-axis greatest measure.
Ship needs to change region maximum displacement Yn=(Y3+Y2)/2；
The steering locking angle degree Az of ship wheeled：The angle in the direction and X-axis that ship turns to；
V<=Vs* (Y2+Y3)/500*2.
If ship's speed V>Vmax is prompted " ship has exceeded the speed limit, and please slow down ".
It derives in this cruising ground maximum speed V, V/2 is taken in the case of visual inclement condition.
If S52. ship leaves current location in bridge pier protection zone or non-navigation channel region, warning ship；
If ship in bridge pier protection zone or non-navigation channel region, prompts, " you please use up in bridge pier protection zone/non-navigation channel region
It leaves soon ".
S53. when detecting that the object speed in navigation channel region is less than preset minimum speed threshold value, warning ship boat
There is barrier in road, and ship is warned to slow down.
Ship distance is detected by first laser rangefinder, obstacle distance is detected by second laser rangefinder；When
Object is not detected in one laser range finder, and second laser rangefinder detects object, then judges the object for barrier；When
One laser range finder and second laser rangefinder detect object in the same distance of same scanning angle, then judge the object
For ship.First laser rangefinder and the height of second laser rangefinder installation can be set as the case may be.
When detecting object speed V>When Vmin, the alarm of bridge pier operating room, " there is barrier in navigation channel, please locates as early as possible for prompt
Reason ", and becomes non-navigation channel region by this navigation channel, and prompt it is subsequent lose way, find the navigation channel that can pass through again.
Above-mentioned alarming method for power can be warned by display screen and/or phonetic alarm.
In the present embodiment, huge display screen is to be arranged in the huge LED light screen of bridge pier.
As shown in fig. 7, according to establishment of coordinate system visual lamp screen coordinates regional, to prompt position of the ship in navigation channel.
In the present embodiment, ship and barrier are detected respectively by the rangefinder for being arranged in pontic different height.
Using this bridge caution system, the specific location of object in navigation channel can be positioned in detail, not only the control flow energy of bridge pier operating room
See, the operator of ship can also be learnt by huge display screen and/or voice.The present embodiment early warning is accurate, reliability is high,
Effectively reduce the generation of collision accident in navigation channel.
Position relationship described in attached drawing is used to only for illustration, should not be understood as the limitation to this patent.It is aobvious
So, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be to the present invention reality
Apply the restriction of mode.For those of ordinary skill in the art, it can also make on the basis of the above description other
Various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.All spirit in the present invention
With within principle made by all any modification, equivalent and improvement etc., should be included in the protection domain of the claims in the present invention
Within.
Claims (10)
1. a kind of bridge alarming method for power based on coordinate system locating and tracking, which is characterized in that include the following steps：
S1. plane coordinate system is established to navigation channel；
S2. to plane coordinate system carry out region division, be divided into effective coordinates regional, non-navigation channel region, bridge pier protection zone and
It can traffic areas；
S3. to ship, position is determined in plane coordinate system, and judges region；
S4. ship's speed is measured；
S5. it is alarmed according to the position of ship and ship's speed.
2. the bridge alarming method for power according to claim 1 based on coordinate system locating and tracking, which is characterized in that the step
It is X-axis along the vertical bridge direction in river using straight line where bridge as Y-axis in S1, to be installed where bridge at laser system as original
Point.
3. the bridge alarming method for power according to claim 2 based on coordinate system locating and tracking, which is characterized in that the step
S3 includes the following steps：
S31. detection origin to the distance L of ship, ship and origin line with X-axis angle A；
S32. the coordinate (cosA*L, sinA*L) of ship is calculated according to step S31；
S33. ship region is determined according to the coordinate of ship.
4. the bridge alarming method for power according to claim 3 based on coordinate system locating and tracking, which is characterized in that pass through setting
Rangefinder on bridge is detected into row distance.
5. the bridge alarming method for power based on coordinate system locating and tracking according to claim 2 to 4 any one, feature exist
In, in the step S4,
S41. the time for detecting ship is measured, detects that ship, time used are t=Tn+1-Tn when (n+1)th time；
S42. origin at this time is measured to the distance Ln of ship, the included angle A n of the line of ship and origin with X-axis；Calculate ship coordinate be
(cosAn*Ln, sinAn*Ln)；
S43. the speed for calculating ship is V=(cosA*L-cosAn*Ln)/t.
6. the bridge alarming method for power according to claim 5 based on coordinate system locating and tracking, which is characterized in that the step
S5 includes：
S51. if ship's speed V is more than preset maximum velocity threshold, warning ship slows down；
If S52. ship leaves current location in bridge pier protection zone or non-navigation channel region, warning ship；
S53. when detecting that the object speed in navigation channel region is less than preset minimum speed threshold value, warning ship navigation channel has
Barrier, and ship is warned to slow down.
7. the bridge alarming method for power according to claim 6 based on coordinate system locating and tracking, which is characterized in that the step
In S51, the computational methods of maximum velocity threshold are as follows：
Detect that water velocity is Vs；Ship is into fashionable position (X1, Yn)；
Ship needs to change region maximum displacement Yn=(Y3+Y2)/2；
V<=Vs* (Y2+Y3)/500*2.
8. the bridge alarming method for power according to claim 7 based on coordinate system locating and tracking, which is characterized in that the warning
Method is warned by display screen or voice.
9. the bridge alarming method for power according to claim 8 based on coordinate system locating and tracking, which is characterized in that according to coordinate
It is the position for establishing visual lamp screen coordinates regional to prompt ship in navigation channel.
10. a kind of bridge alarming method for power based on coordinate system locating and tracking applied described in claim 6 to 9 any one
System, which is characterized in that including rangefinder, controller and control flow；The rangefinder includes the highest being arranged in pontic bridge opening
First laser rangefinder of the place for measuring ship, setting are less than at first laser rangefinder in pontic vertical height for measuring
The second laser rangefinder of barrier；The bridge caution system further includes the huge display screen and audio alert being arranged in pontic
Device；The distance measuring signal of the rangefinder is sent to controller, and controller judges navigation channel object by preset navigation channel coordinate system
The coordinate position of body, and be shown on huge display screen by control flow.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810210564.6A CN108335528A (en) | 2018-03-14 | 2018-03-14 | Bridge warning method and system based on coordinate system positioning and tracking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810210564.6A CN108335528A (en) | 2018-03-14 | 2018-03-14 | Bridge warning method and system based on coordinate system positioning and tracking |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110956364A (en) * | 2019-11-11 | 2020-04-03 | 山东大学 | Risk assessment method and system for ship impacting power line tower anti-collision pile of river channel and beach |
| CN112562418A (en) * | 2020-12-22 | 2021-03-26 | 中电建路桥集团有限公司 | Bridge ship collision prevention device |
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| KR100933982B1 (en) * | 2008-07-02 | 2009-12-31 | 주식회사 제이투플러스 | Vessel supervisory system |
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| CN110956364A (en) * | 2019-11-11 | 2020-04-03 | 山东大学 | Risk assessment method and system for ship impacting power line tower anti-collision pile of river channel and beach |
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