CN113156422A - Sensor system for collision early warning of unmanned ship - Google Patents
Sensor system for collision early warning of unmanned ship Download PDFInfo
- Publication number
- CN113156422A CN113156422A CN202110339535.1A CN202110339535A CN113156422A CN 113156422 A CN113156422 A CN 113156422A CN 202110339535 A CN202110339535 A CN 202110339535A CN 113156422 A CN113156422 A CN 113156422A
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- sensor system
- module
- support
- rod
- plate
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Classifications
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm systems
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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
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
Abstract
The invention relates to a sensor system for collision early warning of unmanned ships. The left end and the right end of the support arm are respectively welded into a whole to form an inserted rod piece, and the inserted rod piece is provided with threads; the center of the back of the bracket arm is provided with a first hinge male head; the sensor system comprises a base backboard, an electronic equipment installation groove, a panoramic image camera, an image color block analysis module, an information processing chip module, a radar probe feedback information receiving module, a radar probe control module, an electric control short air rod start-stop time control module, an electrode reversing control module, a radar probe feedback information receiving module, a radar probe control module, a ship control system center and a sensor system control module.
Description
Technical Field
The invention belongs to the field of sensors, and relates to a sensor system for collision early warning of an unmanned ship.
Background
There are a range of technical, social, legal and other uncertainties in the development of unmanned ships, but unmanned ships should be the target and direction of development of future ships, as mankind is ultimately relegated to freeing themselves from the dangers and burdensome labor of being ubiquitous in the sea. The intelligent machine replaces the days of the crew, and is the time when the unmanned ship is really applied to the market. Remote control driving, even automatic driving, is not the whole of unmanned ships. The unmanned ship covers a very wide technical field, and besides the traditional ship technology, the unmanned ship also relates to a multi-sensor intelligent monitoring system, an automatic collision avoidance system, a high-reliability high-redundancy data transmission system, an electromechanical system automatic fault detection system, an automatic navigation system, a reliable electronic chart system, an intelligent robot system, an underwater robot system, an anti-piracy system technology, even the hottest internet of things, big data and other technologies. The unmanned ship has the advantages of reducing labor cost, saving energy, reducing consumption and reducing accidents. Furthermore, a major obstacle to future use of unmanned vessels lies in the complex international navigation regulations.
The existing collision early warning sensor system of the unmanned ship mainly arranges a radar at a fixed position, and because seawater can absorb radar waves, the distance of the offshore side is difficult to judge under some conditions. The patent name of CN112349145A, 2/9/2021, a warning device for the risk of collision of a ship, provides a warning device capable of lifting, but cannot solve the problem of accurately judging the offshore distance.
Disclosure of Invention
1. The technical problem to be solved is as follows:
when the existing unmanned ship is in shore, because of the problem that the radar wave is absorbed by seawater, the radar can not accurately judge the distance from the wharf,
2. the technical scheme is as follows:
in order to solve the problems, the invention provides a sensor system for collision early warning of an unmanned ship, which comprises a system base and at least one loading module single body, wherein the loading module single body is connected with the system base through a support base, the system base comprises a support arm, the support arm is connected with a base back plate, electronic equipment mounting grooves are formed in the left side and the right side of the base back plate, electronic element integration modules are mounted in the electronic equipment mounting grooves, a support slot is formed above the base back plate, the loading module single body comprises a support plate, pipe clamps are respectively arranged at two ends of the back surface of the support plate, and a wire harness pipe is fixed in the pipe clamps; the left side and the right side of the support plate are fixedly connected with supporting plates, and the tail ends of the supporting plates are fixedly connected with a first mounting bottom plate; the central position of the front side of the bracket plate is fixedly connected with a suspension rod, and the tail end of the suspension rod is connected with a second mounting bottom plate; the tail end of a hollow rod piece of the bracket plate electric control short gas rod is movably hinged with the male head of the plate; the middle positions of the two bridging pieces are fixed by a locking bolt; one end of each of the two bridging pieces is provided with a micro stepping motor, and the other end of each of the two bridging pieces is movably hinged with the outer wall of the electric control short air rod through a pin; the utility model discloses a quick-witted support of loading module, including the locking bolt, the short air pole outer wall swing joint of electric air in the loading module monomer is connected through the bridging piece in the loading module that is close to the system base and adjacent two, the short air pole outer wall swing joint in the locking bolt on the activity hinge have the connecting piece, connecting piece end and the public head of plate are articulated mutually, the other end is connected with the support inserted bar in the support base, the support inserted bar inserts in the support slot, adjacent two loading module monomer is connected between through being close to the system base.
The electric control short air rod comprises a hollow rod piece, the hollow rod piece is hollow, an exhaust hole is formed in the side wall of the hollow rod piece, a micro diaphragm pump is arranged in the hollow rod piece, and an air inlet pipe of the micro diaphragm pump is communicated with the bottom of the air rod cylinder; the outer wall of the tail end of the hollow rod piece is sleeved with a sealing rubber ring, the hollow rod piece is arranged in the air rod cylinder, and the hollow rod piece and the air rod cylinder form an air chamber.
A miniature electromagnetic valve is connected to an air inlet pipe section of the miniature diaphragm pump in a connection mode, and the valve is in a normally closed state when the electromagnetic valve is in a power-off state; the exhaust pipe orifice of the micro diaphragm pump is communicated with the exhaust hole.
The miniature stepping motor comprises a rotor assembly and a magnetic cylinder body; and the end of the rotor component is inserted into the central position in the bracket female head of the loading module monomer.
A radar probe extends outside the electronic component integrated module through a signal wire, and the signal wire is inserted into and accommodated by a wire harness buckle and then is branched to each wire harness pipe; the radar probe is arranged on the first mounting bottom plate and the second mounting bottom plate, and the radar probe wire harness is communicated with a signal wire extending from the electronic component integrated module.
An output circuit of the electronic component integrated module penetrates into the wire harness buckle.
The electronic equipment mounting groove outer wall still installs panoramic picture video camera, integrated image color lump analysis module and information processing chip module in the electronic equipment mounting groove, information processing chip module is to miniature diaphragm pump, miniature solenoid valve, miniature step motor, automatically controlled short gas pole start-stop time, electrode switching-over control.
The bottom of the support inserted bar is provided with permanent magnetic particles, and the bottom of the cavity in the support slot is fixed with an iron sheet.
The telescopic stroke of the electric control short air rod is 3-7 cm.
The operation angle of the micro stepping motor is-75 degrees to 75 degrees.
3. Has the advantages that:
the outer wall of the mounting groove of the sensor system for the collision early warning of the unmanned ship is also provided with a panoramic image camera which is matched with a radar to carry out collision early warning. And the angle of each radar is independently controlled, the number of the radars can be increased as required, and the sensor system control of the unmanned ship collision early warning is realized.
Drawings
Fig. 1 is a diagram of the overall back structure of a sensor system for collision warning of an unmanned ship according to the present invention.
Fig. 2 is a general front structure diagram of a sensor system for collision warning of an unmanned ship according to the present invention.
Fig. 3 is a bottom structure diagram of a sensor system for collision warning of an unmanned ship according to the present invention.
Fig. 4 is a view structural diagram of a sensor loading module unit of a sensor system for collision warning of an unmanned ship according to the present invention.
Fig. 5 is a single assembly structure diagram of two sensor loading modules of a sensor system for collision warning of an unmanned ship according to the present invention.
Fig. 6 is another view structural diagram of a sensor loading module unit of the sensor system for collision warning of the unmanned ship according to the present invention.
Fig. 7 is a partial structural view of a base of a sensor system for collision warning of an unmanned ship according to the present invention.
Fig. 8 is a schematic structural view of an electrically controlled short air rod of a sensor system for collision warning of an unmanned ship according to the present invention.
Fig. 9 is a schematic diagram of the principles between sensor electronics modules for collision warning of unmanned ships according to the present invention.
Description of reference numerals: 1-bracket arm, 2-pin member, 21-first hinge male head, 3-base back plate, 31-wiring harness buckle, 32-bracket slot, 33-first hinge female head, 4-electronic device mounting groove, 5-electronic component integration module, 6-bracket base, 61-bracket pin member, 62-front hinge female head, 63-rear hinge female head, 7-connecting member, 8-electrically controlled short gas rod, 81-hollow member, 811-exhaust hole, 812-micro diaphragm pump, 82-gas rod barrel, 83-sealing rubber ring, 9-bracket plate, 91-bracket female head, 92-plate male head, 93-pipe clamp, 10-supporting plate, 11-first mounting base plate, 12-suspension rod, 13-second mounting base plate, 14-harness tube, 15-bridge piece, 151-locking bolt and 16-micro stepping motor.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
A sensor system for collision warning of unmanned ships is mainly configured with: support arm 1, inserted bar spare 2, first hinge public head 21, base backplate 3, pencil is detained 31, support slot 32, first hinge female head 33, electronic equipment mounting groove 4, electronic component integrated module 5, support base 6, support inserted bar 61, preceding hinge female head 62, back hinge female head 63, connecting piece 7, automatically controlled short gas pole 8, hollow rod 81, exhaust hole 811, miniature diaphragm pump 812, gas pole section of thick bamboo 82, sealing rubber circle 83, support plate 9, support female head 91, the public head 92 of plate, pipe clamp 93, fagging 10, first mounting plate 11, hanger pole 12, second mounting plate 13, pencil pipe 14, bridging piece 15, latch 151, miniature step motor 16, miniature solenoid valve, its characterized in that: the left end and the right end of the bracket arm 1 are respectively welded into a whole to form an inserted rod piece 2, and the inserted rod piece 2 is provided with threads; the center of the back of the bracket arm 1 is provided with a first hinge male head 21.
The left side and the right side of the base back plate 3 are respectively provided with an electronic equipment mounting groove 4, and an electronic component integrated module 5 is mounted in the electronic equipment mounting groove 4; the back of the base backboard 3 is respectively provided with a wiring harness buckle 31, and the center of the base backboard 3 is provided with a first hinge female head 33; the first hinge female head 33 is hinged with the first hinge male head 21 through a bolt rod; the top end of the base back plate 3 is provided with a bracket slot 32.
The bottom of the bracket base 6 is provided with a bracket inserted bar 61, and the front end and the rear end of the top of the bracket base 6 are respectively provided with a front hinge female head 62 and a rear hinge female head 63; the front hinge female head 62 is internally hinged with one end of a connecting piece 7 through a pin, and the other end of the connecting piece 7 is hinged on a plate male head 92 arranged on the back surface of the support plate 9 through a pin.
The two ends of the back of the support plate 9 are respectively provided with a pipe clamp 93, and a beam pipe 14 is fixed in the pipe clamp 93; the left side and the right side of the bracket plate 9 are respectively riveted with a supporting plate 10 through rivets, and the tail end of the supporting plate 10 is riveted with a first mounting bottom plate 11 through rivets; a suspension rod 12 is fastened at the center of the front face of the bracket plate 9 through a bolt, and a second mounting bottom plate 13 is arranged at the tail end of the suspension rod 12; the front end of the bracket plate 9 is a bracket female head 91; the back hinge female head 63 is movably hinged to the outer wall of the sleeve of the electric control short gas rod 8 through a pin, and the tail end of a hollow rod 81 of the electric control short gas rod 8 is movably hinged to a plate male head 92.
The middle positions of the two bridge pieces 15 are fixed by locking bolts 151; one end of each of the two bridging pieces 15 is provided with a micro stepping motor 16, and the other end is movably hinged with the outer wall of the electric control short air rod 8 through a pin; the locking bolt 151 is movably hinged with a connecting piece 7, and the other end of the connecting piece 7 is hinged with the male head 92 of the plate; the bracket plate 9, the electric control short gas rod 8, the connecting piece 7, the locking bolt 151 and the micro stepping motor 16 jointly form a sensor loading module single body.
The electric control short gas rod 8 comprises: the hollow rod 81 is hollow, the side wall of the hollow rod is provided with an exhaust hole 811, a micro diaphragm pump 812 is arranged in the hollow rod 81, and an air inlet pipe of the micro diaphragm pump 812 is communicated with the bottom of the air rod cylinder 82; the outer wall of the tail end of the hollow rod 81 is sleeved with a sealing rubber ring 83, the hollow rod 81 is arranged in the air rod cylinder 82, and the hollow rod 81 and the air rod cylinder 82 form an air chamber.
The micro stepping motor 16 is divided into two parts: a rotor assembly and a cylinder body; the end of the rotor component is inserted into and fixed at the central position in the bracket female head 91 of the other sensor loading module monomer.
A radar probe extends outside the electronic component integrated module 5 through a signal wire, and the signal wire is penetrated and accommodated by a wire harness buckle 31 and then is branched to each wire harness pipe 14 for standby; the radar probe is arranged on the first installation bottom plate 11 and the second installation bottom plate 13, and the radar probe wire harness is communicated with a signal lead extending from the electronic component integrated module 5.
The outer wall of the electronic equipment mounting groove 4 is also provided with a panoramic image camera, an image color block analysis module and an information processing chip module are integrated in the electronic equipment mounting groove 4, and the information processing chip module controls the start-stop time and the electrode reversing of the miniature diaphragm pump 812, the miniature electromagnetic valve, the miniature stepping motor 16 and the electric control short gas rod 8.
An output line of the electronic component integrated module 5 penetrates into the wire harness buckle 31.
The bottom of the support inserted bar 61 is provided with permanent magnetic particles, and the support inserted bar 61 is inserted into the support slot 32. And iron sheets are fixed at the bottom of the inner cavity of the bracket slot 32. So that the holder insert shaft 61 is better inserted into the holder insert groove 32.
A miniature electromagnetic valve is connected to the air inlet pipe section of the miniature diaphragm pump 812 in a connection mode, and the valve is normally closed when the electromagnetic valve is in a power-off state; the exhaust pipe orifice of the micro diaphragm pump 812 is communicated with the exhaust hole 811.
And the information processing chip module receives the feedback information of the radar probe, processes the feedback signal through data and then sends the feedback signal to the center of the ship navigation control system to carry out the dispatching of ship control.
The micro stepping motor 16 is reset once when being started and stopped every time, and a reset signal is sent by the information processing chip module.
The operation angle of the micro stepping motor 16 is between-75 degrees and 75 degrees.
The telescopic stroke of the electric control short gas rod 8 is 3-7 cm.
The number of the sensor loading module single bodies assembled from head to tail is between 2 and 5.
The electrically controlled short gas rod 8 is connected to the electrode of the micro diaphragm pump 812 in a positive mode, so that the air chamber formed by the hollow rod 81 and the gas rod cylinder 82 can be inflated or exhausted, and the micro solenoid valve is used for ensuring that the gas in the air chamber is not leaked after the micro diaphragm pump 812 completes inflation and deflation work, so that stable space positioning after the longitudinal angle of the sensor loading module monomer is adjusted is ensured.
The present invention is a sensor module support structure, the sensor module is a radar probe module, but is not limited to this type of sensor. The whole set of equipment is arranged at the highest position of a ship, namely above a cab, and is used for constructing an unmanned ship collision early warning system when the ship is landed, a core component in the equipment is controlled by an electric control short gas rod 8 and a micro stepping motor 16, and the angle of a sensor loading module monomer can be adjusted by controlling two equipment points of the equipment, so that the angle of a sensor projection signal arranged on the sensor loading module monomer can be adjusted.
The working process of the early warning system comprises the following steps: firstly, a panoramic image camera can shoot a picture of a ship on the shore, the picture can be transmitted to an image color block analysis module, the image color block analysis module is used for classifying the picture with color blocks, and the picture can be roughly divided into the following parts by distinguishing large color blocks: the sea level, the side face of the wharf and the ground of the wharf are three, and obviously, the sea level and the ground of the wharf are divided in the side face of the wharf, so that the algorithm of the graph is easy to realize. The information processing chip module determines three parameters of sea level, wharf side and wharf ground, and then converts the parameters into specific landmark parameters, coordinates formed by the landmark parameters are converted into an electric control instruction, the instruction is sent to the micro stepping motor 16 to adjust the horizontal angle, and the instruction is sent to the electric control short air rod 8 to adjust the longitudinal angle, through the adjustment of the horizontal angle and the longitudinal angle, reflected waves sent by the radar and the probe directly reach the wharf side instead of the sea level, and radar waves are obviously absorbed by seawater easily, so that secondary signal reflection cannot be realized, failure of radar equipment is caused, and data error is reported.
The electric control structure, the electronic element and the electric control algorithm signal are known by the technicians in the field, and the invention is to protect the structure of the sensor system for the collision early warning of the unmanned ship.
Claims (10)
1. A sensor system for collision warning of unmanned ships, characterized in that: the device comprises a system base and at least one loading module single body, wherein the device module single body is connected with the system base through a support base (6), the system base comprises a support arm (1), the support arm (1) is connected with a base back plate (3), electronic equipment mounting grooves (4) are formed in the left side and the right side of the base back plate (3), an electronic element integration module (5) is mounted in each electronic equipment mounting groove (4), a support slot (32) is formed above the base back plate (3), the device module single body comprises a support plate (9), two ends of the back surface of the support plate (9) are respectively provided with a pipe clamp (93), and a wiring harness pipe (14) is fixed in each pipe clamp (93); the left side and the right side of the support plate (9) are fixedly connected with supporting plates (10), and the tail ends of the supporting plates (10) are fixedly connected with a first mounting bottom plate (11); the central position of the front surface of the support plate (9) is fixedly connected with a suspension rod (12), and the tail end of the suspension rod (12) is connected with a second mounting bottom plate (13); the tail end of a hollow rod piece (81) of the electric control short gas rod (8) of the bracket plate (9) is movably hinged with a male head (92) of the plate; the middle positions of the two bridging pieces (15) are fixed by locking bolts (151); one end of each of the two bridging pieces (15) is provided with a micro stepping motor (16), and the other end of each of the two bridging pieces is movably hinged with the outer wall of the electric control short air rod (8) through a pin; the utility model discloses a loading module, including the bolt of lock bolt (151) go up the activity articulated connecting piece (7) that has, connecting piece (7) one end is articulated mutually with the public head (92) of plate, and the other end is connected with support inserted bar (61) in support base (6), support inserted bar (61) are inserted in support slot (32), adjacent two the connection between the loading module monomer is through bridging piece (15) in the loading module that is close to the system base and the short gas pole of electric air (8) outer wall looks swing joint in the adjacent loading module monomer with it.
2. The sensor system for unmanned marine vessel collision warning as claimed in claim 1, wherein: the electric control short gas rod (8) comprises a hollow rod piece (81), the hollow rod piece (81) is hollow, an exhaust hole (811) is formed in the side wall of the hollow rod piece, a micro diaphragm pump (812) is arranged in the hollow rod piece (81), and an air inlet pipe of the micro diaphragm pump (812) is communicated with the bottom of a gas rod cylinder (82); the air-assisted rod is characterized in that a sealing rubber ring (83) is sleeved on the outer wall of the tail end of the hollow rod piece (81), the hollow rod piece (81) is placed in the air rod cylinder (82), and the hollow rod piece (81) and the air rod cylinder (82) form an air chamber.
3. The sensor system for unmanned marine vessel collision warning as claimed in claim 2, wherein: a miniature electromagnetic valve is connected to an air inlet pipe section of the miniature diaphragm pump (812) in a connection mode, and the valve is in a normally closed state when the electromagnetic valve is in a power-off state; the exhaust pipe orifice of the micro diaphragm pump (812) is communicated with the exhaust hole (811).
4. The sensor system for unmanned marine vessel collision warning as claimed in claim 1, wherein: the miniature stepping motor (16) comprises a rotor assembly and a magnetic cylinder body; the end of the rotor component is inserted into the inner center of a bracket female head (91) of the loading module monomer.
5. The sensor system for unmanned marine vessel collision warning as claimed in claim 1, wherein: a radar probe extends outside the electronic component integrated module (5) through a signal wire, and the signal wire is penetrated and accommodated by a wire harness buckle (31) and then is branched to each wire harness pipe (14); the radar probe is arranged on the first installation bottom plate (11) and the second installation bottom plate (13), and a radar probe wire harness is communicated with a signal conducting wire extending from the electronic component integration module (5).
6. The sensor system for unmanned marine vessel collision warning as claimed in claim 5, wherein: an output line of the electronic component integrated module (5) penetrates into the wire harness buckle (31).
7. The sensor system for collision warning of unmanned marine vessels according to claims 2-6, wherein: the electronic equipment mounting groove (4) outer wall still installs panoramic picture video camera, integrated image color lump analysis module and information processing chip module in electronic equipment mounting groove (4), information processing chip module is to miniature diaphragm pump (812), miniature solenoid valve, miniature step motor (16), automatically controlled short gas pole (8) start-stop time, electrode switching-over control.
8. The sensor system for collision warning of unmanned marine vessels according to any one of claims 1 to 6, wherein: the bottom of the support inserting rod (61) is provided with permanent magnetic particles, and the bottom of the cavity in the support inserting groove (32) is fixed with an iron sheet.
9. The sensor system for collision warning of unmanned marine vessels according to any one of claims 1 to 6, wherein: the telescopic stroke of the electric control short gas rod (8) is 3-7 cm.
10. The sensor system for collision warning of unmanned marine vessels according to any one of claims 1 to 6, wherein: the operation angle of the micro stepping motor (16) is-75 degrees to 75 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110339535.1A CN113156422B (en) | 2021-03-30 | 2021-03-30 | Sensor system for collision early warning of unmanned ship |
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| CN202110339535.1A CN113156422B (en) | 2021-03-30 | 2021-03-30 | Sensor system for collision early warning of unmanned ship |
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