CN110737275A - ship navigation control system for realizing synchronous multi-ship entry and exit gate - Google Patents
ship navigation control system for realizing synchronous multi-ship entry and exit gate Download PDFInfo
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Abstract
The invention provides ship navigation control systems for realizing synchronous multi-ship entry and exit, which comprise a plurality of ships, a lock chamber positioning module and a shore-based ship monitoring system, wherein the lock chamber positioning module comprises 4 positioning base stations, the 4 positioning base stations are installed at the 4 corners of the lock chamber, the shore-based ship monitoring system comprises a communication server and a shore-based client, the communication server is used for realizing data transfer between the ships and the shore-based client, acquiring the longitude and latitude of the ships according to the positioning base station information and the ship state information and providing ship position service information for the ship client and the shore-based client, the shore-based client is used for displaying the real-time state and position of the ships, acquiring the state information of each ship in real time, displaying the positions of the ships on a hundred-degree map according to the positioning service provided by the communication server, acquiring the ship lock passing state according to the ship position information and displaying the ship passing state in real time.
Description
Technical Field
The invention relates to the technical field of ship navigation, in particular to an ship navigation control system for realizing synchronous multi-ship entry and exit lock.
Background
Since 2000, the amount of transportation of the ship lock of the three gorges-pueraria continental dam is continuously and rapidly increasing and far exceeds the design passing capacity of the ship lock of the three gorges-pueraria continental dam, the contradiction between the passing capacity of the ship lock and the requirement of passing the ship lock is increasingly prominent, and as the ship is enlarged, the difficulty in accurately controlling and operating the ship stopping position of the ship in the lock chamber is increased, the loss of the floating type bollard of the ship lock is increased, meanwhile, the difficulty in operating the ship and the requirement of rapidity of passing the ship lock for berthing increase the risk of collision of the ship in the lock chamber with the lock .
At present, with the development of automatic control of ship speed, high-precision positioning of ships and navigation situation perception technology, the realization of synchronous control of multi-ship navigation in a lock water area and accurate positioning control of ships are technically feasible, the sanxia-puerperia dam lock is which is an important node for promoting the continuous development of the Yangtze river economic zone, and the daily operation efficiency and the safety guarantee capability of the sanxia-puerperia dam lock directly influence the operation efficiency of Yangtze river navigation.
Disclosure of Invention
In order to overcome the problems, the invention aims to provide ship navigation control systems for realizing synchronous entry and exit of multiple ships, so that the multiple ships can enter and exit the ship lock synchronously, and the navigation safety is improved.
ship navigation control systems for realizing synchronous entry and exit of multiple ships comprise multiple ships, a lock room positioning module and a shore-based ship monitoring system, the ships are guided from an entrance of a lock to a navigation channel, pass through a lock room and then to an exit of the lock to guide the navigation channel, set distances and speeds are kept among the multiple ships in the whole process to synchronously pass through the lock, the lock room positioning module comprises 4 positioning base stations, the 4 positioning base stations are installed at 4 corners of the lock room and are respectively a positioning base station 1, a positioning base station 2, a positioning base station 3 and a positioning base station 4, the ships are positioned through data transmission between the positioning labels and the positioning base stations, namely the ships obtain positioning, speed and heading ship information of the whole ships in the lock room through a positioning label, a third positioning label and a fourth positioning label, the ship information is obtained through a client terminal and a client terminal, the client terminal is used for realizing the real-time adjustment of the ship navigation control system according to the navigation state of the ships and the client terminal, the client terminal is used for realizing the navigation information of the ship navigation and the navigation information of the ship, the client terminal is used for realizing the navigation control of the ship and the navigation of the ship in-based ship navigation information of the navigation and the navigation information of the navigation of the ship, the navigation of the navigation along with the client, the navigation state of the ship, the client terminal is used for realizing the navigation information of the navigation control of the navigation information of the navigation control system, the navigation of the ship, the navigation of the ship, the navigation of the ship, the navigation of the ship, the navigation of the navigation.
, the ship comprises an industrial personal computer, a th positioning tag, a second positioning tag, a third positioning tag, a fourth positioning tag, a CAN port-to-RS 232 device, a CAN port-to-Ethernet port device, a 4G router, a 4G radar, a plurality of RS 485-to-RS 232 modules, a plurality of steering engine potentiometer modules, a manual/automatic change-over switch, a th short-distance millimeter wave radar, a second short-distance millimeter wave radar, a third short-distance millimeter wave radar, a long-distance millimeter wave radar, a pulse counter, an electric compass and a power module, wherein the th short-distance millimeter wave radar, the second short-distance millimeter wave radar, the third short-distance millimeter wave radar and the long-distance radar are all connected with the industrial personal computer through the CAN port-to-Ethernet port device, the 4G router and the 4G radar are all connected with the industrial personal computer, the th positioning tag, the second positioning tag, the third positioning tag and the fourth positioning tag are all connected with the industrial personal computer through the CAN port-to-RS 232 device, the potentiometer modules are connected with the industrial personal computer through the RS 485-to-RS 232 modules, and the electric steering engine modules are connected with the steering engine modules through the RS 485-to.
, the industrial personal computer is an embedded industrial personal computer of ARK3510L type, the steering engine potentiometer module is SM30BL steering engine potentiometer module, and the pulse counter is an IPAM-7404 pulse counter.
And , the models of the th short-distance millimeter wave radar, the second short-distance millimeter wave radar and the third short-distance millimeter wave radar are CAR28F millimeter wave radars, and the model of the long-distance millimeter wave radar is ARS408 millimeter wave radars.
, the power supply module comprises a ship 24V direct current power supply and a 24V direct current to 12V direct current stabilized power supply, the 24V direct current to 12V direct current stabilized power supply is connected with the ship 24V direct current power supply, and the 24V direct current to 12V direct current stabilized power supply provides power for the ship navigation control system.
And , controlling the navigation speed of the pilot ship and stopping the pilot ship at the appointed position according to the navigation mode, and controlling a clock of the pilot ship according to the acquired navigation speed of the pilot ship in a navigation channel and a lock room during speed control to ensure that the speed of the pilot ship is maintained within the set range for navigation.
, the step of realizing the positioning of the ship through data transmission between the positioning tags and the positioning base stations is that coordinate systems are constructed through four positioning base stations of the positioning base station 1, the positioning base station 2, the positioning base station 3 and the positioning base station 4, the th positioning tag, the second positioning tag, the third positioning tag and the fourth positioning tag are reflected to be points on the coordinate systems, namely the four positioning tags obtain four coordinate positions, the central positions of the four positioning tags are taken to be defined as the current coordinate position of the ship, the ship moves to the lower coordinate positions after T time, the coordinate positions under two different time points are obtained, the moving distance of the ship is deduced, and the running speed of the ship can be obtained according to a speed formula V which is S/T.
And , the ship state information includes navigation situation information, ship speed information, ship position information and ship course information, and the ship surrounding state information includes a forward ship position, a forward ship speed, a forward ship course, a position of the ship, a speed of the ship, a course of the ship and obstacle position information.
, the communication server is provided with a data forwarding module and a network link maintenance module, the data forwarding module is used as a data transmission transfer station to forward data between the client and the ship, and specifically, the data forwarding module receives state information and heartbeat information reported by the ship, receives heartbeat information reported by the shore-based client, receives radar image data uploaded by the ship, forwards ship state information to all shore-based clients, and forwards ship radar image data to all shore-based clients, and the network link maintenance module is used for judging whether the ship and the shore-based client are normally linked, does not receive heartbeat information reported by the shore-based client or the ship within three minutes, and actively disconnects the link.
, the shore-based client is provided with a data interaction module, a map display module and a logic processing module;
the data interaction module communicates with the server in a TCP/IP mode, and specifically comprises the following steps: receiving ship state information forwarded by a communication server, receiving radar occurrence information forwarded by the communication server, receiving ship position service information provided by the communication server, and receiving heartbeat response from the communication server; in addition, sending heartbeat packets to the communication server in a period of 30 s;
the map display module adopts a Baidu map to realize the following functions: a map display function: displaying geographic information, and providing functions of zooming in, zooming out, roaming and centering; the map marking function is as follows: displaying the current position, the waiting area and the passing area of the ship on a map;
the logic processing module is used for immediately requesting to connect the communication server after the shore-based client starts to operate:
(a) if the connection with the communication server is successful, a heartbeat packet is sent immediately; then sending heartbeat packets to a communication server at intervals of 30 s;
(b) if the connection with the communication server fails, re-requesting connection at an interval of 15 seconds;
(c) after the communication server is successfully connected, if a connection disconnection event occurs, immediately reconnecting;
(d) if the heartbeat response of the communication server is not received within 3 minutes, the communication server is considered to be disconnected, the current connection is immediately disconnected, and the server is reconnected;
2. the ship position display function:
and displaying the relative position of each ship on the map according to the ship position service information provided by the communication server and the real-time state information reported by the ship.
3. The brake-passing state function:
and calculating the lockage state of the ship according to the longitude and latitude information of the ship, and displaying the lockage state in an interface.
The invention has the beneficial effects that: the system comprises a plurality of ships, a lock chamber positioning module and a shore-based ship monitoring system, wherein a shippable navigation mark is reformed for the ship, and through deep research on the automatic control technology for navigation of the multiple ships synchronously entering and exiting the lock, technical achievements such as self-adaptive control for navigation of the ships synchronously entering and exiting the lock, dynamic real-time monitoring of the ships in a lock area, navigation mode of the multiple ships synchronously entering and exiting the lock, collision prevention and accurate positioning of the ships in the lock area are formed, so that the accurate control of the distance and speed of the ship ahead by the ship is realized, the multiple ships can synchronously enter and exit the lock, and the navigation safety is improved.
Drawings
Fig. 1 is a schematic diagram of the state of a vessel in line according to the present invention.
Fig. 2 is a schematic diagram of the ship of the present invention relating to the circuit configuration.
Fig. 3 is a schematic diagram of a ship of the present invention relating to a circuit use state.
Fig. 4 is a schematic view of the control flow of the pilot ship of the present invention.
FIG. 5 is a schematic illustration of the control flow of the following vessel of the present invention.
FIG. 6 is a schematic view of the relationship between the positions of the fore and aft vessels of the present invention.
Fig. 7 is a schematic diagram of 4 positioning base stations and 8 positioning tags installation of the present invention.
Detailed Description
The invention is further described with reference to the drawings.
Referring to fig. 1 to 7, the invention provides ship navigation control systems for realizing synchronous entry and exit of multiple ships, which comprise multiple ships, a lock room positioning module and a shore-based ship monitoring system, wherein the ships are guided from an entrance navigation channel of a lock, pass through a lock room and then reach an exit navigation channel of the lock, set distances and speeds are kept among the multiple ships in the whole process to synchronously pass through the lock, the lock room positioning module comprises 4 positioning base stations, the 4 positioning base stations are installed at 4 corners of the lock room and are respectively a positioning base station 1, a positioning base station 2, a positioning base station 3 and a positioning base station 4, the ships are positioned through data transmission between the positioning labels and the positioning base stations, namely, the ships obtain positioning, ship speed and ship heading information of the whole ships in the lock room through a positioning label , a second positioning label, a third positioning label and a fourth positioning label, and the client-based ship navigation information server is used for obtaining the navigation information of the ships and the client-based ship navigation information, the client-based ship navigation control system is used for obtaining the navigation information of the ship navigation and the client-based ship navigation information of the client-based ship navigation, and the client-based ship navigation information, the client-based navigation information is used for obtaining and displaying the navigation information of the client-based ship navigation and the client-based navigation information of the client-based ship navigation, and the client-based navigation information, the client-based navigation control system, the client-based navigation information of the client-based navigation, the client-based ship navigation, the client-based navigation control system, the client-based ship navigation information, the client-based navigation control system, the client-based navigation information, the client-based navigation system, the client-based navigation control system, the client-based navigation system, the client-based.
Referring to fig. 2 and 3, the ship comprises an industrial personal computer 1, a -th positioning tag 21, a second positioning tag 22, a third positioning tag 23, a fourth positioning tag 24, a CAN port-to-RS 232 device 3, a CAN port-to-ethernet port device 4, a 4G router 5, a 4G radar 6, a plurality of RS 485-to-RS 232 modules 7, a plurality of steering engine potentiometer modules 8, a manual/automatic change-over switch 9, a -th short-distance millimeter wave radar 10, a second short-distance millimeter wave radar 11, a third short-distance millimeter wave radar 12, a long-distance millimeter wave radar 13, a pulse counter 14, an electric compass 15 and a power module 16, wherein the -th short-distance millimeter wave radar 10, the second short-distance millimeter wave radar 11, the third short-distance millimeter wave radar 12 and the millimeter wave radar 13 are connected with the industrial personal computer 1 through the CAN port-to-ethernet port device 4, the 4G router 5 and the 4G radar 6 are connected with the industrial personal computer 1, the second positioning tag 21, the second positioning tag 22, the third positioning tag-to-ethernet port device 4G router 5, the electric steering engine modules 7, the RS 485-to-RS 232 modules, the steering engine modules 357, the RS 2-to-RS 232 modules, the RS232 modules, and the RS modules, and the steering engine modules, wherein the industrial.
In the invention, the th short-distance millimeter wave radar, the second short-distance millimeter wave radar and the third short-distance millimeter wave radar are all CAR28F millimeter wave radars, the ARS408 th millimeter wave radar, the th positioning tag 21, the second positioning tag 22, the third positioning tag 23 and the fourth positioning tag 24 are all ultra-wideband UWB positioning tags, and the positioning tags are integrated with a three-axis gyroscope and a three-axis accelerometer.
The model of the steering engine potentiometer module 8 is SM30BL steering engine potentiometer module. The pulse counter is an IPAM-7404 pulse counter. The model of the electric compass 15 is AH-200; the model of the CAN port RS232 conversion equipment 3 is UT-2506; the model of the CAN port-to-Ethernet port equipment 4 is CNET 400; the 4G radar 6 adopts an FMCW solid-state radar, and a plurality of RS 485-to-RS 232 modules 7 with the model number of UT-204E; the manual/automatic changeover switch 9 employs an LW26 changeover switch.
The power module 16 comprises a ship 24V direct current power supply 161 and a 24V direct current to 12V direct current stabilized power supply 162, the 24V direct current to 12V direct current stabilized power supply is connected with the ship 24V direct current power supply, and the 24V direct current to 12V direct current stabilized power supply provides power for a ship navigation control system.
The long-distance millimeter wave radar ARS408-21 is radar sensors with 77GHz and a digital beam forming scanning antenna, two independent scanners are provided for scanning far and near distances, and a plurality of static and moving objects with the relative speed of-400-200 km/h and the distance of 250 m can be detected simultaneously.
The distance millimeter wave radar CAR28F is a -model short-distance K-waveband millimeter wave radar sensor system with very high cost performance, monitors the distance of 30 meters, adopts an FMCW modulation mode, can detect the distance, the speed and the angle of a moving target, and has high distance measurement and speed measurement precision.
The positioning tag is an ultra wide band UWB positioning tag, integrates a three-axis gyroscope and a three-axis accelerometer, and can better resist the influence of shielding and multipath effect on positioning through an intelligent fusion algorithm, so that the positioning is more accurate.
The main characteristics are as follows:
automatic networking, plug and play
Dynamic joining of support nodes
Support multiple base stations working simultaneously with multiple tags
Incorporate high performance IMU to make the positioning effect better
And an intelligent networking algorithm, and the system works stably.
The compass AH-200 adopts MEMS accelerometer, gyroscope and magnetometer with high quality and reliability, ensures the measurement precision through algorithm, and simultaneously ensures that the product can still precisely measure the angular velocity, acceleration, attitude and other motion parameters of the carrier under severe environment through sealed design and strict process. Through various compensations such as nonlinear compensation, orthogonal compensation, temperature compensation, drift compensation and the like, the error source of AH-200 can be greatly eliminated, and the precision level of products is improved.
The industrial personal computer adopts an embedded industrial personal computer of ARK3510L model, the industrial personal computer adopts ARK350L third generation provided by the research and development industrial control
CoreTMAn i7, 2x 2.5' pluggable HDD hard disk fan-less embedded industrial personal computer.
The main characteristics are as follows:
support for
CoreTMi7-3610QE Mobile Serial processor (rPGA) + Intel QM77 Chipset;
i7-3610QE 4 core/2.3 Ghz;
third generation Core I processors support independent triple display: DVI + HDMI + DisplayPort;
memory supports DDR3/DDR3L SO-DIMM, up to 16 GB;
support for a 2x 2.5"removable SATAIII hard disk;
a 2x miniPCI card slot with a SIM card slot;
rich I/O interfaces, including 4x USB 3.0 and 4x COM, 2 1000M network ports;
and a locking type 9-34V direct-current power supply input interface with the maximum power consumption of 60W.
The 4G router selects an industrial grade 4G router to be connected with an external network and is used as a data transmission channel of the industrial personal computer and the radar.
The model of the CAN port-Ethernet port equipment is CNET400, and the conversion of a standard CAN bus data message format, a standard TCP/IP data message format and a standard Socket communication instruction CAN be realized.
Steering engine potentiometre module:
the model of the steering engine potentiometer module is SM30BL brushless serial bus magnetic coding intelligent servo motor, belongs to integrated servo units with motors, servo drives and bus type communication interfaces, is very suitable for replacing the traditional steering engine, is used as the joint, wheel and crawler drive of a micro robot, and can also be used in other simple positions or stepping control occasions.
A pulse counter:
the pulse counter adopts an IPAM-7404 data acquisition module with technology and frequency measurement functions, has 4 technical/frequency measurement channels comprising 2 isolated input channels and 2 non-isolated input channels, has 4 DI channels which can be configured into control input signals of the counting/frequency measurement channels, and has 4 non-isolated DO channels which can be configured into matching or overrun alarm output functions.
Supply voltage: DC 10-30V, power source reverse connection protection; power consumption: 1W @24 VDC.
An RS485 to RS232 module:
the RS485 to RS232 module adopts a UT-204 converter compatible with RS-232 and RS485 standards, can convert a single-ended RS-232 signal into a balanced differential RS-485 signal, is internally provided with a rapid transient voltage suppression protector, is internally provided with a zero-delay automatic transceiving conversion circuit and an I/O circuit for automatically controlling the data flow direction, does not need other handshaking signals, can realize point-to-point formation between main control machines, between the main control machines and a single chip microcomputer or a peripheral, realizes a point-to-multi-remote communication network, and realizes multi-machine response communication.
Manual/automatic transfer switch:
the LW26 change-over switch adopted by the manual/automatic change-over switch has the characteristics of low resistivity, good conductivity, oxidation resistance and the like, and the flame-retardant shell adopted by the manual/automatic change-over switch has high safety performance and simultaneously has a plurality of change-over angles; the rated insulation voltage is 690V, the rated working voltage is AC440V, and the rated frequency is 50 HZ.
A power supply module:
the power module casing is made of aluminum, has a volume 74 x 32MM and a weight of 260 g. The module performance is non-isolation BUCK, the output current is 1A to 100A, and 30A of the output current is selected in the project.
As shown in FIGS. 4 and 5, , the important parameters of the synchronized gates for multiple ships are the tracking distance between the tracked ship and the target ship, the distance needs to be set in consideration of both the requirement of high efficiency of passing the gate and the safety risk caused by too close distance.
d＝αL+βV (3.1)
Wherein L represents the length of the ship, the larger the length of the ship is, the poorer the maneuverability of the ship is, V represents the sailing speed of the ship ahead, and α and β are parameter values.
The navigation ship controls the navigation speed of the ship according to the navigation mode and enables the ship to stop at a specified position; and during speed control, the pilot ship controls a ship clock in a navigation channel and a lock chamber according to the acquired navigation speed of the ship, so that the speed of the ship is kept within a set range for navigation.
As shown in figure 6, each following ships have item target ships, the target ship can be other following or pilot ships, the following ships control the relative distance and speed between the ship and the target ship according to the speed and distance of the target ship, and the positions of the front ship and the rear ship in a lock chamber during lockage must have the following relations that ABDC represents the front ship, EFHG represents the ship, IJLK represents the rear ship, the distances in the direct front acquired by the millimeter wave radars arranged at the front, left, right and rear positions of the EFHG of the ship are respectively d1、d2、d3And d4(ii) a The included angle of the ship relative to the forward direction of the lock chamber is psi, and then the parameters are calculated as follows:
wherein W, L represents the width and length of the ship;
adopting fuzzy PID as self-adaptive cruise control mode, using the distance between ship and ship as input, using ship clock command as output, setting the tracking target distance as d0The actual distance between two ships at the time t is d (t), and the clock command of the ship at the time t is u (t);
wherein, KP、KIAnd KDRepresenting PID parameters, and considering that forward rotation efficiency and reverse rotation efficiency of the ship propeller at the same rotating speed are different, setting the PID parameters aiming at forward rotation and reverse rotation respectively;
suppose the relative speed of two ships is V at the moment td(t)，Vd(t) < 0 indicates that the distance between two ships is shortened, and in order to keep the ship tracking stability, a tracking target distance fuzzy area is set as [ d ]0-D,d0+D]And u (t) in the range of the fuzzy area is:
wherein, V0As a speed threshold, K0Denotes a control parameter, and D denotes a distance setting threshold.
The navigation ship controls the navigation speed of the ship according to the navigation mode and enables the ship to stop at a specified position; and during speed control, the pilot ship controls a ship clock in a navigation channel and a lock chamber according to the acquired navigation speed of the ship, so that the speed of the ship is kept within a set range for navigation.
As shown in fig. 7, the implementation of positioning of the ship through data transmission between the positioning tags and the positioning base stations includes that coordinate systems are established through four positioning base stations of the positioning base station 1, the positioning base station 2, the positioning base station 3 and the positioning base station 4, the th positioning tag, the second positioning tag, the third positioning tag and the fourth positioning tag are reflected as points on the coordinate systems, that is, the four positioning tags obtain four coordinate positions, the central positions of the four positioning tags are defined as the current coordinate position of the ship, the ship moves to the next coordinate positions after T time, the coordinate positions at two different time points are obtained, the ship moving distance is derived, and the running speed of the ship can be obtained according to a speed formula V-S/T.
In addition, the ship state information comprises navigation situation information, ship speed information, ship position information and ship course information; the ship surrounding state information includes: the position of the forward ship, the speed of the forward ship, the heading of the forward ship, the position of the ship, the speed of the ship, the heading of the ship and the position information of the obstacle.
The communication server is mainly used for realizing data transfer between a ship and a shore-based client, operates in an Aliyun ECS server, and has the main functions of:
and real-time communication with ships through the Internet supports simultaneous online of multiple ships.
And the system can communicate with a tablet and a PC in real time through the Internet, and supports simultaneous online of multiple clients.
And realizing data transparent transmission between the ship and the shore-based client.
And calculating the longitude and latitude of the ship according to the positioning base station information and the ship state information, and providing ship position service information for the ship client and the shore-based client.
The communication server is provided with a data forwarding module and a network link maintenance module; the data forwarding module is used as a data transmission transfer station for forwarding data between a client and a ship, and specifically comprises the following steps: receiving state information and heartbeat information reported by a ship; receiving heartbeat information reported from a client on a shore basis; receiving radar image data uploaded by a ship; forwarding ship state information to all shore-based clients; forwarding the image data of the marine radar to all shore-based clients; the network link maintenance module is used for judging whether the ship and the shore-based client link are normal or not, not receiving heartbeat information reported by the shore-based client or the ship for three minutes, and actively disconnecting the link.
The shore-based client is mainly used for displaying the real-time state and position of a ship, runs on a tablet or a PC (personal computer) based on a windows system and has the main functions of:
and communicating with the communication server in real time through the Internet to acquire the state information of each ship in real time.
Displaying each piece of ship status information in real time.
The position of the ship is displayed on the hundred-degree map according to the positioning service provided by the communication server.
And calculating the ship lockage state according to the ship position information and displaying the ship lockage state in real time.
And displaying the ship radar image at fixed time.
The shore-based client is provided with a data interaction module, a map display module and a logic processing module;
the data interaction module communicates with the server in a TCP/IP mode, and specifically comprises the following steps: receiving ship state information forwarded by a communication server, receiving radar occurrence information forwarded by the communication server, receiving ship position service information provided by the communication server, and receiving heartbeat response from the communication server; in addition, sending heartbeat packets to the communication server in a period of 30 s;
the map display module adopts a Baidu map to realize the following functions: a map display function: displaying geographic information, and providing functions of zooming in, zooming out, roaming and centering; the map marking function is as follows: displaying the current position, the waiting area and the passing area of the ship on a map;
the logic processing module is used for immediately requesting to connect the communication server after the shore-based client starts to operate:
(a) if the connection with the communication server is successful, a heartbeat packet is sent immediately; then sending heartbeat packets to a communication server at intervals of 30 s;
(b) if the connection with the communication server fails, re-requesting connection at an interval of 15 seconds;
(c) after the communication server is successfully connected, if a connection disconnection event occurs, immediately reconnecting;
(d) if the heartbeat response of the communication server is not received within 3 minutes, the communication server is considered to be disconnected, the current connection is immediately disconnected, and the server is reconnected;
2. the ship position display function:
and displaying the relative position of each ship on the map according to the ship position service information provided by the communication server and the real-time state information reported by the ship.
3. The brake-passing state function:
and calculating the lockage state of the ship according to the longitude and latitude information of the ship, and displaying the lockage state in an interface.
In a word, the invention keeps the set distance and speed among a plurality of ships to carry out synchronous lockage of the plurality of ships, the control of the synchronous lockage of the plurality of ships takes a single ship in a queue as a control object, the control of the ship on the distance and the speed of a preceding ship is realized by automatically operating the ship clock according to the surrounding state information and the self state information of the ship obtained by the ship, in the control process of the synchronous lockage of the plurality of ships, the queue can be divided into a pilot ship and a following ship, the pilot ship sets the self navigation speed according to the navigation of a lock area, the following ship dynamically adjusts the following navigation speed according to the relative distance and the relative speed with the preceding ship or the pilot ship, and the queue state is kept to advance; the precise control of the distance and the speed of the forward ship by the ship is realized, so that the multiple ships can synchronously enter and exit the ship lock, and the navigation safety is improved.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the present invention.
Claims (10)
- The ship navigation control system is characterized by comprising a plurality of ships, a lock room positioning module and a shore-based ship monitoring system, wherein the ships are guided from an entrance of a lock to a navigation channel, pass through a lock room and then to an exit of the lock to the navigation channel, set distances and speeds are kept among the plurality of ships in the whole process to synchronously pass through the lock, the lock room positioning module comprises 4 positioning base stations, the 4 positioning base stations are installed at 4 corners of the lock room and are respectively a positioning base station 1, a positioning base station 2, a positioning base station 3 and a positioning base station 4, the ships are positioned through data transmission between the positioning labels and the positioning base stations, namely the ships are positioned through a positioning label, a second positioning label, a third positioning label and a fourth positioning label, positioning information of the whole ships in the lock room, navigation speed and ship information of a first direction are obtained, and the distances between the ships and two pilot ships in the lock and the ship follow-based ship navigation state are obtained through a communication server and a client terminal, the client terminal is used for realizing real-time adjustment of the ship navigation information and the navigation information of the ship navigation between the ship and the ship, the ship navigation state of the client, the ship and the client terminal, the client terminal is used for realizing the navigation information of the navigation and displaying the navigation information of the ship in the navigation of the ship, the navigation of the ship, the navigation of the navigation along with the navigation system, the client, the navigation system is used for realizing the navigation system.
- 2. The ship navigation control system for realizing synchronous entry and exit of multiple ships according to claim 1, wherein the ship comprises an industrial personal computer, a positioning tag, a second positioning tag, a third positioning tag, a fourth positioning tag, a CAN port-to-RS 232 device, a CAN port-to-Ethernet port device, a 4G router, a 4G radar, multiple RS 485-to-RS 232 modules, multiple steering engine potentiometer modules, a manual/automatic switching switch, a short-distance millimeter wave radar, a second short-distance millimeter wave radar, a third short-distance millimeter wave radar, a long-distance millimeter wave radar, a pulse counter, an electric compass and a power module, wherein the short-distance millimeter wave radar, the second short-distance millimeter wave radar, the third short-distance millimeter wave radar and the long-distance millimeter wave radar are all connected with the industrial personal computer through the CAN port-to Ethernet port device, the 4G router and the 4G radar are all connected with the industrial personal computer, the positioning tag, the second positioning tag, the third positioning tag and the fourth positioning tag are all connected with the industrial personal computer through the CAN port-to the RS232 device, the steering engine is connected with the RS 485-to the electric compass module, and the steering engine module are connected with the RS 485-to the steering engine RS 485-to the automatic switching switch module.
- 3. The ship navigation control system for realizing synchronous multi-ship entry and exit gate according to claim 2, wherein the industrial personal computer is an embedded industrial personal computer of ARK3510L type, the steering engine potentiometer module is SM30BL steering engine potentiometer module, and the pulse counter is an IPAM-7404 pulse counter.
- 4. The ship navigation control system for realizing the multi-ship synchronous entry and exit gate according to claim 2, wherein the th, second and third short-range millimeter wave radars are CAR28F millimeter wave radars, and the long-range millimeter wave radar is ARS408 millimeter wave radar.
- 5. The ship navigation control system for realizing multi-ship synchronous entry and exit gate of claim 2, wherein the power module comprises a ship 24V DC power supply and a 24V DC-to-12V DC stabilized power supply, the 24V DC-to-12V DC stabilized power supply is connected with the ship 24V DC power supply, and the 24V DC-to-12V DC stabilized power supply provides power for the ship navigation control system.
- 6. The system of for controlling the navigation of ships according to the synchronized entry and exit gates of multiple ships, according to claim 1, wherein the pilot ship controls the navigation speed of the ship and stops the ship at a predetermined position according to the navigation mode, and the speed control is performed by operating the clock of the ship in the navigation channel and lock room according to the obtained navigation speed of the ship to maintain the speed of the ship within a predetermined range.
- 7. The ship navigation control system for realizing multi-ship synchronous entry and exit gate according to claim 1, wherein the positioning of the ship through data transmission between the positioning tags and the positioning base stations is realized by constructing coordinate systems through four positioning base stations of positioning base station 1, positioning base station 2, positioning base station 3, and positioning base station 4, the positioning tag, the second positioning tag, the third positioning tag, and the fourth positioning tag reflect points on the coordinate systems, that is, the four positioning tags obtain four coordinate positions, the central positions of the four positioning tags are defined as the current coordinate positions of the ship, after T time, the ship moves to the lower coordinate positions to obtain the coordinate positions at two different time points, the ship moving distance is derived, and the ship moving speed can be obtained according to the speed formula V-S/T.
- 8. The ship navigation control system for realizing multi-ship synchronous entry and exit lock, according to claim 1, wherein the ship state information includes navigation situation information, ship speed information, ship position information, and ship course information, and the ship surrounding state information includes forward ship position, forward ship speed, forward ship course, own ship position, own ship speed, own ship course, and obstacle position information.
- 9. The ship navigation control system for realizing multi-ship synchronous entry and exit gate of claim 1, wherein the communication server is equipped with a data forwarding module and a network link maintenance module;the data forwarding module is used as a data transmission transfer station for forwarding data between a client and a ship, and specifically comprises the following steps: receiving state information and heartbeat information reported by a ship; receiving heartbeat information reported from a client on a shore basis; receiving radar image data uploaded by a ship; forwarding ship state information to all shore-based clients; forwarding the image data of the marine radar to all shore-based clients;the network link maintenance module is used for judging whether the ship and the shore-based client link are normal or not, not receiving heartbeat information reported by the shore-based client or the ship for three minutes, and actively disconnecting the link.
- 10. The ship navigation control system for realizing multi-ship synchronous entry and exit gate of claim 9, wherein the shore-based client is provided with a data interaction module, a map display module and a logic processing module;the data interaction module communicates with the server in a TCP/IP mode, and specifically comprises the following steps: receiving ship state information forwarded by a communication server, receiving radar occurrence information forwarded by the communication server, receiving ship position service information provided by the communication server, and receiving heartbeat response from the communication server; in addition, sending heartbeat packets to the communication server in a period of 30 s;the map display module adopts a Baidu map to realize the following functions: a map display function: displaying geographic information, and providing functions of zooming in, zooming out, roaming and centering; the map marking function is as follows: displaying the current position, the waiting area and the passing area of the ship on a map;the logic processing module is used for immediately requesting to connect the communication server after the shore-based client starts to operate:(a) if the connection with the communication server is successful, a heartbeat packet is sent immediately; then sending heartbeat packets to a communication server at intervals of 30 s;(b) if the connection with the communication server fails, re-requesting connection at an interval of 15 seconds;(c) after the communication server is successfully connected, if a connection disconnection event occurs, immediately reconnecting;(d) and if the heartbeat response of the communication server is not received within 3 minutes, the communication server is considered to be disconnected, the current connection is immediately disconnected, and the server is reconnected.
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