CN110737275A - ship navigation control system for realizing synchronous multi-ship entry and exit gate - Google Patents

Abstract

The invention provides a ship navigation control system for realizing the simultaneous entry and exit of multiple ships, including multiple ships, a lock chamber positioning module and a shore-based ship monitoring system. The lock chamber positioning module includes four positioning base stations, which are located at the four corners of the lock chamber. Install the four positioning base stations; the shore-based ship monitoring system includes a communication server and a shore-based client, the communication server is used to realize data transfer between the ship and the shore-based client, according to the positioning base station information and the state of the ship information, obtain the latitude and longitude of the ship, and provide ship position service information to the ship client and shore-based client; the shore-based client is used to display the real-time status and position of the ship, obtain the status information of each ship in real time, and provide positioning services according to the communication server. , the position of the ship is displayed on the Baidu map, the state of the ship passing through the lock is obtained according to the position information of the ship, and displayed in real time; the invention can control the speed of the ship, so that multiple ships can enter and exit the ship lock synchronously, and the safety of navigation is improved.

Description

A ship navigation control system that realizes simultaneous entry and exit of multiple ships

technical field

The invention relates to the technical field of ship navigation, in particular to a ship navigation control system for realizing the simultaneous entry and exit of multiple ships.

Background technique

Since 2000, the volume of cargo passing through the Three Gorges-Gezhouba Ship Lock has continued to grow rapidly, far exceeding the designed throughput capacity of the Three Gorges-Gezhouba Ship Lock. The contradiction between the passage capacity of the ship lock and the need to pass through the lock is becoming more and more prominent, and with the increase of the size of the ship, the precise control and manipulation of the ship's parking position in the lock room becomes more difficult, which intensifies the wear and tear of the implementation of the floating bollard of the ship lock. At the same time, the difficulty of ship maneuvering and the rapidity of moving through locks increases the risk of ships colliding with the locks in the lock room.

At present, with the development of ship speed automatic control and ship high-precision positioning and navigation situation awareness technology, it is technically feasible to realize the synchronous control of multi-vessel navigation in lock waters and precise positioning of ships. The Three Gorges-Gezhouba Ship Lock is one of the important nodes to promote the sustainable development of the Yangtze River Economic Belt. Its daily operation efficiency and safety guarantee capability directly affect the operation efficiency of the Yangtze River shipping. Under the premise of safety and stability, in order to shorten the time for ships to enter and exit the lock and improve the running capacity of the Three Gorges-Gezhouba Ship Lock, it is urgent to adopt the technology of ship intelligent navigation control to realize the simultaneous entry and exit of the Three Gorges-Gezhouba Ship Lock with multi-vessel adaptive navigation control.

SUMMARY OF THE INVENTION

In order to overcome the above problems, the purpose of the present invention is to provide a ship navigation control system that realizes simultaneous entry and exit of multiple ships into and out of the lock, so that multiple ships can enter and exit the ship lock synchronously, thereby improving the safety of navigation.

The present invention adopts the following scheme to realize: a ship navigation control system for realizing multiple ships entering and exiting the lock synchronously, including multiple ships, a lock chamber positioning module and a shore-based ship monitoring system. The ship starts from the approach channel at the entrance of the ship lock, passes through the lock chamber, and then To the approach channel at the exit of the ship lock, multiple ships maintain the set distance and speed during the whole process to carry out multiple ships passing through the lock synchronously. The lock chamber positioning module includes 4 positioning base stations, which are installed at the 4 corners of the lock chamber. The four positioning base stations mentioned above are respectively positioning base station 1, positioning base station 2, positioning base station 3, and positioning base station 4. The ship realizes positioning through data transmission between the positioning tag and the positioning base station, that is, the ship uses the first positioning tag and the second positioning tag. , the third positioning tag, and the fourth positioning tag to obtain the positioning, speed, and heading of the entire ship in the lock chamber, and obtain the distance between the leading ship and the following ship among multiple ships; the shore-based ship monitoring The system includes a communication server and a shore-based client, the communication server is used to realize data transfer between the ship and the shore-based client, obtain the longitude and latitude of the ship according to the positioning base station information and the ship state information, and send the information to the ship client and the shore-based client. The client provides ship position service information; the shore-based client is used to display the real-time status and position of the ship, communicate with the communication server in real time through the Internet, and obtain the status information of each ship in real time. The position of the ship is displayed on the board, and the status of the ship passing through the lock is obtained according to the position information of the ship, and displayed in real time; the ship navigation control system takes a single ship in the queue as the control object, and according to the ship's surrounding status information and the ship obtained by the ship Status information, through the automatic operation of the ship clock, the ship can control the distance and speed of the preceding ship. During the multi-ship synchronous entry and exit control process, the queue can be divided into pilot ships and follower ships. Set its own sailing speed, the following ship dynamically adjusts the speed of the following ship according to the relative distance and relative speed to the preceding ship or the leading ship, and maintains the state of platooning; in the queue, there is one leading ship and several following ships.

Further, the ship includes: industrial computer, first positioning label, second positioning label, third positioning label, fourth positioning label, CAN port to RS232 equipment, CAN port to Ethernet port equipment, 4G router, 4G radar , multiple RS485 to RS232 modules, multiple servo potentiometer modules, manual/automatic switch, the first short-range millimeter-wave radar, the second short-range millimeter-wave radar, the third short-range millimeter-wave radar, and the long-range millimeter wave Radar, pulse counter, gyro, and power supply module; the first short-range millimeter-wave radar, the second short-range millimeter-wave radar, the third short-range millimeter-wave radar, and the long-range millimeter-wave radar pass through the CAN port to Ethernet The network port device is connected to the industrial computer; the 4G router and the 4G radar are all connected to the industrial computer, and the first positioning label, the second positioning label, the third positioning label, and the fourth positioning label all pass through the The CAN port to RS232 device is connected to the industrial computer, the steering gear potentiometer module is connected to the industrial computer through the RS485 to RS232 module, and the gyro is connected to the industrial computer through the RS485 to RS232 module. , the pulse counter is connected to the industrial computer through the RS485 to RS232 module, and the manual/automatic switch is connected to two steering gear potentiometer modules.

Further, the industrial computer adopts ARK3510L embedded industrial computer; the steering gear potentiometer module model is SM30BL steering gear potentiometer module; the pulse counter model is IPAM-7404 pulse counter.

Further, the models of the first short-range millimeter-wave radar, the second short-range millimeter-wave radar, and the third short-range millimeter-wave radar are all CAR28F millimeter-wave radars; the long-range millimeter-wave radar model is: ARS408 millimeter-wave radar radar.

Further, the power module includes a ship's 24V DC power supply and a 24V DC to 12V DC regulated power supply, the 24V DC to 12V DC regulated power supply is connected to the ship's 24V DC power supply, and the 24V DC to 12V DC regulated power supply is connected. The power supply provides power for the ship's navigation control system.

Further, the pilot ship controls the sailing speed of the ship according to the sailing mode and makes the ship stop at the designated position; during the speed control, the pilot ship controls the ship's clock in the approach channel and the lock room according to the obtained speed of the ship to make the ship's speed. Maintain sailing within the set range.

Further, the positioning of the ship through data transmission between the positioning tag and the positioning base station is specifically: constructing a coordinate system through four positioning base stations of positioning base station 1, positioning base station 2, positioning base station 3, and positioning base station 4, the first positioning The label, the second positioning label, the third positioning label, and the fourth positioning label are reflected as a point on the coordinate system, that is, the four positioning labels get four coordinate positions, and the center position of the four positioning labels is defined as the current coordinate of the ship position; after T time, the ship moves to the next coordinate position, obtains the coordinate positions at two different time points, and deduces the moving distance of the ship. According to the speed formula V=S/T, the speed of the ship can be obtained.

Further, the ship state information includes navigation situation information, ship speed information, ship position information, and ship heading information; the ship surrounding state information includes: the position of the previous ship, the speed of the previous ship, the heading of the previous ship, the position of the own ship, Information on own ship's speed, own ship's course, and obstacle positions.

Further, 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, specifically: receiving the status information reported from the ship, Heartbeat information; receive the heartbeat information reported by the client from the shore base; receive the radar image data uploaded from the ship; forward the ship status information to all shore-based clients; forward the marine radar image data to all shore-based clients; the network The link maintenance module is used to judge whether the link between the ship and the shore-based client is normal. If the heartbeat information reported by the shore-based client or the vessel is not received within three minutes, the link will be disconnected actively.

Further, the shore-based client is installed 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 manner, specifically: receiving the ship state information forwarded from the communication server, receiving the radar appearance information forwarded from the communication server, receiving the ship location service information provided by the communication server, receiving The heartbeat response from the communication server; in addition, the heartbeat packet is sent to the communication server at a cycle of 30s;

The map display module adopts Baidu map to realize the following functions: map display function: display geographic information, provide zoom-in, zoom-out, roaming, and return functions; map labeling function: display the current position of the ship, the waiting area, and the gate area on the map ;

The logic processing module is used to request the connection to the communication server immediately after the shore-based client starts running:

(a) If the connection to the communication server is successful, the heartbeat packet is sent immediately; after that, the heartbeat packet is sent to the communication server at an interval of 30s;

(b) If the connection to the communication server fails, the connection will be re-requested every 15 seconds;

(c) After the communication server is successfully connected, if there is a disconnection event, reconnect immediately;

(d) If the heartbeat response of the communication server is not received within 3 minutes, it is considered that the communication server has been disconnected, the current connection is immediately disconnected, and the server is reconnected;

2. Ship position display function:

According to the ship position service information provided by the communication server and the real-time status information reported by the ship, the relative position of each ship is displayed on the map.

3. Over-brake state function:

According to the longitude and latitude information of the ship, the state of the ship passing through the lock is calculated and displayed on the interface.

The beneficial effects of the present invention are: the present invention includes a plurality of ships, a lock chamber positioning module and a shore-based ship monitoring system, wherein the ship can be transformed into a navigation mark, and the ship synchronization is formed by in-depth research on the automatic control technology of multi-ship synchronous entry and exit of the ship lock. Technological achievements such as adaptive control of navigation in and out of the lock, real-time monitoring of ship dynamics in the lock area, multi-vessel synchronous navigation in and out of the lock, anti-collision and precise positioning of ships in the lock area, etc. The ship can enter and exit the lock synchronously to improve the safety of navigation.

Description of drawings

FIG. 1 is a schematic diagram of the state of the ships lining up according to the present invention.

FIG. 2 is a schematic diagram of the circuit structure involved in the ship of the present invention.

FIG. 3 is a schematic diagram of the structure of the ship related circuit in use state of the present invention.

FIG. 4 is a schematic diagram of the control flow of the pilot ship of the present invention.

FIG. 5 is a schematic diagram of the control flow of the following ship according to the present invention.

FIG. 6 is a schematic diagram of the positional relationship between the front ship and the rear ship of the present invention.

FIG. 7 is a schematic diagram of the installation of 4 positioning base stations and 8 positioning labels according to the present invention.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings.

Please refer to FIGS. 1 to 7 , the present invention provides a ship navigation control system for realizing multiple ships entering and exiting the lock synchronously, including multiple ships, a lock chamber positioning module and a shore-based ship monitoring system. At the beginning, through the lock chamber, and then to the approach channel at the exit of the ship lock, multiple ships maintain the set distance and speed during the whole process to carry out multiple ships synchronously passing through the lock. The lock chamber positioning module includes 4 positioning base stations. The four positioning base stations are installed at the four corners of the lock room, namely positioning base station 1, positioning base station 2, positioning base station 3, and positioning base station 4. The ship realizes positioning through data transmission between the positioning tag and the positioning base station, that is, the ship passes the first The positioning tag, the second positioning tag, the third positioning tag, and the fourth positioning tag are used to obtain the ship information of the positioning, speed, and heading of the entire ship in the lock chamber, and obtain the distance between the leading ship and the following ship among multiple ships ; The shore-based ship monitoring system includes a communication server and a shore-based client, the communication server is used to realize data transfer between the ship and the shore-based client, obtain the longitude and latitude of the ship according to the positioning base station information and the ship status information, and Provide ship position service information to the ship client and shore-based client; the shore-based client is used to display the real-time status and position of the ship, communicate with the communication server in real time through the Internet, obtain the status information of each ship in real time, and provide information according to the communication server. The positioning service of the ship shows the position of the ship on the Baidu map, obtains the status of the ship passing through the lock according to the position information of the ship, and displays it in real time; the ship navigation control system takes the single ship in the queue as the control object, and obtains the status of the ship according to the ship's position information. The ship's surrounding state information and ship state information are obtained, and the ship's distance and speed of the preceding ship can be controlled by automatically operating the ship's clock. The leading ship sets its own sailing speed according to the navigation in the lock area, and the following ship dynamically adjusts the speed of the following ship according to the relative distance and relative speed to the preceding ship or the leading ship, and keeps the platooning state; There are several ships, as shown in Figure 1.

2 and 3, the ship includes an industrial computer 1, a first positioning label 21, a second positioning label 22, a third positioning label 23, a fourth positioning label 24, a CAN port to RS232 device 3, CAN port to Ethernet port device 4, 4G router 5, 4G radar 6, multiple RS485 to RS232 modules 7, multiple servo potentiometer modules 8, manual/automatic switch 9, the first short-range millimeter wave radar 10, The second short-range millimeter-wave radar 11, the third short-range millimeter-wave radar 12, the long-range millimeter-wave radar 13, the pulse counter 14, the gyro 15 and the power supply module 16; the first short-range millimeter-wave radar 10, the second The short-range millimeter-wave radar 11, the third short-range millimeter-wave radar 12, and the long-range millimeter-wave radar 13 are all connected to the industrial computer 1 through the CAN port to Ethernet port device 4; the 4G router 5, the 4G radar 6 are all connected to the industrial computer 1, and the first positioning label 21, the second positioning label 22, the third positioning label 23, and the fourth positioning label 24 all pass through the CAN port to the RS232 device 3 and the industrial computer. 1 connection, the steering gear potentiometer 8 module is connected to the industrial computer 1 through the RS485 to RS232 module 7, and the gyro 15 is connected to the industrial computer 1 through the RS485 to RS232 module 7, the said The pulse counter 14 is connected to the industrial computer 1 through the RS485 to RS232 module 7 , and the manual/automatic switch 9 is connected to the two steering gear potentiometer modules 8 . Among them, the said industrial computer adopts ARK3510L embedded industrial computer.

In the present invention, the models of the first short-range millimeter-wave radar, the second short-range millimeter-wave radar, and the third short-range millimeter-wave radar are all CAR28F millimeter-wave radars; the long-range millimeter-wave radar model is: ARS408 Millimeter wave radar. The first positioning tag 21 , the second positioning tag 22 , the third positioning tag 23 , and the fourth positioning tag 24 all use ultra-wideband UWB positioning tags, which integrate a three-axis gyroscope and a three-axis accelerometer.

The model of the steering gear potentiometer module 8 is SM30BL steering gear potentiometer module. The pulse counter model is IPAM-7404 pulse counter. The model of gyro 15 is AH-200 gyro; the model of CAN port to RS232 device 3 is UT-2506; the model of CAN port to Ethernet port device 4 is CNET400; 4G radar 6 adopts FMCW solid-state radar, multiple RS485 to RS232 The model of module 7 is UT-204E; the manual/automatic switch 9 adopts LW26 switch.

The power supply module 16 includes a ship's 24V DC power supply 161 and a 24V DC to 12V DC regulated power supply 162, the 24V DC to 12V DC regulated power supply is connected to the ship's 24V DC power supply, and the 24V DC to 12V DC regulated power supply The power supply provides power for the ship's navigation control system.

The long-range millimeter-wave radar ARS408-21 is a 77GHz radar sensor with a digital beamforming scanning antenna that provides two independent scanners to scan far and near distances. It can simultaneously detect multiple stationary and moving objects with a relative speed of -400 to 200 km/h and a distance of less than 250 meters.

Distance millimeter-wave radar CAR28F is a very cost-effective short-range K-band millimeter-wave radar sensor system, with a monitoring distance of 30 meters, using FMCW modulation mode, can detect the distance, speed, and angle of moving targets, with high ranging and Speed measurement accuracy.

The positioning tag adopts ultra-wideband UWB positioning tag, which integrates three-axis gyroscope and three-axis accelerometer. Through intelligent fusion algorithm, it can better resist the influence of occlusion and multipath effect on positioning, and make positioning more accurate.

main feature:

·Automatic networking, plug and play

·Support node dynamic join

Support multi-tag and multi-base stations to work at the same time

Integrate high-performance IMU to make the positioning effect better

·Intelligent networking algorithm, the system works stably.

The gyro compass AH-200 adopts high-quality and reliable MEMS accelerometers, gyroscopes and magnetometers, and ensures the measurement accuracy through algorithms. At the same time, the sealed design and strict process ensure that the product can still accurately measure the angular velocity of the carrier in harsh environments. , acceleration and attitude and other motion parameters. Through various compensations such as nonlinear compensation, quadrature compensation, temperature compensation and drift compensation, the error source of AH-200 can be greatly eliminated and the level of product accuracy can be improved.

Core^TM i7，2x 2.5"可插拔HDD硬盘无风扇嵌入式工控机。The industrial computer adopts the ARK3510L embedded industrial computer. The industrial computer in this solution adopts the third generation ARK350L provided by Advantech Industrial Control.

Core ^TM i7, 2x 2.5" pluggable HDD hard drive fanless embedded industrial computer.

main feature:

Core^TM i7-3610QE移动系列处理器(rPGA)+Intel QM77芯片组；·support

Core ^TM i7-3610QE mobile series processor (rPGA) + Intel QM77 chipset;

i7-3610QE 4 cores/2.3Ghz;

The third-generation Core I processor supports three independent displays: DVI+HDMI+DisplayPort;

The memory supports DDR3/DDR3L SO-DIMM, up to 16GB;

·Support 2x 2.5"removable SATAIII hard drives;

2x miniPCIe card slot, with SIM card slot;

· Rich I/O interfaces, including 4x USB 3.0 and 4x COM, and 2 1000M Ethernet ports;

·Locking 9~34V DC power input interface, the maximum power consumption is 60W.

4G routers use industrial-grade 4G routers to connect to the external network and serve as the data transmission channel between the industrial computer and the radar.

The CAN port to Ethernet port device model is CNET400, which can realize the conversion between the standard CAN bus data message format, the standard TCP/IP data message format, and the standard Socket communication instructions.

Servo potentiometer module:

The servo potentiometer module model is SM30BL brushless serial bus magnetic coding intelligent servo motor, which belongs to an integrated servo unit that integrates motor, servo drive and bus communication interface. It is very suitable for replacing traditional servos. Joints, wheels, track drives, and other simple position or stepper control applications.

Pulse Counter:

The pulse counter adopts IPAM-7404, which is a data acquisition module with technology and frequency measurement functions. It has 4 technology/frequency measurement channels, including 2 isolated input and 2 non-isolated input channels; the module also has 4 DI channels, It can be configured as gate control input signal of counting/frequency measurement channel; the module also has 4 non-isolated DO channels, which can be configured as matching or over-limit alarm output function.

Power supply voltage: DC 10-30V, power reverse connection protection; power consumption: 1W@24VDC.

RS485 to RS232 module:

The RS485 to RS232 module adopts UT-204 converter, which is compatible with RS-232 and RS485 standards. It can convert single-ended RS-232 signals into balanced differential RS-485 signals. It has a built-in fast transient voltage suppression protector and a built-in zero Delay automatic sending and receiving conversion, I/O circuit automatically controls the direction of data flow, no other handshake signals are required, and point-to-point, point-to-multiple remote communication can be realized between the main control machine, between the main control machine and the microcontroller or peripherals network to realize multi-machine response communication.

Manual/Automatic toggle switch:

The manual/automatic transfer switch adopts LW26 transfer switch, which has the characteristics of low resistivity, good electrical conductivity, anti-oxidation, etc., and uses a flame-retardant shell with high safety performance and multiple conversion angles; its rated insulation voltage is 690V, and rated working voltage is AC440V. , Rated frequency 50HZ.

Power Module:

The shell of the power module is made of aluminum, with a volume of 74*74*32MM and a weight of 260 grams. The module performance is non-isolated buck, and the output current is 1A to 100A. This project selects 30A output current.

As shown in Figure 4 and Figure 5, a very important parameter for the simultaneous entry and exit of multiple ships is the tracking distance between the tracking ship and the target ship. The setting of the distance needs to consider not only the requirements of high efficiency of the gate, but also the safety risks brought by the distance too close. Therefore, the present invention intends to set a dynamic tracking distance, that is, to dynamically adjust the tracking distance d according to the different maneuverability and sailing speed of the ship.

d=αL+βV (3.1)

Among them, L represents the length of the ship. Usually, the larger the length of the ship, the worse the ship's maneuverability; V represents the speed of the preceding ship; α and β are parameter values.

The pilot ship controls the speed of the ship according to the sailing method and makes the ship stop at the designated position; when the speed is controlled, the pilot ship controls the ship's clock in the approach channel and the lock room according to the speed of the ship obtained, so that the speed of the ship is maintained at the setting. sailing within range.

As shown in Figure 6, each follower ship has a target ship, and the target ship can be other follower or pilot ships; the follower ship controls the relative distance and speed of the own ship and the target ship according to the speed and distance of the target ship, and locks at the same time. The position of the indoor front ship and the rear ship when passing through the lock must have the following relationship: set ABDC to represent the front ship, EFHG to represent the own ship, and IJLK to represent the rear ship; the EFHG of this ship is obtained by the millimeter-wave radar installed in the front, left, right and rear positions. The distances directly ahead are d ₁ , d ₂ , d ₃ and d ₄ respectively; the included angle of the ship relative to the forward direction of the lock chamber is ψ, the parameters are calculated as follows:

where W and L are the width and length of the ship, respectively;

Using fuzzy PID as the adaptive cruise control mode, the adaptive cruise control mode takes the distance between the previous ship and own ship as the input, and the own ship's clock command as the output, the tracking target distance is set as d ₀ , and the actual distance between the two ships at time t is d (t), the clock command of the ship at time t is u(t);

Among them, K _P , K _I and K _D represent the PID parameters. Considering the difference in the forward and reverse efficiency of the ship propeller at the same speed, it is necessary to set the PID parameters for forward and reverse respectively;

Assuming that the relative speed of the two ships at time t is V _d (t), V _d (t) < 0 means that the distance between the two ships is shortening, in order to maintain the stability of the ship tracking, set the tracking target distance fuzzy area as [d ₀ -D, d ₀ +D], u(t) in the fuzzy area is:

Among them, V ₀ is the speed threshold, K ₀ is the control parameter, and D is the distance setting threshold.

The pilot ship controls the speed of the ship according to the sailing method and makes the ship stop at the designated position; when the speed is controlled, the pilot ship controls the ship's clock in the approach channel and the lock room according to the speed of the ship obtained, so that the speed of the ship is maintained at the setting. sailing within range.

As shown in FIG. 7 , the positioning of the ship through data transmission between the positioning tag and the positioning base station is specifically: constructing a coordinate system through four positioning base stations of positioning base station 1, positioning base station 2, positioning base station 3, and positioning base station 4, The first positioning label, the second positioning label, the third positioning label, and the fourth positioning label are reflected as a point on the coordinate system, that is, the four positioning labels obtain four coordinate positions, and the center position of the four positioning labels is defined as the ship. The current coordinate position; after T time, the ship moves to the next coordinate position, and the coordinate positions at two different time points are obtained, and the moving distance of the ship is deduced. According to the speed formula V=S/T, the traveling speed of the ship can be obtained.

In addition, the ship state information includes navigation situation information, ship speed information, ship position information, and ship heading information; the ship surrounding state information includes: the position of the previous ship, the speed of the previous ship, the heading of the previous ship, the position of the ship, the ship's position speed, own ship's course, and obstacle position information.

The communication server is mainly used to realize the data transfer between the ship and the shore-based client. It runs on the Alibaba Cloud ECS server. The main functions are:

·Communicate with ships in real time through the Internet, supporting multiple ships online at the same time.

·Communicate with tablet and PC in real time through the Internet, and support multiple clients online at the same time.

·Realize data transparent transmission between ships and shore-based clients.

·According to the positioning base station information and ship status information, calculate the longitude and latitude of the ship, and provide the ship position service information to the ship client and 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 to forward data between the client and the ship, specifically: receiving status information and heartbeat information reported from the ship; Receive the heartbeat information reported by the client from the shore base; receive the radar image data uploaded from the ship; forward the ship status information to all shore-based clients; forward the marine radar image data to all shore-based clients; the network link maintenance module It is used to judge whether the link between the ship and the shore-based client is normal. If the heartbeat information reported by the shore-based client or the ship is not received within three minutes, the link will be disconnected actively.

The shore-based client is mainly used to display the real-time status and position of the ship. It runs on a tablet or PC based on the windows system. The main functions are:

·Communicate with the communication server in real time through the Internet, and obtain the status information of each ship in real time.

·Real-time display of the status information of each ship.

· According to the positioning service provided by the communication server, the position of the ship is displayed on the Baidu map.

·According to the ship's position information, the ship's lock status is calculated and displayed in real time.

·Regular display of marine radar images.

The shore-based client is installed 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 manner, specifically: receiving the ship state information forwarded from the communication server, receiving the radar appearance information forwarded from the communication server, receiving the ship location service information provided by the communication server, receiving The heartbeat response from the communication server; in addition, the heartbeat packet is sent to the communication server at a cycle of 30s;

The map display module adopts Baidu map to realize the following functions: map display function: display geographic information, provide zoom-in, zoom-out, roaming, and return functions; map labeling function: display the current position of the ship, the waiting area, and the gate area on the map ;

The logic processing module is used to request the connection to the communication server immediately after the shore-based client starts running:

(a) If the connection to the communication server is successful, the heartbeat packet is sent immediately; after that, the heartbeat packet is sent to the communication server at an interval of 30s;

(b) If the connection to the communication server fails, the connection will be re-requested every 15 seconds;

(c) After the communication server is successfully connected, if there is a disconnection event, reconnect immediately;

(d) If the heartbeat response of the communication server is not received within 3 minutes, it is considered that the communication server has been disconnected, the current connection is immediately disconnected, and the server is reconnected;

2. Ship position display function:

According to the ship position service information provided by the communication server and the real-time status information reported by the ship, the relative position of each ship is displayed on the map.

3. Over-brake state function:

According to the longitude and latitude information of the ship, the state of the ship passing through the lock is calculated and displayed on the interface.

In a word, the present invention maintains a set distance and speed between multiple ships, so that multiple ships can pass through the lock synchronously. The obtained state information around the ship and its own state information, through the automatic operation of the ship's car clock, to realize the ship's control of the distance and speed of the preceding ship. The ship and the pilot ship set their own sailing speed according to the navigation in the lock area, and the following ship dynamically adjusts the speed of the following ship according to the relative distance and relative speed to the preceding ship or the leading ship, and maintains the platoon state to move forward; The precise control of speed enables multiple ships to enter and exit the lock synchronously, improving the safety of navigation.

The above descriptions are only preferred embodiments of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the present invention.

Claims (10)

1. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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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