CN115327548B - Channel scale detection and ship navigation monitoring system based on sonar technology - Google Patents
Channel scale detection and ship navigation monitoring system based on sonar technology Download PDFInfo
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- 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
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- G01S15/88—Sonar systems specially adapted for specific applications
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
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- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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Abstract
The invention discloses a channel scale detection and ship navigation monitoring system based on sonar technology, which relates to the field of sonar systems and is used for solving the problems that the existing channel scale detection and ship navigation monitoring system based on sonar technology cannot detect channel scale and monitor ship navigation in real time according to a channel and a ship, can not accurately give information and warning to the ship, and is easy to cause misjudgment on the channel scale and ship navigation behavior so as to influence the normal running of the ship; this channel yardstick detects and boats and ships navigation monitoring system based on sonar technique detects the channel through the coefficient of monitoring and adjusting before boats and ships travel, detects channel and boats and ships navigation state when boats and ships travel through the navigation supervision coefficient, under the synergism between the coefficient of monitoring and adjusting, navigation supervision and boats and ships navigation state, the accurate channel yardstick detects and reminds with boats and ships navigation state, has guaranteed the normal travel of boats and ships.
Description
Technical Field
The invention relates to the field of sonar systems, in particular to a channel scale detection and ship navigation monitoring system based on sonar technology.
Background
Sonar is a technology for navigation and distance measurement by using the propagation and reflection characteristics of sound waves in water and through electroacoustic conversion and information processing, also refers to electronic equipment for detecting (existence, position, properties, motion directions and the like) and communicating underwater targets by using the technology, and is a device which is most widely and importantly applied in water acoustics. With the development of underwater sonar technology, the continuous progress of single-beam, multi-beam and side-scan sonar technology and the digital point cloud imaging technology, the measurement result of the topography of the river bed and the sea bed is displayed on a screen more intuitively and three-dimensionally.
Patent application No. 202210028571.0 discloses a channel yardstick detection and boats and ships navigation monitoring system based on sonar technique, relates to boats and ships navigation technical field. The system comprises: the system comprises a shipborne front side scan sonar acquisition module, a three-dimensional view generation module, a navigation detection module, a special ship data acquisition module, a channel scale data calculation module and a channel scale data verification module, wherein the shipborne front side scan sonar acquisition module is used for acquiring digital point cloud data of a riverbed terrain, the three-dimensional view generation module is used for generating a 3D three-dimensional point cloud view of the riverbed right in front of a ship according to the digital point cloud data, the navigation detection module is used for comparing the 3D three-dimensional point cloud view with a standard channel theoretical scale to obtain a comparison result, the special ship data acquisition module is used for acquiring actually measured data of the side scan sonar for measuring the riverbed terrain, the channel scale data calculation module is used for obtaining channel scale data, the channel scale data verification module is used for verifying the channel scale data by using the standard channel theoretical scale, the system acquires the channel scale data right in front of the ship according to the actually measured data of the shipborne side scan sonar, and verifies the channel scale data when the ship passes through a certain limited water area to determine whether the ship can pass or not.
However, the system cannot detect the channel scale and monitor the ship navigation in real time according to the channel and the ship, cannot accurately give information and warning to the ship, and is easy to misjudge the channel scale and the ship navigation behavior, so that the normal running of the ship is influenced.
Disclosure of Invention
In order to overcome the technical problems, the invention aims to provide a channel scale detection and ship navigation monitoring system based on sonar technology, which comprises the following steps: gather first navigation parameter through sonar collection module, data analysis module obtains the regulation coefficient according to first navigation parameter, generate the instruction of stopping the navigation according to the regulation coefficient, control boats and ships stop to travel, later gather second navigation parameter through sonar collection module, still be used for obtaining the navigation supervision coefficient according to the second navigation parameter, generate alarm command according to the navigation supervision coefficient, and indicate boats and ships, it detects and boats and ships navigate and sail monitoring system can't detect the channel yardstick according to channel and boats and ships in real time to have solved current channel yardstick based on sonar technique and has monitored, the information and the warning that can't be accurate give boats and ships, easily lead to channel yardstick and boats and ships navigation action erroneous judgement, and then influence the problem that boats and ships normally travel.
The purpose of the invention can be realized by the following technical scheme:
a channel scale detection and ship navigation monitoring system based on sonar technology comprises a sonar acquisition module, a data analysis module, a navigation management platform, a monitoring and adjusting module and an early warning and alarming module;
the sonar acquisition module is used for acquiring a first navigation parameter and a second navigation parameter, wherein the first navigation parameter comprises a wave time difference BS, a wave speed value BV, a ship height value CG and a depth value JS, the second navigation parameter comprises a wave time ratio BB and a ship way ratio CD, and the first navigation parameter and the second navigation parameter are sent to the data analysis module;
the data analysis module is used for obtaining a monitoring coefficient JT according to a first navigation parameter, generating a navigation stopping instruction and a monitoring instruction according to the monitoring coefficient JT, generating an alarm instruction according to a second navigation parameter, sending the monitoring instruction and the monitoring coefficient JT to a navigation management platform, and sending the navigation stopping instruction and the alarm instruction to the early warning module;
the navigation management platform is used for obtaining a preset monitoring and adjusting angle according to the monitoring and adjusting coefficient JT after receiving the monitoring and adjusting instruction, and sending the preset monitoring and adjusting angle to the monitoring and adjusting module;
the monitoring and adjusting module is used for adjusting the angle of the navigation sonar according to a preset monitoring and adjusting angle, generating a completion signal after the angle is adjusted, and sending the completion signal to the sonar acquisition module;
the early warning module is used for sounding a stop navigation voice broadcast after receiving the navigation stopping instruction and sounding an alarm ring after receiving the alarm instruction.
As a further scheme of the invention: the process that sonar collection module gathered first navigation parameter is as follows:
marking the sonar vertically arranged at the bottom of the ship as a navigation sonar, marking the sonar horizontally arranged at the four sides of the bottom of the ship as a navigation sonar, and marking the sonar obliquely arranged at the four sides of the bottom of the ship as a navigation sonar;
acquiring the transmitting time of ultrasonic waves generated by the navigation sonar and the receiving time of ultrasonic reflected waves in real time, respectively marking the transmitting time and the receiving time as a wave transmitting time FS and a wave receiving time JS, acquiring the time difference between the wave transmitting time FS and the wave receiving time JS, and marking the time difference BS as a wave time difference;
acquiring the propagation rate of ultrasonic waves generated by a navigation sonar, and marking the propagation rate as a wave velocity value BV;
acquiring the height of a ship and the depth of the ship immersed below the liquid level, and respectively marking the height of the ship as a ship height value CG and the depth of the ship as a depth value JS;
and sending the wave time difference BS, the wave speed value BV, the ship height value CG and the immersion value JS to a data analysis module.
As a further scheme of the invention: the process that sonar collection module gathered second navigation parameter is as follows:
acquiring the time difference between the wave sending time FS and the wave receiving time JS of ultrasonic waves generated by a navigation sonar within unit time, and sequentially marking the time difference as wave time difference BSj, j =1, 8230, n, n are natural numbers;
substituting the wave time difference BSi into the formula
Obtaining a wave time ratio BB;
marking the navigation width sonars at two sides of the navigation direction of the ship as width measuring sonars, respectively acquiring the positions of reflected waves generated by the width measuring sonars at two sides, marking the positions as width measuring points, acquiring the transverse distance between the two width measuring points, and marking the transverse distance as a width measuring value CK;
acquiring the maximum length of the ship profile, and marking the maximum length with a ship width value Ck;
acquiring the ratio of the ship width value Ck to the measured width value CK, and marking the ratio as a ship-to-road ratio CD;
and sending the wave time ratio BB and the channel ratio CD to a data analysis module.
As a further scheme of the invention: the process of generating the navigation stopping instruction and the monitoring instruction by the data analysis module is as follows:
substituting the wave time difference BS, the wave speed value BV, the ship height value CG and the immersion value JS into a formula
Obtaining a monitoring and regulating coefficient JT;
comparing the monitoring coefficient JT with a preset monitoring threshold JTy:
if the monitoring coefficient JT is less than or equal to a preset monitoring threshold value JTy, generating a navigation stopping instruction, and sending the navigation stopping instruction to an early warning module;
and if the monitoring and adjusting coefficient JT is larger than a preset monitoring and adjusting threshold value JTy, generating a monitoring and adjusting instruction, and sending the monitoring and adjusting instruction and the monitoring and adjusting coefficient JT to the navigation management platform.
As a further scheme of the invention: the process of generating the alarm instruction by the data analysis module is as follows:
comparing the wave time ratio BB with a preset wave time ratio threshold BBy, and comparing the ship-to-road ratio CD with a preset ship-to-road ratio threshold CDy;
if the wave time ratio BB is smaller than a preset wave time ratio threshold BBy or the ship ratio CD is larger than a preset ship ratio threshold CDy, generating an alarm instruction and sending the alarm instruction to an early warning module;
if the wave time ratio BB is larger than or equal to the preset wave time ratio threshold BBy and the ship ratio CD is smaller than or equal to the preset ship ratio threshold CDy, substituting the wave time ratio BB and the ship ratio CD into a formula
Obtaining an air surveillance coefficient HJ, wherein q1 and q2 are preset weight coefficients of a wave time ratio BB and a channel ratio CD respectively, q1 is greater than q2 is greater than 1, and q1=1.89 and q2=1.22 are taken;
comparing the air traffic supervision coefficient HJ with a preset air traffic supervision coefficient HJy:
and if the air traffic monitoring coefficient HJ is less than the preset air traffic monitoring coefficient HJy, generating an alarm instruction and sending the alarm instruction to the early warning module.
As a further scheme of the invention: the process of acquiring the preset monitoring and adjusting angle by the navigation management platform is as follows:
marking the value interval of the pitch monitoring coefficient JT corresponding to the pitch monitoring angle value JJi as a pitch monitoring interval JQi, wherein the pitch monitoring angle value JJi meets the pitch monitoring angle value JJi which is more than or equal to 0 degrees and less than or equal to 90 degrees, i =1, 8230, n, n and n are natural numbers;
setting a monitoring interval JQi = [ JTa, JTb), wherein b = a +1, b > a is more than or equal to 1;
after receiving the monitoring command, matching the monitoring coefficient JT with the monitoring angle value JJi:
if the pitch monitoring coefficient JT belongs to [ JTa, JTb ], marking a pitch monitoring angle value JJi corresponding to the pitch monitoring interval JQi as a preset pitch monitoring angle;
and sending the preset monitoring and adjusting angle to a monitoring and adjusting module.
The invention has the beneficial effects that:
the invention relates to a channel scale detection and ship navigation monitoring system based on sonar technology, which is characterized in that a sonar acquisition module is used for acquiring a first navigation parameter, a data analysis module is used for acquiring a pitch monitoring coefficient according to the first navigation parameter, the pitch monitoring coefficient is used for measuring the adaptation condition of a ship and a channel, if the pitch monitoring coefficient is less than or equal to a preset pitch monitoring threshold value, the ship is over-large or the channel is under-small, so that the ship is not suitable for running on the channel, a parking instruction is generated according to the pitch monitoring coefficient, the ship is controlled to stop running, if the pitch monitoring coefficient is greater than the preset pitch monitoring threshold value, the angle of a navigation sonar is adjusted according to the pitch monitoring coefficient, so that the angle of the navigation sonar is automatically suitable for different channels, the situation that the detection of the channel scale and the ship navigation condition have larger errors due to the acquisition of the same data in different channels and the normal running of the ship is influenced is avoided, then a sonar acquisition module is used for acquiring a second navigation parameter, and is also used for acquiring a second navigation coefficient according to measure the navigation state, if the pitch monitoring coefficient is less than the preset pitch monitoring coefficient, the monitoring coefficient indicates that the navigation channel changes and the navigation process of the navigation and the foreign matter changes in the navigation process of the navigation and the navigation is generated; this channel yardstick detects and boats and ships navigation monitoring system based on sonar technique detects the channel through the coefficient of monitoring and adjusting before boats and ships travel, detects channel and boats and ships navigation state when boats and ships travel through the navigation supervision coefficient, under the synergism between the coefficient of monitoring and adjusting, navigation supervision and boats and ships navigation state, the accurate channel yardstick detects and reminds with boats and ships navigation state, has guaranteed the normal travel of boats and ships.
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The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic block diagram of a channel scale detection and ship navigation monitoring system based on sonar technology in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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.
Example 1:
please refer to fig. 1, this embodiment is a channel scale detection and ship navigation monitoring system based on sonar technology, including sonar acquisition module, data analysis module, navigation management platform, monitoring adjustment module and early warning module:
the sonar acquisition module is used for acquiring a first navigation parameter and a second navigation parameter, wherein the first navigation parameter comprises a wave time difference BS, a wave velocity value BV, a ship height value CG and a depth value JS, the second navigation parameter comprises a wave time ratio BB and a ship way ratio CD, and the first navigation parameter and the second navigation parameter are sent to the data analysis module;
the data analysis module is used for obtaining a monitoring coefficient JT according to the first navigation parameter, generating a navigation stopping instruction and a monitoring instruction according to the monitoring coefficient JT, generating an alarm instruction according to the second navigation parameter, sending the monitoring instruction and the monitoring coefficient JT to the navigation management platform, and sending the navigation stopping instruction and the alarm instruction to the early warning module;
the navigation management platform is used for obtaining a preset monitoring and adjusting angle according to the monitoring and adjusting coefficient JT after receiving the monitoring and adjusting instruction, and sending the preset monitoring and adjusting angle to the monitoring and adjusting module;
the monitoring and adjusting module is used for adjusting the angle of the navigation sonar according to a preset monitoring and adjusting angle, generating a completion signal after the angle is adjusted, and sending the completion signal to the sonar acquisition module;
and the early warning alarm module is used for sounding a voice broadcast for stopping navigation after receiving the navigation stopping instruction and sounding an alarm ring after receiving the alarm instruction.
Example 2:
referring to fig. 1, the present embodiment is a working process of a channel scale detection and ship navigation monitoring system based on sonar technology, including the following steps:
the method comprises the following steps: the sonar acquisition module marks the sonar vertically installed at the bottom of the ship as a deep-sailing sonar, marks the sonars horizontally installed on four sides of the bottom of the ship as wide-sailing sonars, and marks the sonars obliquely installed on four sides of the bottom of the ship as sailing sonars;
step two: the sonar acquisition module acquires the transmitting time of ultrasonic waves generated by the navigation sonar and the receiving time of ultrasonic wave reflected waves in real time, marks the transmitting time and the receiving time as a wave transmitting time FS and a wave receiving time JS respectively, acquires the time difference between the wave transmitting time FS and the wave receiving time JS, and marks the time difference BS as a wave time difference;
step three: the sonar acquisition module acquires the propagation rate of ultrasonic waves generated by the navigation sonar and marks the propagation rate as a wave velocity value BV;
step four: the method comprises the following steps that a sonar acquisition module acquires the height of a ship and the depth of the ship immersed below a liquid level, and marks the ship height as a ship height value CG and the depth of immersion as a depth value JS respectively;
step five: the sonar acquisition module sends wave time difference BS, wave speed value BV, ship height value CG and immersion depth value JS to the data analysis module;
step six: substituting the wave time difference BS, the wave speed value BV, the ship height value CG and the immersion value JS into a formula by the data analysis module
Obtaining a monitoring coefficient JT;
step seven: the data analysis module compares the monitoring coefficient JT with a preset monitoring threshold value JTy:
if the monitoring coefficient JT is less than or equal to a preset monitoring threshold value JTy, generating a navigation stopping instruction, and sending the navigation stopping instruction to an early warning module;
if the monitoring and regulating coefficient JT is larger than a preset monitoring and regulating threshold value JTy, generating a monitoring and regulating command, and transmitting the monitoring and regulating command and the monitoring and regulating coefficient JT to the navigation management platform;
step eight: the navigation management platform marks the value interval of the pitch monitoring coefficient JT corresponding to the pitch monitoring angle value JJi as a pitch monitoring interval JQi, wherein the pitch monitoring angle value JJi meets the condition that the pitch monitoring angle value JJi is more than or equal to 0 degrees and less than or equal to 90 degrees, i =1, 8230, n and n are natural numbers;
step nine: the navigation management platform sets a monitoring and adjusting interval JQi = [ JTa, JTb), wherein b = a +1, b > a is more than or equal to 1;
step ten: after receiving the monitoring instruction, the navigation management platform matches the monitoring coefficient JT with the monitoring angle value JJi:
if the pitch monitoring coefficient JT belongs to [ JTa, JTb ], marking a pitch monitoring angle value JJi corresponding to the pitch monitoring interval JQi as a preset pitch monitoring angle;
step eleven: the navigation management platform sends the preset monitoring and adjusting angle to the monitoring and adjusting module;
step twelve: the monitoring and adjusting module receives the preset monitoring and adjusting angle, then adjusts the angle of the navigation sonar according to the preset monitoring and adjusting angle, generates a completion signal after the angle adjustment is finished, and sends the completion signal to the sonar acquisition module;
step thirteen: the sonar acquisition module acquires the time difference between the wave sending time FS and the wave receiving time JS of ultrasonic waves generated by navigation sonar within unit time, and sequentially marks the time difference as wave time difference BSj, j =1, \ 8230 \ 8230;, n, n are natural numbers;
fourteen steps: sonar acquisition module substitutes wave time difference BSi into formula
Obtaining a wave time ratio BB;
step fifteen: the sonar acquisition module marks the navigation width sonars on two sides of the navigation direction of the ship as width measuring sonars, respectively acquires the positions of reflected waves generated by the width measuring sonars on the two sides, marks the positions as width measuring points, acquires the transverse distance between the two width measuring points, and marks the transverse distance as a width measuring value CK;
sixthly, the steps are as follows: the sonar acquisition module acquires the maximum length of the ship profile and marks the maximum length of the ship profile as a ship width value Ck;
seventeen steps: a sonar acquisition module acquires a ratio between a ship width value Ck and a measured width value CK, and marks the ratio as a ship-to-road ratio CD;
eighteen steps: the sonar acquisition module sends the time-wave ratio BB and the channel ratio CD to the data analysis module.
Nineteen steps: the data analysis module compares the wave time ratio BB with a preset wave time ratio threshold BBy, and compares the ship-to-road ratio CD with a preset ship-to-road ratio threshold CDy;
if the wave time ratio BB is smaller than a preset wave time ratio threshold BBy or the ship ratio CD is larger than a preset ship ratio threshold CDy, generating an alarm instruction, and sending the alarm instruction to an early warning module;
if the wave time ratio BB is larger than or equal to the preset wave time ratio threshold BBy and the ship-to-road ratio CD is smaller than or equal to the preset ship-to-road ratio threshold CDy, substituting the wave time ratio BB and the ship-to-road ratio CD into a formula
Obtaining an air surveillance coefficient HJ, wherein q1 and q2 are preset weight coefficients of a wave time ratio BB and a channel ratio CD respectively, q1 is greater than q2 is greater than 1, and q1=1.89 and q2=1.22 are taken;
twenty steps: the data analysis module compares the air traffic supervision coefficient HJ with a preset air traffic supervision coefficient HJy:
if the air traffic monitoring coefficient HJ is smaller than the preset air traffic monitoring coefficient HJy, generating an alarm instruction, and sending the alarm instruction to an early warning module;
twenty one: the early warning module sounds to stop navigation voice broadcast after receiving the command of stopping navigation, and sounds an alarm bell sound alarm after receiving the command of alarming.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is illustrative and explanatory only and is not intended to be exhaustive or to limit the invention to the precise embodiments described, and various modifications, additions, and substitutions may be made by those skilled in the art without departing from the scope of the invention or exceeding the scope of the claims.
Claims (1)
1. The utility model provides a channel yardstick detects and boats and ships navigation monitoring system based on sonar technique, includes sonar acquisition module, data analysis module, navigation management platform, monitoring adjustment module and early warning alarm module, its characterized in that:
the sonar acquisition module is used for acquiring a first navigation parameter and a second navigation parameter, wherein the first navigation parameter comprises wave time difference, wave speed value, ship height value and immersion depth value, the second navigation parameter comprises wave time ratio and ship track ratio, and the first navigation parameter and the second navigation parameter are sent to the data analysis module;
the process that sonar collection module gathered first navigation parameter is as follows:
the method comprises the following steps of (1) marking a sonar vertically installed at the bottom of a ship as a navigation sonar, marking a sonar horizontally installed at four sides of the bottom of the ship as a wide-range sonar, and marking a sonar obliquely installed at four sides of the bottom of the ship as a navigation sonar;
acquiring the transmitting time of ultrasonic waves generated by the deep sonar and the receiving time of ultrasonic reflected waves in real time, respectively marking the transmitting time and the receiving time as a wave transmitting time and a wave receiving time, acquiring the time difference between the wave transmitting time and the wave receiving time, and marking the time difference as a wave time difference;
acquiring the propagation rate of ultrasonic waves generated by a navigation sonar, and marking the propagation rate as a wave speed value;
acquiring the height of a ship and the depth of the ship immersed below the liquid level, and respectively marking the height of the ship and the depth of the ship as a ship height value and a depth value;
sending the wave time difference, the wave velocity value, the ship height value and the immersion depth value to a data analysis module;
the process that sonar collection module gathered second navigation parameter is as follows:
acquiring the time difference between the wave sending time and the wave receiving time of ultrasonic waves generated by a navigation sonar within unit time, and sequentially marking the time difference as wave time differences according to the time sequence;
analyzing the wave time difference to obtain a wave time ratio;
marking the navigation width sonars at two sides of the navigation direction of the ship as width measuring sonars, respectively acquiring the positions of reflected waves generated by the width measuring sonars at two sides, marking the positions as width measuring points, acquiring the transverse distance between the two width measuring points, and marking the transverse distance as a width measuring value;
acquiring the maximum length of the ship profile, and marking the maximum length with a ship width value;
obtaining the ratio of the ship width value to the measured width value, and marking the ratio as a ship-to-road ratio;
sending the wave time ratio and the ship-way ratio to a data analysis module;
the data analysis module is used for obtaining a monitoring coefficient according to the first navigation parameter, generating a navigation stopping instruction and a monitoring instruction according to the monitoring coefficient, generating an alarm instruction according to the second navigation parameter, sending the monitoring instruction and the monitoring coefficient to the navigation management platform, and sending the navigation stopping instruction and the alarm instruction to the early warning module;
the process of generating the navigation stopping instruction and the monitoring instruction by the data analysis module is as follows:
analyzing the wave time difference, the wave velocity value, the ship height value and the immersion depth value to obtain a monitoring and regulating coefficient;
comparing the monitoring coefficient with a preset monitoring threshold value:
if the monitoring and regulating coefficient is less than or equal to a preset monitoring and regulating threshold value, generating a navigation stopping instruction, and sending the navigation stopping instruction to an early warning module;
if the monitoring and regulating coefficient is larger than a preset monitoring and regulating threshold value, generating a monitoring and regulating instruction, and sending the monitoring and regulating instruction and the monitoring and regulating coefficient JT to the navigation management platform;
the process of generating the alarm instruction by the data analysis module is as follows:
comparing the wave time ratio with a preset wave time ratio threshold value, and comparing the ship ratio with a preset ship ratio threshold value;
if the wave time ratio is less than the preset wave time ratio threshold value or the ship ratio is greater than the preset ship ratio threshold value, generating an alarm instruction and sending the alarm instruction to an early warning module;
if the wave time ratio is not less than the preset wave time ratio threshold and the ship ratio is not more than the preset ship ratio threshold, analyzing the wave time ratio and the ship ratio to obtain a navigation monitoring coefficient;
comparing the air traffic supervision coefficient with a preset air traffic supervision coefficient:
if the navigation monitoring coefficient is less than the preset navigation monitoring coefficient, generating an alarm instruction, and sending the alarm instruction to an early warning module;
the navigation management platform is used for obtaining a preset monitoring and adjusting angle according to the monitoring and adjusting coefficient after receiving the monitoring and adjusting command, and sending the preset monitoring and adjusting angle to the monitoring and adjusting module;
the process of acquiring the preset monitoring and adjusting angle by the navigation management platform is as follows:
marking the value interval of the monitoring coefficient corresponding to the monitoring angle value as a monitoring interval;
after receiving the monitoring and adjusting instruction, matching the monitoring and adjusting coefficient with the monitoring and adjusting angle value:
if the monitoring coefficient belongs to the monitoring interval, marking the monitoring angle value corresponding to the monitoring interval as a preset monitoring angle;
sending the preset monitoring and adjusting angle to a monitoring and adjusting module;
the monitoring and adjusting module is used for adjusting the angle of the navigation sonar according to a preset monitoring and adjusting angle, generating a completion signal after the angle is adjusted, and sending the completion signal to the sonar acquisition module;
the early warning module is used for sounding a voice broadcast for stopping navigation after receiving the command of stopping navigation and sounding an alarm bell after receiving the command of alarming.
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| CN114047515A (en) * | 2021-08-31 | 2022-02-15 | 武汉船舶通信研究所（中国船舶重工集团公司第七二二研究所） | Unmanned ship-based side-scan sonar system and side-scan sonar equipment data processing method |
| CN114235050A (en) * | 2021-12-17 | 2022-03-25 | 北京比福特科技发展有限公司 | Marine environment monitoring and early warning method, device and system |
| CN114383546A (en) * | 2022-01-11 | 2022-04-22 | 王乐廷 | Channel scale detection and ship navigation monitoring system based on sonar technology |
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