CN111391994A - Intelligent sensing navigation mark equipment and early warning method thereof - Google Patents

Intelligent sensing navigation mark equipment and early warning method thereof Download PDF

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Publication number
CN111391994A
CN111391994A CN202010324360.2A CN202010324360A CN111391994A CN 111391994 A CN111391994 A CN 111391994A CN 202010324360 A CN202010324360 A CN 202010324360A CN 111391994 A CN111391994 A CN 111391994A
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CN
China
Prior art keywords
ship
navigation mark
ais
control unit
navigation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010324360.2A
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Chinese (zh)
Inventor
周春辉
李忠
曹钜旋
李克丁
徐才云
张清
黎良明
甘浪雄
肖长诗
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Navigation Mark Place Navigation Guarantee Center Of South China Sea
Wuhan Xinhai Yuanhang Technology R&d Co ltd
Original Assignee
Guangzhou Navigation Mark Place Navigation Guarantee Center Of South China Sea
Wuhan Xinhai Yuanhang Technology R&d Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangzhou Navigation Mark Place Navigation Guarantee Center Of South China Sea, Wuhan Xinhai Yuanhang Technology R&d Co ltd filed Critical Guangzhou Navigation Mark Place Navigation Guarantee Center Of South China Sea
Priority to CN202010324360.2A priority Critical patent/CN111391994A/en
Publication of CN111391994A publication Critical patent/CN111391994A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B51/00—Marking of navigation route
    • B63B51/02—Marking of navigation route with anchored lightships; by use of lighthouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B49/00—Arrangements of nautical instruments or navigational aids
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/02—Magnetic compasses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Ocean & Marine Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to the technical field of navigation equipment, in particular to an intelligent sensing navigation mark device and an early warning method thereof, and the intelligent sensing navigation mark device comprises an AIS receiving unit, a control unit, a compass sensor, a positioning unit and L ED warning lamps, wherein a raspberry PC and an 8-way switch on-off controller are integrated in the control unit, the AIS receiving unit receives an AIS message and forwards the message to the raspberry PC of the control unit to enter a data processing flow, the AIS receiving unit is used for receiving an AIS message of a ship in a water area near a navigation mark and extracting coordinates and navigation speed course information after analysis, the compass sensor is used for acquiring the rotation angle of the navigation mark, the positioning unit is used for acquiring the position of the navigation mark, and the control unit controls the L ED warning lamps to work.

Description

Intelligent sensing navigation mark equipment and early warning method thereof
Technical Field
The invention relates to the technical field of navigation equipment, in particular to intelligent sensing navigation mark equipment and an early warning method thereof.
Background
The navigation mark is used as an important visual navigation facility and has important functions of supporting water transportation, fishery, ocean development, national defense construction and the like. Along with the development of the shipping industry, the navigation volume of each navigation water area is exponentially increased, and the collision probability of a navigation mark and a ship is increased.
The maintenance cycle of passing present fairway buoy is long, if meet with the collision and lead to the fairway buoy disability, can cause the threat for the safe navigation of ship from and to. The traditional navigation mark lamp uses a point light source at night for a ship to drive and attract an observer to identify, and when the ship navigates in a water area with large ship flow and complex background light, the accurate position of the navigation mark is often difficult to find, so that the accident that the ship collides with the navigation mark occurs. Once the navigation mark suffers collision incapability, economic loss of a navigation mark maintenance unit is caused, and great navigation risk is brought to a navigation ship. In order to reduce the probability of safety accidents of the navigation mark and ensure navigation safety, the invention provides intelligent sensing navigation mark equipment and an early warning method thereof starting from the navigation mark function.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides intelligent sensing navigation mark equipment and an early warning method thereof, which have the characteristics of integrating various informationization technologies, acquiring navigation environment data in real time, actively warning ships to avoid when the ships approach, and reducing economic loss and navigation risks caused by collision, and solve the problem that the accidents of ship collision on navigation marks occur because the accurate positions of the navigation marks are often difficult to find in the prior art.
The invention provides the following technical scheme:
an intelligent sensing navigation mark device comprises an AIS receiving unit, a control unit, a compass sensor, a positioning unit and L ED warning lamps;
the control unit is internally integrated with a raspberry pi PC and an 8-way switch on-off controller, and the AIS receiving unit receives the AIS message and then forwards the message to the raspberry pi PC of the control unit to enter a data processing flow;
the AIS receiving unit is used for receiving an AIS message of a ship in a water area near the navigation mark, and extracting ship coordinates and navigation speed and course information after analyzing the AIS message;
the compass sensor is used for acquiring a navigation mark rotation angle, and the positioning unit is used for acquiring a navigation mark position;
the control unit controls L ED warning light to work.
Preferably, the control unit passes through the staple bolt to be fixed on the cavity bracing piece, the cavity bracing piece passes through coupling nut with the lamp panel and is connected the fastening, the bottom of AIS receiving element is provided with AIS antenna installation base, L ED warning light passes through L ED fixed orifices and installs on the lamp panel, AIS receiving element and positioning unit install on the lamp panel base, and all circuits are gathered lamp panel central line concentration hole department and are sent the control unit via the inside entering control unit of cavity bracing piece, L ED warning light passes through 8 switches controller in the control unit and links to each other with raspberry group PC.
Preferably, the control unit is connected to the solar energy storage and power supply device through a power interface.
Preferably, the AIS receiving unit is connected to the VHF very high frequency omnidirectional antenna for the ship by using an AIS antenna interface.
Preferably, the positioning unit is connected with one or more of a marine GPS and a Beidou satellite navigation system mushroom head antenna by adopting a positioning antenna interface.
Preferably, the L ED warning light adopts L ED warning light interface connection omnidirectional multichannel integrated searchlighting warning light.
An intelligent sensing navigation mark early warning method comprises the following steps: the method comprises the following steps:
s1, after receiving the AIS message, the AIS receiving unit forwards the message to a raspberry group PC of the control unit through an RS232 serial port, the data processing flow is entered, and the raspberry group PC reads the data and then analyzes the data to obtain longitude and latitude, navigational speed and course information of an incoming ship;
s2, comparing the future ship position with the early warning area range; if the coming ship is not in the early warning area, the program is ended, otherwise, the program is continued; judging whether the coming ship drives to the navigation mark or not according to the position and the course of the coming ship; if the coming ship drives away from the navigation mark, the program is ended, otherwise, the program is continued;
s4, calculating the position of the coming ship after 5 minutes according to the current position and the speed and the course of the coming ship; if the presumed position is not in the alarm area, the program is ended, otherwise, the program is continued;
s5, calculating the true position of the ship according to the incoming position and the navigation mark position, calculating the relative navigation mark position of the ship through the true position and compass reading, calculating L ED warning light number n according to the relative position, and calculating L ED warning light flashing frequency according to the incoming distance and speed;
and S6, outputting low level to the 8-way switch controller by the raspberry group PC, turning off all lamps, outputting control level to the nth way of the switch controller by the raspberry group PC, controlling L ED warning lamps with corresponding numbers to work, and ending the program.
The invention provides intelligent sensing navigation mark equipment and an early warning method thereof, wherein AIS position data sent by ships passing through a river channel or a peripheral sea area is received, the built-in data processing equipment calculates the course and course trend of the ships within a certain range around a protected navigation mark, light warnings with different frequencies are sent to the ships according to different collision danger levels, navigation environment data are collected in real time by integrating various informationization technologies, when the ships approach, the ships can be actively warned to avoid, the economic loss and the navigation risk caused by collision are reduced, the navigation aiding efficiency at night of the navigation mark is greatly improved, and the navigation in a water area is safer.
Drawings
FIG. 1 is a front view of the apparatus of the present invention;
FIG. 2 is a top view of the apparatus of the present invention;
FIG. 3 is a diagram of the hardware connections of the present invention;
FIG. 4 is a schematic view of the initial compass direction of the present invention;
FIG. 5 is a schematic view of the direction of the compass after the rotation of the present invention;
FIG. 6 is a schematic view of the position relationship between the navigation mark and the ship according to the present invention;
FIG. 7 is a data processing flow diagram of the present invention;
fig. 8 is a schematic diagram of the early warning alarm of the present invention.
In the drawing, the device comprises an AIS antenna mounting base 1, an AIS receiving unit 2, a lamp panel 3, L ED warning lamps 4, L ED warning lamps 5, a positioning unit 6, a wire collecting hole 7, L ED fixing holes 8, a compass sensor 9, a control unit 10, a hollow supporting rod 11 and a connecting nut.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, the present invention provides a technical solution:
an intelligent sensing navigation mark device comprises an AIS receiving unit 2, a control unit 9, a compass sensor 8, a positioning unit 5 and L ED warning lamps 4;
a raspberry pi PC and an 8-way switch on-off controller are integrated in the control unit 9, and the AIS receiving unit 2 receives the AIS message and then forwards the message to the raspberry pi PC of the control unit 9 to enter a data processing flow; the control unit 9 is connected with the solar energy power storage and supply device through a power interface. The AIS receiving unit 2 is connected with a VHF very high frequency omnidirectional antenna for the ship by adopting an AIS antenna interface.
The AIS receiving unit 2 is used for receiving an AIS message of a ship in a water area near the navigation mark, and extracting ship coordinates and navigation speed and course information after analysis;
the compass sensor 8 is used for acquiring a navigation mark rotation angle, and the positioning unit 5 is used for acquiring a navigation mark position; the positioning unit 5 is connected with one or more of the marine GPS and the Beidou satellite navigation system mushroom head antenna by adopting a positioning antenna interface.
The control unit 9 controls L ED warning lamps 4 to work, and L ED warning lamps 4 are connected with the omnidirectional multi-path integrated searchlighting warning lamp by adopting L ED warning lamp interfaces.
Control unit 9 passes through the staple bolt to be fixed on cavity bracing piece 10, cavity bracing piece 10 passes through coupling nut 11 with lamp panel 3 and is connected the fastening, AIS receiving element 2's bottom is provided with AIS antenna installation base 1, L ED warning light 4 is installed on lamp panel 3 through L ED fixed orifices 7, AIS receiving element 2 is installed on lamp panel 3 base with positioning unit 5, all circuits are gathered to lamp panel 3 central line concentration hole 6 department in the inside entering control unit 9 of hollow bracing piece 10, L ED warning light 4 links to each other with raspberry group PC through 8 way on-off controller in the control unit 9.
An intelligent sensing navigation mark early warning method comprises the following steps:
s1, after receiving the AIS message, the AIS receiving unit 2 forwards the message to a raspberry group PC of the control unit 9 through an RS232 serial port, the data processing flow is entered, and the raspberry group PC reads the data and then analyzes the data to obtain the longitude and latitude, the speed and the course information of the coming ship;
s2, comparing the future ship position with the early warning area range; if the coming ship is not in the early warning area, the program is ended, otherwise, the program is continued; judging whether the coming ship drives to the navigation mark or not according to the position and the course of the coming ship; if the coming ship drives away from the navigation mark, the program is ended, otherwise, the program is continued;
s4, calculating the position of the coming ship after 5 minutes (adjustable) according to the current position of the coming ship and the speed and the course of the coming ship; if the presumed position is not in the alarm area, the program is ended, otherwise, the program is continued;
s5, calculating true bearing (calculated just north in FIG. 6) of the ship according to the coming ship position and the navigation mark position, calculating the relative navigation mark bearing (Rb in FIG. 6) of the ship according to the true bearing (Tc in FIG. 6) and compass reading, calculating L number n of the ED warning lamp 4 according to the relative bearing, and calculating L flash frequency of the ED warning lamp 4 according to the coming ship distance and the speed;
and S6, outputting low level to the 8-way switch controller by the raspberry group PC, turning off all lamps, outputting control level to the nth way of the switch controller by the raspberry group PC, controlling L ED warning lamps 4 with corresponding numbers to work, and ending the program.
Requirement of the national maritime affairs administration "electronic marine map system on board a domestic sailing ship and automatic identification system device management regulation" (sea ship [ 2010 ] 156): sailing ships with 200 to 500 tons of Chinese nationality along the sea, participating in underwater construction operation on the water along the sea, and using all ports as tugboats; all ships sailing 100 total tons and above of the main lines of the Yangtze river, the main line of the Zhujiang river, the Jinghang canal and the Huangpu river, and liquid cargo ships and container ships below 100 total tons need to be provided with A-grade or B-grade AIS equipment meeting the requirements. According to the regulations, AIS equipment is required to be started during the navigation of the ship, and static data and navigation-related dynamic data of the ship are continuously broadcasted outwards. The invention uses the AIS receiver to receive the AIS message of the ship in the water area near the navigation mark, and extracts the information such as the coordinates, the speed and the course of the ship after the AIS message is analyzed.
The Navigation mark can rotate under the restraint of an anchor chain under the influence of water flow, wind and the like, the Navigation mark body rotates when the position changes frequently, the lamp panel 3 can move along with the Navigation mark after being installed on the Navigation mark, and the position and the rotating angle of the Navigation mark are required to be known for realizing the control of L ED warning lamps 4 in the coming direction of a ship.
As shown in FIG. 8, an early warning area is arranged between the outer ring and the inner ring, the inner ring is an alarm area, and the bow line segment is the position of the ship after 5 minutes is calculated, the early warning area screens the coming ship for the first time, so that the calculated amount can be reduced, in FIG. 8, the ship 1 is filtered out of the early warning area and does not enter the subsequent flow, the ship 2 is in the early warning area, the calculated position is in the alarm area and sails towards the navigation mark, at the moment, the L ED warning lamp 4 which is responsible for the corresponding sector begins to flicker to warn the driver of caution, the ship 3 is in the early warning area, but the calculated position does not enter the alarm area and does not trigger the alarm, and the ship 4 is in the alarm area but runs towards the direction away from the navigation mark and does not trigger the alarm.
According to the navigation system and the navigation method, the AIS position data sent by ships passing through a river channel or a surrounding sea area are received, the built-in data processing equipment calculates the course and course trend of the ships within a certain range around a protected navigation mark, and light warnings with different frequencies are sent to the ships according to different collision danger levels.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (7)

1. The intelligent sensing navigation mark equipment is characterized by comprising an AIS receiving unit (2), a control unit (9), a compass sensor (8), a positioning unit (5) and L ED warning lamps (4);
a raspberry pi PC and an 8-way switch on-off controller are integrated in the control unit (9), and the AIS receiving unit (2) receives the AIS message and forwards the message to the raspberry pi PC of the control unit (9) to enter a data processing flow;
the AIS receiving unit (2) is used for receiving an AIS message of a ship in a water area near the navigation mark, and extracting ship coordinates and navigation speed and course information after analysis;
the compass sensor (8) is used for acquiring a navigation mark rotation angle, and the positioning unit (5) is used for acquiring a navigation mark position;
the control unit (9) controls L ED warning lamps (4) to work.
2. The intelligent sensing beacon device according to claim 1, wherein the control unit (9) is fixed on a hollow support rod (10) through a hoop, the hollow support rod (10) is connected and fastened with a lamp panel (3) through a connecting nut (11), an AIS antenna mounting base (1) is arranged at the bottom of the AIS receiving unit (2), the L ED warning lamp (4) is mounted on the lamp panel (3) through a L ED fixing hole (7), the AIS receiving unit (2) and the positioning unit (5) are mounted on the lamp panel (3) base, all lines are collected to a central line collecting hole (6) of the lamp panel (3) and enter the control unit (9) through the inside of the hollow support rod (10), and the L ED warning lamp (4) is connected with a raspberry PC through an 8-way switch controller in the control unit (9).
3. The smart aware beacon device of claim 1, wherein: the control unit (9) is connected with the solar energy power storage and supply equipment through a power interface.
4. The smart aware beacon device of claim 1, wherein: the AIS receiving unit (2) is connected with a marine VHF very high frequency omnidirectional antenna by adopting an AIS antenna interface.
5. The smart aware beacon device of claim 1, wherein: and the positioning unit (5) is connected with one or more of the marine GPS and the Beidou satellite navigation system mushroom head antenna by adopting a positioning antenna interface.
6. The intelligent sensing navigation mark device as claimed in claim 1, wherein the L ED warning light (4) is connected with an omnidirectional multi-channel integrated searchlight warning light by adopting a L ED warning light interface.
7. An intelligent sensing navigation mark early warning method is characterized by comprising the following steps: the method comprises the following steps:
s1, after receiving the AIS message, the AIS receiving unit (2) forwards the message to a raspberry group PC of the control unit (9) through an RS232 serial port, the data processing flow is entered, and the raspberry group PC reads the data and then analyzes the data to obtain longitude and latitude, navigational speed and course information of an incoming ship;
s2, comparing the future ship position with the early warning area range; if the coming ship is not in the early warning area, the program is ended, otherwise, the program is continued; judging whether the coming ship drives to the navigation mark or not according to the position and the course of the coming ship; if the coming ship drives away from the navigation mark, the program is ended, otherwise, the program is continued;
s4, calculating the position of the coming ship after 5 minutes according to the current position and the speed and the course of the coming ship; if the presumed position is not in the alarm area, the program is ended, otherwise, the program is continued;
s5, calculating the true position of the ship according to the incoming position and the navigation mark position, calculating the relative navigation mark position of the ship through the true position and compass reading, calculating L ED warning lamp (4) number n according to the relative position, and calculating L ED warning lamp (4) flashing frequency according to the incoming distance and speed;
and S6, outputting low level to the 8-way switch controller by the raspberry group PC, turning off all lamps, outputting control level to the nth way of the switch controller by the raspberry group PC, controlling L ED warning lamps (4) with corresponding numbers to work, and ending the program.
CN202010324360.2A 2020-04-23 2020-04-23 Intelligent sensing navigation mark equipment and early warning method thereof Pending CN111391994A (en)

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CN202010324360.2A CN111391994A (en) 2020-04-23 2020-04-23 Intelligent sensing navigation mark equipment and early warning method thereof

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Application Number Priority Date Filing Date Title
CN202010324360.2A CN111391994A (en) 2020-04-23 2020-04-23 Intelligent sensing navigation mark equipment and early warning method thereof

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111976898A (en) * 2020-08-17 2020-11-24 武汉理工大学 Intelligent anti-collision emergency navigation mark
CN112634658A (en) * 2020-12-18 2021-04-09 武汉欣海远航科技研发有限公司 Acousto-optic early warning method and system for safety supervision of offshore wind farm

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111976898A (en) * 2020-08-17 2020-11-24 武汉理工大学 Intelligent anti-collision emergency navigation mark
CN112634658A (en) * 2020-12-18 2021-04-09 武汉欣海远航科技研发有限公司 Acousto-optic early warning method and system for safety supervision of offshore wind farm

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Inventor after: Zhou Chunhui

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