CN110077524A - A kind of real-time hull balance monitoring system and method - Google Patents
A kind of real-time hull balance monitoring system and method Download PDFInfo
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- CN110077524A CN110077524A CN201910324468.9A CN201910324468A CN110077524A CN 110077524 A CN110077524 A CN 110077524A CN 201910324468 A CN201910324468 A CN 201910324468A CN 110077524 A CN110077524 A CN 110077524A
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- beidou
- station
- base station
- hull
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B45/00—Arrangements or adaptations of signalling or lighting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of real-time hull balances to monitor system and method, including Beidou base station, three Taibei bucket movement station and server；The Beidou base station is set to fixed position, and three Taibei bucket movement station is separately mounted on hull；The Beidou base station and Beidou movement station separately include Beidou receiver, receiving antenna and power supply；Beidou base station by radio transmission apparatus respectively with three Taibei struggle against movement station one-way communication, three Taibei bucket movement station pass through radio transmission apparatus and server two-way wireless communication respectively；Radio transmission apparatus is connected to the network switch by cable with server；Tilt angle is when changing around hull, driver's available information immediately；And by setting phonic warning and icon alarm, driver can note abnormalities immediately and carry out operation adjustment, realize unmanned schedule job.
Description
Technical field
The present invention relates to a kind of real-time hull balances to monitor system and method, in particular to ship landing pier is loaded and unloaded
Hull balance monitoring method when operation.
Background technique
Water transportation ship, either container ship or bulk coal ship carry out in cargo handling process, hull sheet in harbour
The balancing safety detection of body is an extremely important ring.In cargo handling process, due to the increase and decrease of hull partial region material, lead
It causes the vertical and horizontal inclined degree of hull to change, on the one hand needs to adjust the length that harbour cleats and adjust hull
On the other hand inclined degree needs to adjust the inclined degree of hull by the region of change handling.When dock operation is due to day
When the reasons such as gas, sight, human negligence cause hull imbalance, it is easy to produce hawser abrasion aggravation, fracture even hull topples
Danger.
Existing hull balance detection system, mainly according to ship water surface floating physical principle and mechanical equivalent of light feature into
Row balance detection, for ship's staff using detection, required precision is lower during being mainly used for navigation.
To the hull balance detection in the cargo handling process that berths, then used on ship after balance detecting equipment mainly by ship's staff
It is linked up by the manual types such as intercom and harbour dispatcher, harbour dispatcher assigns operation with handling personnel again and refers to
It enables, keeps operation process safe and reliable.
Manual type does not have real-time, thus the more efficiency for influencing handling operation, while artificial side in the above process
Formula causes maloperation since objective factor be easy to cause information transmission distortion, influences operation safety.
Therefore, a set of advanced real-time hull balance monitoring method, data can real-time exhibition give handling operation personnel, it is right
Operating efficiency and safety have very important significance.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of real-time hull balances to monitor system and method,
To achieve the above object, the invention provides the following technical scheme: a kind of real-time hull balance monitors system, including north
Struggle against base station, three Taibei bucket movement station and server；The Beidou base station is set to fixed position, and three Taibei bucket movement station is pacified respectively
On hull；The Beidou base station and Beidou movement station separately include Beidou receiver, receiving antenna and power supply；Beidou base station
It is struggled against respectively with three Taibei movement station one-way communication by radio transmission apparatus, three Taibei bucket movement station passes through wireless transmission respectively and sets
It is standby with server two-way wireless communication；Radio transmission apparatus is connected to the network switch by cable with server.
Preferably, the Beidou base station and Beidou movement station also separately include data radio station, and Beidou base station is conducted electricity by number
Platform struggles against with three Taibei movement station one-way communication respectively, and communication direction is Beidou base station to Beidou movement station；Struggle against movement station in three Taibei
Pass through data radio station main website and server two-way wireless communication respectively；Data radio station main website is connected to net by cable with server
Network interchanger.
Preferably, the data radio station Yu data radio station main website of the Beidou base station using different radio frequency range respectively with three
The data radio station of Beidou movement station is communicated.It can communicate, not interfere with each other simultaneously.
Preferably, the Beidou base station is installed on the building top of harbour.
Preferably, three Taibei, which is struggled against movement station one, is placed in the stem of hull, and two are placed in the tail portion of hull, formed etc.
Lumbar triangle shape.
A kind of real-time hull balance monitoring method, comprising the following steps:
Step 1: being arranged fixed Beidou base station, and three Beidou movement stations are arranged on hull；
Step 2: Beidou base station and three Beidou movement station real-time reception big-dipper satellite location informations, and Beidou base station will
Its origin reference location datacast transmissions gives three Beidou movement stations；Beidou movement station utilizes RTK algorithm, and it is respective accurate fixed to calculate
Position information；
Step 3: server by data radio station main website periodically to three Beidou movement station (101,102,103) polls its
Current precise location information；
Step 4: under hull balance state, the precise location information of three Beidou movement stations, longitude, latitude and elevation point
It is not denoted as 1010 (LONG1010, LAT1010, ALT1010), 1020 (LONG1020, LAT1020, ALT1020), 1030
(LONG1030, LAT1030, ALT1030) returns to server by data radio station main website during server poll；
Step 4: in hull work, the precise location information of three position Beidou movement stations, longitude, latitude and elevation
Be denoted as respectively 101 (LONG101, LAT101, ALT101), 102 (LONG102, LAT102, ALT102), 103 (LONG103,
LAT103, ALT103), during server poll, server is returned to by data radio station main website；
Step 5: in hull work, server is according under three Beidou movement station equilibrium state and current essences
True location information calculates current lateral inclination angle α in real time, and longitudinal inclination β, ship unloaders driver is according to inclination angle alpha, β
It is adjusted operation；
Wherein:
Preferably, the Beidou base station and Beidou movement station include Beidou receiver, receiving antenna, data radio station, electricity
Source；
Beidou base station, Beidou movement station pass through respective Beidou receiver, receiving antenna, real-time reception big-dipper satellite positioning letter
Breath；
Beidou base station is by data radio station by its origin reference location data to three Beidou movement station real-time broadcasts；Three Beidous
After movement station obtains the origin reference location data of Beidou base station by data radio station, using RTK algorithm, respective accurate positioning is generated
Information,
Server is by data radio station main website periodically to three current precise location informations of Beidou movement station poll, three north
The precise location information of bucket movement station returns to server by data radio station main website, and calculated result real-time exhibition gives ship unloaders department
Machine.
Preferably, Beidou base station is set to the building top of harbour；By three Taibei bucket, movement station one is placed in hull
Stem, two are placed in the tail portion of hull, form isosceles triangle.
Preferably, the poll frequency is 1Hz；Broadcasting frequency is 1Hz；Precise location information precision is less than 5cm.
Preferably, when α, β value are greater than alarm threshold value, operating personnel and dispatcher are reminded.
Beneficial effects of the present invention:
For previous ship unloaders during ship-discharging operation, the balance of hull passes through the observation of coal ship's staff.It is tilted in hull
When angle changes, ship unloaders need to change operation mode, for example change the unloading of freight space, information transmitting be by ship's staff with
Harbour dispatcher carries out intercom and carries out call scheduling, and harbour dispatcher carries out adjusting to making peace again with ship unloaders driver
Degree.
The present invention revolutionizes entire job scheduling mode.Ship unloaders driver directly according to scheduled operation scheme,
Tilt angle is when changing around hull, driver's available information immediately；And by setting phonic warning and
Icon alarm, driver can note abnormalities immediately and carry out operation adjustment, realize unmanned schedule job.
The operating efficiency at scene can be improved in the present invention, it is possible to reduce the work of dispatcher reduces scheduling transmittance process
Mistake；Have the characteristics that high real-time with it is high-precision, well beyond the requirement of ship-discharging operation.Data update cycle 1S.
Front and rear, left and right tilt angle precision can reach 0.014o, 0.057o (50 meters wide with ship type, to calculate analysis for 200 meters long)；With
Industrial automation, intelligentized propulsion, hull balance real-time automatic monitoring system can be used as the one of ship unloaders Automatic Control
A technical foundation part.
Detailed description of the invention
Fig. 1 is systematic schematic diagram of the invention.
Fig. 2 is the composition layout drawing of Beidou base station of the invention and Beidou movement station.
Fig. 3 is flow chart of the invention.
Specific embodiment
As shown in Figure 1, 2, 3, a kind of real-time hull balance monitors system, including Beidou base station 100, three Taibei bucket movement station
101,102,103 with server 112；The Beidou base station 100 is set to the building top of harbour, three Taibei struggle against movement station 101,
102,103 1 stems for being placed in hull 1, two are placed in the tail portion of hull 1, form isosceles triangle；
The Beidou base station 100 separately includes Beidou receiver 501, receiving antenna with Beidou movement station 101,102,103
502, data radio station 503 and power supply 504；The Beidou base station 100 by data radio station 503 respectively with three Taibei struggle against movement station list
To communication, communication direction is Beidou base station 100 to Beidou movement station 101,102,103；Struggle against movement station 101,102,103 in three Taibei
Pass through data radio station main website 110 and 112 two-way wireless communication of server respectively；Data radio station main website 110 passes through with server 112
Cable is connected to the network switch 111.
The data radio station 503 of the Beidou base station 100 and data radio station main website 110 are using different radio frequency range respectively with three
The data radio station 503 of Taibei bucket movement station 101,102,103 is communicated.It can communicate, not interfere with each other simultaneously.
Its monitoring method are as follows:
Step 1: Beidou base station 100 is set on the building top of harbour, three Beidou movement stations are set on hull 1
101,102,103, three Taibei, which are struggled against movement station 101,102,103 1, is placed in the stem of hull 1, and two are placed in the tail portion of hull 1,
Form isosceles triangle；The Beidou base station 100 and Beidou movement station 101,102,103 include Beidou receiver 501, receive
Antenna 502, data radio station 503, power supply 504；
Step 2: Beidou base station 100 and three Beidou movement stations (101,102,103) pass through Beidou receiver 501, reception
502 real-time reception big-dipper satellite location information of antenna；And give its origin reference location datacast transmissions to three Beidou movement stations
101,102,103, broadcasting frequency 1Hz.Beidou movement station 101,102,103 utilizes RTK algorithm, generates respective accurate positioning
Information, precise location information precision are less than 5cm；
Step 3: server 112 is periodically taken turns to three Beidou movement stations 101,102,103 by data radio station main website 110
Ask its current precise location information, poll frequency 1Hz；
Step 4: under 1 equilibrium state of hull, three Beidou movement stations 101,102,103 calculate respective accurate positioning letter
Breath, longitude, latitude and elevation be denoted as respectively 1010 (LONG1010, LAT1010, ALT1010), 1020 (LONG1020,
LAT1020, ALT1020), 1030 (LONG1030, LAT1030, ALT1030), and by data radio station main website 110 return service
Device 112；；
Step 4: in hull work, three position Beidou movement stations 101,102,103 calculate respective accurate fixed in real time
Position information, longitude, latitude and elevation be denoted as respectively 101 (LONG101, LAT101, ALT101), 102 (LONG102, LAT102,
ALT102), 103 (LONG103, LAT103, ALT103), and server 112 is returned to by data radio station main website 110；；
Step 5: in hull work, server 112 is according under three 101,102,103 equilibrium state of Beidou movement station
And current precise location information, calculate current lateral inclination angle α, longitudinal inclination β, ship unloaders driver's root in real time
Operation is adjusted according to inclination angle alpha, inclination angle beta；
Wherein:
When α, β value are greater than alarm threshold value, operating personnel and dispatcher are reminded.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modification, equivalent replacement or improvement etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of real-time hull balance monitors system, which is characterized in that including Beidou base station (100), three Taibei bucket movement station
(101,102,103) and server (112)；The Beidou base station (100) is set to fixed position, and struggle against movement station in three Taibei
(101,102,103) are separately mounted on hull (1)；The Beidou base station (100) and Beidou movement station (101,102,103) point
It Bao Han not Beidou receiver (501), receiving antenna (502) and power supply (504)；Beidou base station (100) passes through radio transmission apparatus
Struggle against with three Taibei movement station (101,102,103) one-way communication respectively, and three Taibei bucket movement station (101,102,103) passes through respectively
Radio transmission apparatus and server (112) two-way wireless communication；Radio transmission apparatus is connected to server (112) by cable
The network switch (111).
2. a kind of real-time hull balance monitors system according to claim 1, which is characterized in that the Beidou base station (100)
It is also separately included data radio station (503) with Beidou movement station (101,102,103), Beidou base station (100) pass through data radio station
(503) struggle against with three Taibei movement station one-way communication respectively, communication direction be Beidou base station (100) to Beidou movement station (101,
102,103)；Three Taibei bucket movement station (101,102,103) is double by data radio station main website (110) and server (112) respectively
To wireless communication；Data radio station main website (110) is connected to the network switch (111) by cable with server (112).
3. a kind of real-time hull balance monitors system according to claim 2, which is characterized in that the Beidou base station (100)
Data radio station (503) and data radio station main website (110) using different radio frequency range respectively with three Taibei bucket movement station (101,
102,103) data radio station (503) is communicated.
4. a kind of real-time hull balance monitors system according to claim 1, which is characterized in that the Beidou base station (100)
It is installed on the building top of harbour.
5. a kind of real-time hull balance monitors system according to claim 1, which is characterized in that struggle against movement station in three Taibei
(101,102,103) one are placed in the stem of hull (1), and two are placed in the tail portion of hull (1), form isosceles triangle.
6. a kind of real-time hull balance monitoring method, which comprises the following steps:
Step 1: being arranged fixed Beidou base station (100), and three Beidou movement stations (101,102,103) are arranged on hull 1；
Step 2: Beidou base station (100) believe with three Beidou movement station (101,102,103) real-time reception big-dipper satellite positioning
Breath, and three Beidou movement stations (101,102,103) are given its origin reference location datacast transmissions in Beidou base station 100；Beidou moves
Dynamic station (101,102,103) utilizes RTK algorithm, calculates respective precise location information；
Step 3: server (112) is by data radio station main website (110) periodically to three Beidou movement stations (101,102,103)
Its current precise location information of poll；
Step 4: under hull (1) equilibrium state, the precise location information of three Beidou movement stations (101,102,103), longitude,
Latitude and elevation be denoted as respectively 1010 (LONG1010, LAT1010, ALT1010), 1020 (LONG1020, LAT1020,
ALT1020), 1030 (LONG1030, LAT1030, ALT1030) passes through data radio station in server (112) polling procedure
Main website (110) returns to server (112)；
Step 4: in hull work, the precise location information of three position Beidou movement stations (101,102,103), longitude, latitude
Degree and elevation are denoted as 101 (LONG101, LAT101, ALT101), 102 (LONG102, LAT102, ALT102), 103 respectively
(LONG103, LAT103, ALT103) is returned by data radio station main website (110) and is serviced in server (112) polling procedure
Device (112)；
Step 5: in hull work, server (112) is according under three Beidou movement stations (101,102,103) equilibrium state
And current precise location information, calculate current lateral inclination angle α, longitudinal inclination β, ship unloaders driver's root in real time
Operation is adjusted according to inclination angle alpha, β；
Wherein:
7. a kind of real-time hull balance monitoring method according to claim 6, which is characterized in that the Beidou base station (100)
It include Beidou receiver (501), receiving antenna (502), data radio station (503), electricity with Beidou movement station (101,102,103)
Source (504)；
Beidou base station (100), Beidou movement station (101,102,103) pass through respective Beidou receiver (501), receiving antenna
(502), real-time reception big-dipper satellite location information；
Beidou base station (100) by data radio station (503) by its origin reference location data to three Beidou movement stations (101,102,
103) real-time broadcast；Three Beidou movement stations (101,102,103) obtain Beidou base station (100) by data radio station (503)
After origin reference location data, using RTK algorithm, respective precise location information is generated,
Server (112) is periodically current to three Beidou movement station (101,102,103) polls by data radio station main website (110)
The precise location information of precise location information, three Beidou movement stations (101,102,103) is returned by data radio station main website (110)
It returns server (112), calculated result real-time exhibition gives ship unloaders driver.
8. a kind of real-time hull balance monitoring method according to claim 6, which is characterized in that set Beidou base station (100)
It is placed in the building top of harbour；Three Taibei bucket movement station (101,102,103) one is placed in the stem of hull (1), two are set
In the tail portion of hull (1), isosceles triangle is formed.
9. a kind of real-time hull balance monitoring method according to claim 6, which is characterized in that the poll frequency is 1Hz；
Broadcasting frequency is 1Hz；Precise location information precision is less than 5cm.
10. a kind of real-time hull balance monitoring method according to claim 6, which is characterized in that when α, β value are greater than alarm valve
When value, operating personnel and dispatcher are reminded.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910324468.9A CN110077524A (en) | 2019-04-22 | 2019-04-22 | A kind of real-time hull balance monitoring system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910324468.9A CN110077524A (en) | 2019-04-22 | 2019-04-22 | A kind of real-time hull balance monitoring system and method |
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ID=67415921
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| CN201910324468.9A Withdrawn CN110077524A (en) | 2019-04-22 | 2019-04-22 | A kind of real-time hull balance monitoring system and method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111366152A (en) * | 2020-03-12 | 2020-07-03 | 神华黄骅港务有限责任公司 | Ship berthing state monitoring system based on multi-source attitude detection |
| CN112100519A (en) * | 2020-07-24 | 2020-12-18 | 广州南方卫星导航仪器有限公司 | Data adaptive scheduling method, equipment and medium |
| CN115214850A (en) * | 2022-06-09 | 2022-10-21 | 珠海云洲智能科技股份有限公司 | Unmanned ship and protection method, protection device and medium thereof |
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| CN101986100A (en) * | 2010-07-20 | 2011-03-16 | 武汉大学 | Online monitoring system for galloping and wind deviation of power transmission line lead based on differential global positioning system (GPS) |
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Application publication date: 20190802 |