CN113766427A - Loss monitoring device and loss prevention pre-alarm system for marine container - Google Patents
Loss monitoring device and loss prevention pre-alarm system for marine container Download PDFInfo
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Abstract
The invention discloses a loss monitoring device and a loss prevention pre-alarm system for a shipping container, which relate to the field of shipping container monitoring and comprise a monitoring system host and a monitoring slave device, wherein the monitoring system host and the monitoring slave device are respectively provided with a core processor, a main and standby electric switching unit, an LORA wireless communication device and a BD/GPS receiver unit; the monitoring system host comprises an attitude monitoring unit, an angle sensor data storage unit, an audible and visual alarm unit and a touch display screen, wherein the attitude monitoring unit, the angle sensor, the data storage unit, the audible and visual alarm unit and the touch display screen are all connected with a core processor, the monitoring slave device further comprises an acceleration sensor, an angle sensor, a data storage unit, a main and standby power switching management unit and a solar charging unit, and the acceleration sensor, the angle sensor and the data storage unit are all connected with the core processor. The invention can effectively solve the problems of timely detection and alarm of the loss of the shipping container.
Description
Technical Field
The invention relates to the field of monitoring of shipping containers, in particular to a loss monitoring device and a loss prevention pre-alarming system for a shipping container.
Background
The container is used as a main carrier for ship and sea-land combined transportation, and in the process of ocean shipping, the shipping period is long, the road is long, extreme severe weather, such as severe sea conditions of storms, hurricanes and the like can be frequently encountered, the amplitude of oscillation of the ship body is overlarge, and the reinforced container on the ship often causes the container to fall off or directly fall into the sea due to overlarge left-right amplitude of oscillation. If the shipside can not in time discover and salvage, will cause the huge loss of property of the owner of goods of entrusted transportation, what is more, the container that falls probably strikes other ships, influences channel safety, and long-time showy container still can appear leaking, causes secondary pollution. Even if multiple reinforcement measures are carried out through a lashing bridge or an anchor rod in the prior art, the reinforcement measures are concentrated on the middle layer, the two layers at the top end still lack the reinforcement measures, and the phenomenon that the container is lost cannot be avoided. It is therefore an urgent need in the industry for a device and system for timely and effective monitoring of the loss of shipping containers that is well known to those skilled in the art.
Disclosure of Invention
The object of the present invention is to provide a loss detection device for a shipping container to solve the problems mentioned in the background art.
In order to solve the problems, the technical scheme is as follows:
the marine container loss monitoring device and the loss prevention pre-alarm system comprise a monitoring system host and a monitoring slave device, wherein the monitoring system host comprises a core processor, a BD/GPS positioning unit, an attitude monitoring unit, an angle sensor, an LORA wireless communication host, a data storage unit, an acousto-optic alarm unit, a touch display screen and a main/standby electrical switching management unit, and the BD/GPS positioning unit, the attitude monitoring unit, the angle sensor, the LORA wireless communication host, the data storage unit, the acousto-optic alarm unit, the touch display screen and the main/standby electrical switching management unit are all connected with the core processor;
the monitoring slave device comprises a core processor, a BD/GPS receiver unit, an acceleration sensor, an angle sensor, an LORA wireless communication terminal, a data storage unit, a main/standby power switching management unit and a solar charging unit, wherein the core processor is respectively connected with the BD/GPS receiver unit, the acceleration sensor, the angle sensor, the LORA wireless communication terminal, the data storage unit and the main/standby power switching management unit; the monitoring system host and the monitoring slave devices are independent from each other and keep communication through the LORA wireless communication unit in real time;
during monitoring, the monitoring system host acquires the position and angle sensor data of the monitoring slave device in real time and performs data storage and data analysis to obtain the real-time state information of the current monitored object.
The monitoring slave device and the main battery device are jointly fixed on the same support assembly, the support assembly is designed according to the standard size of the container, four corners of the support assembly are respectively provided with protruding support legs, the support legs are integrally inserted into concave holes at four corners of the top of the container below the support assembly and are fixed with the container, the support assemblies and the container synchronously move, such as swinging, swing amplitude and the like, and under extreme conditions, when the container below the support falls, the support assemblies can also fall synchronously.
In an improvement, one monitoring host system can control at least 6 monitoring slave devices.
The anti-loss pre-alarm system is provided with 3 modes corresponding to different application scenes: the modes of entry, loading and unloading and exit are respectively as follows:
1. under the loading and unloading mode, the system host automatically associates the monitoring equipment in the designated area on the ship, and can realize automatic registration, automatic association and automatic matching binding of the monitoring slave equipment and the host system.
2. After the container is out of the port, the container is manually switched to an out-of-port mode, the swing amplitude data, the relative position data and the early warning data of each monitored part can be monitored in real time, when the container falls or falls, a local acousto-optic alarm can be triggered in time, and the approximate position of the falling container is indicated on a touch display screen of a host system.
3. After the container enters the port, the host system is manually switched to a port entry mode, all monitoring slave equipment matched with the association is automatically released by the host system, when the container starts to be loaded and unloaded at the port, the host system is switched to a loading and unloading mode, and the host system can automatically register and associate and bind the monitoring slave equipment again in the mode.
Specific algorithm of loss prevention pre-warning system
1. Processing algorithm for registration and exit of monitoring equipment after automatic networking
a. When entering the entrance mode, the host system sends unbinding commands to the monitoring slave in sequence, after the monitoring slave receives the unbinding commands, the monitoring slave replies that the commands are successfully received, changes the communication state of the monitoring slave into a to-be-registered state, changes the communication channel into a broadcast channel and is in a monitoring mode. The frequency of the communication channel is 433MHz, and after the host system receives a reply command of the monitoring slave, the host system does not perform unbinding broadcast on the monitoring slave; the monitoring slave does not actively send a binding request.
b. When the mobile terminal enters a loading and unloading mode, the host system manually designates a target area to be monitored on the touch display screen, and the host system performs coordinate calculation of the target area according to the position of the host system and the selected position, and broadcasts coordinate information of the target area to be bound, and binds a channel number and a host system ID in a round-robin manner on a broadcast channel.
The manner of obtaining the coordinates of the target area described herein: when the host equipment is installed for the first time, central position measurement is carried out in different areas of a ship body through the high-precision positioning receiver, static measurement is carried out on all measuring points, longitude and latitude coordinate data obtained through measurement are transmitted to the host system, the host system obtains the coordinates of the host system and the longitude and latitude coordinates of the central monitoring points of each target area, and longitude relative deviation E1-E6 and latitude relative deviation W1-W6 of the coordinates of the central monitoring points of each target area and the coordinates of the monitoring points of the host are calculated and recorded in sequence; when the system is actually applied, no matter where the ship body is parked, when the touch display screen of the monitoring system host is selected to be the target area S1, the monitoring system host firstly obtains real-time coordinates of the monitoring system host, then the longitude and latitude deviation value of S1 is superposed on the coordinates measured by the monitoring system host, a rough longitude and latitude coordinate of the center point of the target area S1 is generated, and other test points are calculated and obtained in the same way.
c. In a loading and unloading mode, after receiving broadcasted area coordinates, the monitoring slave equipment carries out self current position positioning and judges whether the self position is in a target coordinate area, if the monitoring slave equipment judges that the self is in the selected area, the monitoring slave equipment immediately changes a channel number, actively reports an ID number of the monitoring slave equipment to carry out a binding request, after receiving a binding signal, the monitoring host machine agrees to the binding request, stores the ID number of the monitoring slave equipment, after the binding of the monitoring slave equipment is successful, the system host machine broadcasts the monitoring slave equipment in the unbound target area, and the bound monitoring slave equipment carries out synchronous position data and communication rule information according to the distributed channel and waits for entering an departure mode.
d. Entering a departure mode, the host system actively sends a mode opening signal and simultaneously locks the last time of integral synchronization information and the initial state of each monitoring point;
2. processing algorithm for container falling identification
a. After the host system starts the departure mode, the host system broadcasts the attitude data to each monitoring slave according to the own attitude data, and after each monitoring slave receives a synchronization command, the host system starts to detect own attitude data (angle and acceleration value) after the synchronization succeeds on the rising edge of the PPS signal pulse of the BD/GPS module, transmits the attitude data and position data (longitude and latitude data) to the host on a communication channel of the host system, and records the own attitude data.
b. After the host receives the data of each monitoring slave, relative position records and attitude data records of each monitoring point are acquired at intervals of 10 seconds and are respectively compared and analyzed with the historical data of the previous 4 times, and if the relative position or attitude data are greatly deviated, the acquisition frequency is changed to prompt the system to meet the alarm condition.
c. Monitoring the trigger condition of the slave machine for falling active alarm:
under normal conditions, the rising edge of PPS pulse of the slave in the BD/GPS module is monitored, the attitude data and the position data of the slave are collected and transmitted to the host system.
When the container falls, the acceleration value in the vertical direction can be increased instantly, when the monitoring slave machine monitors that the self acceleration data exceeds a set threshold value of 1.5g, the data acquisition period of the monitoring slave machine is changed to 100ms, the self attitude data and angle data are acquired for multiple times, and comparison analysis is carried out according to the acquired historical data, wherein the analysis method comprises the following steps: and (3) putting the data acquired each time into a corresponding array, if the angle data is put into an array A [ n ], B [ n ], the acceleration data is put into an array X [ n ], Y [ n ], Z [ n ], the maximum variation of the acceleration data and the angle data and the variation of the relative initial value of the angle are calculated each time the rising edge of the PPS pulse is detected, the variation data is put into a new array, and when the maximum variation of the acceleration exceeds a threshold value of 1.5g and the relative variation of the angle exceeds a threshold value of 45 degrees, a falling active alarm is carried out.
d. Triggering condition of loss alarm:
when a host system monitors that a monitoring slave machine actively sends a falling alarm, the data acquisition period of the monitoring host machine for acquiring slave machine data is changed to 1s, and the relative position change and the relative attitude data change of the monitoring slave machine are rapidly acquired and analyzed; when the host system identifies the coordinate range of the monitored slave position coordinate data deviating from the target area, the longitude and latitude coordinate of the central point of the target area is set to deviate +/-0.0001 degree or signal disconnection is directly generated, the acousto-optic alarm unit is triggered to carry out loss alarm.
3. Processing algorithm for automatic switching of main and standby batteries
After the main battery and the standby battery are connected to the monitoring slave, the monitoring slave respectively collects the voltage of the main battery and the standby battery at regular time, calculates the residual electric quantity of the battery, and selects which way to use for power supply according to the respective residual electric quantity of the main battery and the standby battery, and the specific switching algorithm is as follows:
a. when the remaining electric quantity of the main battery is more than or equal to 10 percent, when the remaining electric quantity of the main battery power supply circuit is more than the remaining electric quantity of the standby battery power supply circuit, selecting the main battery power supply circuit to supply power, otherwise, selecting the standby battery power supply circuit to supply power;
b. when the remaining capacity of the main battery supply circuit is less than 10%, analyzing the remaining capacity of the backup battery power supply circuit, switching to the backup battery power supply circuit to supply power if the remaining capacity of the backup battery is more than 10%, and continuing to use the main battery power supply circuit and giving an alarm at low capacity if the remaining capacity of the backup battery is less than 10%, and timely notifying a host system to replace the battery or overhaul the battery.
Compared with the prior art, the invention has the beneficial effects that:
the system can effectively solve the problems of timely detection and alarm of container loss in the marine transportation process, and meanwhile, automatic networking, automatic identification and automatic acquisition are realized between the system and the monitoring device, so that manual operation is effectively reduced, timely alarm prompt and approximate position indication are realized, timely fishing by a ship is facilitated, and economic loss is reduced.
Drawings
FIG. 1 is a block diagram of a system inspection host
FIG. 2 is a perspective view of a monitoring slave device;
FIG. 3 is a schematic view of the installation of a monitoring slave device;
FIG. 4 is a structural frame diagram of a monitoring slave device;
FIG. 5 is a diagram illustrating the communication between the system monitoring master and the detecting slave;
fig. 6 is a top view of a ship on which six detection slave devices are mounted.
In the figure, 1, a container, 2, a monitoring slave device, 3, a solar cell unit, 4, a ship head, 5, a ship tail, 6, a monitoring point, 7 and a monitoring host system.
Detailed Description
The invention will be further explained and illustrated with reference to the figures and examples.
Example 1: referring to fig. 1-6, the loss monitoring device and the loss prevention pre-alarm system for the shipping container comprise a monitoring system host and a monitoring slave device, wherein the monitoring system host comprises a core processor, a BD/GPS positioning unit, an attitude monitoring unit, an angle sensor, an LORA wireless communication host, a data storage unit, an acousto-optic alarm unit, a touch display screen, and a main/standby electrical switching management unit, the BD/GPS positioning unit, the attitude monitoring unit, the angle sensor, the LORA wireless communication host, the data storage unit, the acousto-optic alarm unit, the touch display screen, and the main/standby electrical switching management unit are all connected with the core processor,
the monitoring slave device comprises a core processor, a BD/GPS receiver unit, an acceleration sensor, an angle sensor, an LORA wireless communication terminal, a data storage unit, a main/standby power switching management unit and a solar charging unit, wherein the core processor is respectively connected with the BD/GPS receiver unit, the acceleration sensor, the angle sensor, the LORA wireless communication terminal, the data storage unit and the main/standby power switching management unit; the monitoring system host and the monitoring slave devices are independent from each other and keep communication through the LORA wireless communication unit in real time;
during monitoring, the monitoring system host acquires the position and angle sensor data of the monitoring slave device in real time and performs data storage and data analysis to obtain the real-time state information of the current monitored object.
The monitoring slave device and the main battery device are jointly fixed on the same support assembly, the support assembly is designed according to the standard size of the container, four corners of the support assembly are respectively provided with protruding support legs, the support legs are integrally inserted into concave holes of four corners of the top of the container below the support assembly and are fixed with the container, the support assemblies and the container synchronously move, such as swinging, swing amplitude and the like, under the extreme condition, when the container below the support falls, the support can also fall synchronously.
A monitoring host system can control at least 6 monitoring slave devices.
The anti-loss pre-alarm system is provided with 3 modes corresponding to different application scenes: the modes of entry, loading and unloading and exit are respectively as follows:
1. under the loading and unloading mode, the system host automatically associates the monitoring equipment in the designated area on the ship, and can realize automatic registration, automatic association and automatic matching binding of the monitoring slave equipment and the host system.
2. After the container is out of the port, the container is manually switched to an out-of-port mode, the swing amplitude data, the relative position data and the early warning data of each monitored part can be monitored in real time, when the container falls or falls, a local acousto-optic alarm can be triggered in time, and the approximate position of the falling container is indicated on a touch display screen of a host system.
3. After the container enters the port, the host system is manually switched to a port entry mode, all monitoring slave equipment matched with the association is automatically released by the host system, when the container starts to be loaded and unloaded at the port, the host system is switched to a loading and unloading mode, and the host system can automatically register and associate and bind the monitoring slave equipment again in the mode.
The specific processing algorithm of the pre-alarm system is as follows:
1. processing algorithm for registration and exit of monitoring equipment after automatic networking
a. When entering the entrance mode, the host system sends unbinding commands to the monitoring slave machines, the unbinding commands are sent in sequence, after the monitoring slave machines receive the unbinding commands, the reply commands are successfully received, the communication state of the monitoring slave machines is changed into a to-be-registered state, the communication channel is changed into a broadcast channel, and the monitoring slave machines are in a monitoring mode. The frequency of the communication channel is 433MHz, and after the host system receives the reply command of the monitoring slave, the host system does not perform the unbinding broadcast on the monitoring slave. The monitoring slave will then not actively send a binding request either.
b. When the mobile terminal enters a loading and unloading mode, a host system manually designates a target area to be monitored on a touch display screen, and the host system performs coordinate calculation of the target area according to the position of the host system and the selected position, and broadcasts coordinate information of the target area to be bound, a channel number and a host system ID in a round-robin manner on a broadcast channel;
the manner of obtaining the coordinates of the target area described herein: when the host equipment is installed for the first time, center position measurement is carried out in different areas of a ship body through the high-precision positioning receiver, for example, 6 measurement points are taken as shown in fig. 6, static measurement is carried out on a bow S1 measurement point, an S2 measurement point, a midship S3 measurement point, an S4 measurement point, a stern S5 measurement point and an S6 measurement point, measured longitude and latitude coordinate data are transmitted to the host system, the host system obtains own coordinates and longitude and latitude coordinates of each target area center monitoring point, and longitude relative deviation E1-E6 and latitude relative deviation W1-W6 of each target area center monitoring point coordinate and the host monitoring point coordinate are calculated and recorded in sequence; when the system is actually applied, no matter where the ship body is parked, when the touch display screen of the monitoring system host is selected to be the target area S1, the monitoring system host firstly obtains real-time coordinates of the monitoring system host, then the longitude and latitude deviation value of S1 is superposed on the coordinates measured by the monitoring system host, a rough longitude and latitude coordinate of the center point of the target area S1 is generated, and other test points are calculated and obtained in the same way.
c. In a loading and unloading mode, after receiving broadcasted area coordinates, the monitoring slave equipment carries out self current position positioning and judges whether the self position is in a target coordinate area, if the monitoring slave equipment judges that the self is in the selected area, the monitoring slave equipment immediately changes a channel number, actively reports an ID number of the monitoring slave equipment to carry out a binding request, after receiving a binding signal, the monitoring host machine agrees to the binding request, stores the ID number of the monitoring slave equipment, after the binding of the monitoring slave equipment is successful, the system host machine broadcasts the monitoring slave equipment in the unbound target area, and the bound monitoring slave equipment carries out synchronous position data and communication rule information according to the distributed channel and waits for entering an departure mode.
d. And when the system enters the departure mode, the host system can actively send a mode opening signal and simultaneously lock the last time of integral synchronization information and the initial state of each monitoring point.
2. Processing algorithm for container falling identification
a. After the host system starts the departure mode, the host system broadcasts the attitude data to each monitoring slave according to the own attitude data, and after each monitoring slave receives a synchronous command, the monitoring slave starts to detect own attitude data (angle and acceleration value) at the rising edge of PPS (pulse per second) of the BD/GPS module, transmits the attitude data and position data (longitude and latitude data) to the host on a communication channel of the host system, and records own attitude data.
b. After the host receives the data of each monitoring slave, relative position records and attitude data records of each monitoring point are acquired at intervals of 10 seconds and are respectively compared and analyzed with the historical data of the previous 4 times, and if the relative position or attitude data are greatly deviated, the acquisition frequency is changed to prompt the system to meet the alarm condition.
c. Monitoring the trigger condition of the slave machine for falling active alarm:
under normal conditions, the rising edge of PPS pulse of the slave in the BD/GPS module is monitored, the attitude data and the position data of the slave are collected and transmitted to the host system.
When the container falls, the acceleration value in the vertical direction can be increased instantly, when the monitoring slave machine monitors that the self acceleration data exceeds a set threshold value of 1.5g, the self data acquisition period is changed to 100ms, the self attitude data and the self angle data are acquired for multiple times, and the comparison analysis is carried out according to the acquired historical data, wherein the analysis method comprises the following steps: and (3) putting the data acquired each time into a corresponding array, if the angle data is put into an array A [ n ], B [ n ], the acceleration data is put into an array X [ n ], Y [ n ], Z [ n ], the maximum variation of the acceleration data and the angle data and the variation of the relative initial value of the angle are calculated each time the rising edge of the PPS pulse is detected, the variation data is put into a new array, and when the maximum variation of the acceleration exceeds a threshold value of 1.5g and the relative variation of the angle exceeds a threshold value of 45 degrees, a falling active alarm is carried out.
d. Triggering condition of loss alarm:
when a host system monitors that a monitoring slave machine actively sends a falling alarm, the data acquisition period of the monitoring host machine for acquiring slave machine data is changed to 1s, and the relative position change and the relative attitude data change of the monitoring slave machine are rapidly acquired and analyzed; when the host system identifies the coordinate range of the monitored slave position coordinate data deviating from the target area, the longitude and latitude coordinate of the central point of the target area is set to deviate +/-0.0001 degree or signal disconnection is directly generated, the acousto-optic alarm unit is triggered to carry out loss alarm.
3. Processing algorithm for automatic switching of main and standby batteries
After the main battery and the standby battery are connected to the monitoring slave, the monitoring slave respectively collects the voltage of the main battery and the standby battery at regular time, calculates the residual electric quantity of the battery, and selects which way to use for power supply according to the respective residual electric quantity of the main battery and the standby battery, and the specific switching algorithm is as follows:
a. when the remaining electric quantity of the main battery is more than or equal to 10 percent, when the remaining electric quantity of the main battery power supply circuit is more than the remaining electric quantity of the standby battery power supply circuit, selecting the main battery power supply circuit to supply power, otherwise, selecting the standby battery power supply circuit to supply power;
b. when the remaining capacity of the main battery is less than 10%, analyzing the remaining capacity of the backup battery power supply line, switching to the backup battery power supply line to supply power if the remaining capacity of the backup battery is more than 10%, and if the remaining capacity of the backup battery is also less than 10%
And if the power supply voltage is 10 percent, the main battery power supply circuit is continuously used, low-power alarm is immediately carried out at the moment, and the host system is timely informed to carry out battery replacement or timely maintenance operation.
Example 2
After the container ship leaves the port, the container ship is manually switched to a leaving mode, at the moment, the monitoring host system monitors the positioning coordinate and the attitude sensor data of the host system and the monitoring slave device in real time, if the ship suffers from severe weather such as storm and the like at a certain moment, the ship greatly swings, and at the moment, one monitoring slave device falls off together with the container where the monitoring slave device is located, the uploaded attitude sensor data has sudden change, and is further tracked after the core processor of the monitoring host system performs comparative analysis on historical data, if the deviation between the location coordinates of the host system and the center coordinates of the monitoring host device reaches a certain threshold, the acousto-optic alarm unit is triggered to alarm to remind a shipside of emergency treatment, the shipside can determine the salvage direction according to the position coordinate information on the touch display screen, and the organization personnel finish the salvage work of the falling containers as soon as possible.
Claims (6)
1. The shipping container loses the monitoring devices and prevents losing the warning system in advance, its characterized in that: the monitoring system comprises a monitoring system host and a monitoring slave device, wherein the monitoring system host comprises a core processor, a BD/GPS positioning unit, an attitude monitoring unit, an angle sensor, an LORA wireless communication host, a data storage unit, an acousto-optic alarm unit, a touch display screen and a main/standby electrical switching management unit, and the BD/GPS positioning unit, the attitude monitoring unit, the angle sensor, the LORA wireless communication host, the data storage unit, the acousto-optic alarm unit, the touch display screen and the main/standby electrical switching management unit are all connected with the core processor;
the monitoring slave device comprises a core processor, a BD/GPS receiver unit, an acceleration sensor, an angle sensor, an LORA wireless communication terminal, a data storage unit, a main/standby power switching management unit and a solar charging unit, wherein the BD/GPS receiver unit, the acceleration sensor, the angle sensor, the LORA wireless communication terminal, the data storage unit and the main/standby power switching management unit are all connected with the core processor;
the monitoring system host and the monitoring slave devices are independent from each other and keep communication through the LORA wireless communication host and the LORA wireless communication terminal in real time;
during monitoring, the monitoring system host acquires the position and angle sensor data of the monitoring slave device in real time and performs data storage and data analysis to acquire the real-time state information of the current monitored object;
the monitoring slave device and the main and standby battery devices are jointly fixed on the same support assembly, the support assembly is designed according to the standard size of the container, four corners of the support assembly are respectively provided with protruding support legs, and the support legs are integrally inserted into the concave holes of four corners of the top of the container below.
2. A shipping container loss monitoring and anti-loss pre-warning system as set forth in claim 1, wherein: a monitoring host system can control 6 monitoring slave devices at least.
3. A shipping container loss monitoring and anti-loss pre-warning system as set forth in claim 1, wherein: the alarm system is provided with 3 modes corresponding to different application scenes: the modes of entry, loading and unloading and exit are respectively as follows:
(1) under the loading and unloading mode, the system host automatically associates the monitoring equipment in the designated area on the ship, and can realize automatic registration, automatic association and automatic matching binding of the monitoring slave equipment and the host system.
(2) After the container is out of the port, the container is manually switched to an out-of-port mode, the swing amplitude data, the relative position data and the early warning data of each monitored part can be monitored in real time, when the container falls or falls, a local acousto-optic alarm can be triggered in time, and the approximate position of the falling container is indicated on a touch display screen of a host system.
(3) After the container enters the port, the host system is manually switched to a port entry mode, all monitoring slave equipment matched with the association is automatically released by the host system, when the container starts to be loaded and unloaded at the port, the host system is switched to a loading and unloading mode, and the host system can automatically register and associate and bind the monitoring slave equipment again in the mode.
4. The specific algorithm of the loss monitoring device and the loss prevention pre-alarming system of the shipping container is characterized in that: the method comprises a processing algorithm for registration and quit after automatic networking of monitoring equipment, a processing algorithm for container falling identification and a processing algorithm for automatic switching of main batteries and standby batteries;
the alarm system is provided with three modes corresponding to different application scenes: the three modes are respectively an entrance mode, a loading and unloading mode and an exit mode, and the specific algorithms related in the three modes are as follows:
1) processing algorithm for registration and exit of monitoring equipment after automatic networking
a. When entering the entrance mode, the host system sequentially sends unbinding commands to the monitoring slave, and after the monitoring slave receives the unbinding commands, the monitoring slave replies that the commands are successfully received, changes the communication state of the monitoring slave into a to-be-registered state, changes the communication channel into a broadcast channel and is in a monitoring mode; the frequency of the communication channel is 433MHz, after the host system receives a reply command of the monitoring slave, the host system does not perform unbinding broadcast on the monitoring slave, and the monitoring slave does not actively send a binding request;
b. when the mobile terminal enters a loading and unloading mode, the host system manually appoints a target area to be monitored on the touch display screen, the host system carries out coordinate calculation of the target area according to the position of the host system and the selected position, and broadcasts coordinate information, a binding channel number and a host system ID of the target area to be bound in a round-robin manner on a broadcasting channel;
c. in a loading and unloading mode, after receiving broadcasted area coordinates, the monitoring slave equipment carries out self current position positioning and judges whether the self position is in a target coordinate area, if the monitoring slave equipment judges that the monitoring slave equipment is in a selected area, the monitoring slave equipment immediately changes a communication channel of the monitoring slave equipment, actively reports an ID number of the monitoring slave equipment to carry out a binding request, after receiving a binding signal, the monitoring host machine agrees to the binding request, stores the ID number of the monitoring slave equipment and replies the binding success, after the binding of the monitoring slave equipment is successful, the system host machine continuously broadcasts monitoring slave equipment of other unbound target areas, and the bound monitoring slave equipment carries out synchronous position data and communication rule information according to the distributed communication channel and waits for entering an departure mode;
d. entering a departure mode, the host system actively sends a mode opening signal and simultaneously locks the last time of integral synchronization information and the initial state of each monitoring point;
2) processing algorithm for container falling identification
a. After the host system starts the departure mode, the host system broadcasts the attitude data to each monitoring slave according to the attitude data of the host system, and after each monitoring slave receives a synchronous command, the monitoring slave starts to detect the attitude data of the monitoring slave, namely the angle and the acceleration value, at the rising edge of PPS (pulse per second) of a BD/GPS (global positioning system) module, transmits the attitude data and the position data, namely the precision and the latitude data to the host on a communication channel of the monitoring slave and records the attitude data of the monitoring slave;
b. after the host receives the data of each monitoring slave, acquiring the relative position record and the attitude data record of each monitoring point at an interval of 10 seconds, respectively comparing and analyzing the relative position record and the attitude data record with the historical data of the previous 4 times, and if the relative position or the attitude data deviate from +/-0.0001 degrees or 45 degrees, changing the acquisition frequency and prompting the system to meet the alarm condition;
c. monitoring the triggering condition of the slave machine for actively alarming when the container falls:
under normal conditions, monitoring the rising edge of PPS (pulse per second) pulse of the slave in the BD/GPS module, acquiring attitude data and position data of the slave and transmitting the attitude data and the position data to a host system;
when the container falls, the acceleration value in the vertical direction is increased instantly, when the monitoring slave machine monitors that the self acceleration data exceeds a set threshold value of 1.5g, the self data acquisition period is changed to 100ms, more than five times of self attitude data and angle data are acquired, and comparison analysis is carried out according to the acquired historical data;
d. triggering condition of container loss alarm:
when a host system monitors that a monitoring slave machine actively sends a falling alarm, the data acquisition period of the monitoring host machine for acquiring slave machine data is changed to 1s, and the relative position change and the relative attitude data change of the monitoring slave machine are rapidly acquired and analyzed; when the host system identifies the coordinate range of the position coordinate data of the monitoring slave machine deviating from the target area, the longitude and latitude coordinate of the central point of the target area is set to deviate +/-0.0001 degrees or the signal is directly generated to be disconnected, the acousto-optic alarm unit is triggered to alarm for loss;
3) automatic switching algorithm for main and standby batteries
After the main battery and the standby battery are connected to the monitoring slave, the monitoring slave respectively collects the voltage of the main battery and the standby battery at regular time, calculates the residual electric quantity of the battery, and selects which way to use for power supply according to the respective residual electric quantity of the main battery and the standby battery, and the specific switching algorithm is as follows:
a. when the residual electric quantity of the main battery supply circuit is more than or equal to 10 percent, when the residual electric quantity of the main battery power supply circuit is more than the residual electric quantity of the backup battery power supply circuit, selecting the main battery power supply circuit to supply power, otherwise, selecting the backup battery power supply circuit to supply power;
b. when the remaining capacity of the main battery supply circuit is less than 10%, analyzing the remaining capacity of the backup battery power supply circuit, switching to the backup battery power supply circuit to supply power if the remaining capacity of the backup battery is more than 10%, and continuing to use the main battery power supply circuit to supply power if the remaining capacity of the backup battery is less than 10%, immediately giving an alarm of low capacity, and timely notifying a host system to carry out battery replacement or timely overhaul operation.
5. A shipping container loss monitoring and anti-loss pre-warning system as set forth in claim 4, wherein: in the loading and unloading mode, the acquisition mode of the target area coordinates is as follows: when the host equipment is installed for the first time, central position measurement is carried out in different areas of a ship body through the high-precision positioning receiver, static measurement is carried out on all measuring points, longitude and latitude coordinate data obtained through measurement are transmitted to the host system, the host system obtains the coordinates of the host system and the longitude and latitude coordinates of the central monitoring points of each target area, and longitude relative deviation E1-E6 and latitude relative deviation W1-W6 of the coordinates of the central monitoring points of each target area and the coordinates of the monitoring points of the host are calculated and recorded in sequence; when the system is actually applied, no matter where the ship body is parked, when the touch display screen of the monitoring system host is selected to be the target area S1, the monitoring system host firstly obtains real-time coordinates of the monitoring system host, then the longitude and latitude deviation value of S1 is superposed on the coordinates measured by the monitoring system host, a rough longitude and latitude coordinate of the center point of the target area S1 is generated, and other test points are calculated and obtained in the same way.
6. A shipping container loss monitoring and anti-loss pre-warning system as set forth in claim 4, wherein: the specific analysis method for the container falling event comprises the following steps: and (3) putting the data acquired each time into a corresponding array, if the angle data is put into an array A [ n ], B [ n ], the acceleration data is put into an array X [ n ], Y [ n ], Z [ n ], the maximum variation of the acceleration data and the angle data and the variation of the relative initial value of the angle are calculated each time the rising edge of the PPS pulse is detected, the variation data is put into a new array, and when the maximum variation of the acceleration exceeds a threshold value of 1.5g and the relative variation of the angle exceeds a threshold value of 45 degrees, a falling active alarm is carried out.
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