CN115743467B - Ship end data acquisition system for dynamic test - Google Patents
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Abstract
The invention relates to a ship end data acquisition system for dynamic testing and a deployment method thereof. The system comprises a main controller and a dynamic test data acquisition unit which is adaptively connected with the main controller, wherein the dynamic test data acquisition unit comprises an environment sensing acquisition unit for sensing the navigation environment of a ship, a navigation situation sensing acquisition unit for sensing the ship situation and the navigation state of the ship, a control performance sensing acquisition unit for sensing the control performance of the ship and/or a ship equipment state sensing acquisition unit for sensing the equipment state of the ship; the ship comprises an environment sensing and collecting unit, a navigation situation sensing and collecting unit, a control performance sensing and collecting unit and a ship equipment state sensing and collecting unit, wherein the ship equipment state sensing and collecting unit is in a distributed collecting state. The invention can effectively realize the collection and interaction of the ship end data, meet the requirement of dynamic test and improve the intellectualization of the ship.
Description
Technical Field
The invention relates to an acquisition system and a deployment method thereof, in particular to a ship end data acquisition system for dynamic testing and a deployment method thereof.
Background
With the acceleration and evolution of a new technological revolution and the great change of an international maritime rule system, new generation information technologies represented by big data, internet of things, cloud computing, edge computing, artificial intelligence and the like are being combined with the acceleration of service modes, production systems and the like of the ship industry, the intelligent upgrading of ship design, manufacturing, operation and maintenance and the like is greatly promoted, and the technological change of the ship industry is brought into great opportunity.
At present, the world mainly advances the research and development efforts of design and manufacture integration, autonomous navigation system, remote control system, ship, shore and sea integrated information platform and the like in the shipbuilding country, and the development high point of the intelligent time ship industry is preempted.
Compared with the development of foreign intelligent ships, the development of intelligent ships in China still has the problems of low capability of sensing and controlling innovation of basic devices and equipment, core technology lag, low intelligent degree of relevant equipment such as sailing, power and the like, low integration of information and control and the like, and particularly the problem of last kilometer of key devices, equipment and systems all the time. The construction of the test verification capability of the intelligent ship is enhanced, and the construction is a key link for the autonomous research and development and localization of key devices, equipment and systems of the intelligent ship.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a ship end data acquisition system for dynamic testing and a deployment method thereof, which can effectively realize acquisition and interaction of ship end data, meet the requirements of dynamic testing and improve the intellectualization of ships.
According to the technical proposal provided by the invention, the ship end data acquisition system for dynamic test comprises a main controller and a dynamic test data acquisition unit which is connected with the main controller in an adapting way, wherein,
the dynamic test data acquisition unit comprises an environment sensing acquisition unit for sensing the ship navigation environment, a navigation situation sensing acquisition unit for sensing the ship situation and the ship navigation state, a control performance sensing acquisition unit for sensing the ship control performance and/or a ship equipment state sensing acquisition unit for sensing the ship equipment state;
the ship comprises an environment sensing and collecting unit, a navigation situation sensing and collecting unit, a control performance sensing and collecting unit and a ship equipment state sensing and collecting unit, wherein the ship equipment state sensing and collecting unit is in a distributed collecting state.
The environment sensing acquisition unit, the navigation situation sensing acquisition unit, the control performance sensing acquisition unit and the ship equipment state sensing acquisition unit are connected with the main controller in an adapting way through the intelligent gateway and the switch connected with the intelligent gateway in an adapting way,
and the main controller performs data interaction with the ship base station through the ship communication module.
The environment perception acquisition unit comprises a radar wave meter, a comprehensive weather meter, a visibility meter and/or a sounding meter, wherein,
the visibility meter is used for measuring the atmospheric visible distance, wherein the visibility meter is deployed on a compass deck of a ship where the visibility meter is located;
the radar wave meter is used for acquiring marine power environment data of a marine environment where the ship is located, wherein the marine power environment data comprise wave height, wave period, wave direction, flow speed or flow direction, a server of the radar wave meter is deployed in a cab of the ship where the ship is located, and an antenna of the radar wave meter is deployed on a compass deck of the ship where the radar wave meter is located;
the comprehensive weather instrument is used for acquiring weather information of the marine environment where the ship is located, wherein the acquired weather information of the marine environment comprises atmospheric pressure, atmospheric temperature and/or atmospheric humidity, and the comprehensive weather instrument is deployed on a mast of the ship where the comprehensive weather instrument is located
The depth measuring instrument is used for measuring the water depth of the ship.
The environment-aware acquisition unit further comprises a laser range finder set, wherein,
the laser range finder group comprises a bow laser range finder for measuring the relative berthing distance of the bow and a stern laser range finder for measuring the relative berthing distance of the stern,
the bow laser range finders are deployed at the bow of the ship, and the stern laser range finders are deployed at the stern of the ship;
the bow laser range finder and the stern laser range finder are connected with the switch in an adaptive mode through a third intelligent gateway of the main deck, wherein the third intelligent gateway is deployed on the main deck.
The navigation situation sensing and collecting unit comprises an inertial navigator, a panoramic vision system, a GPS unit, an AIS unit, a log, an electronic compass and/or a navigation radar, wherein,
the inertial navigator is used for acquiring the navigational speed, the heading, the longitude and latitude coordinates, the heading angle, the pitching angle, the rolling angle, the pitching angular speed, the rolling angular speed, the linear acceleration and/or the angular speed of the ship, wherein a host of the inertial navigator is deployed in a cab of the ship, and an antenna of the inertial navigator is deployed on a compass deck of the ship;
the panoramic vision system is used for detecting and identifying moving or static obstacles around the ship, wherein a server of the panoramic vision system is deployed in a cab of the ship, and the panoramic vision host is deployed on a compass deck of the ship;
the GPS unit is used for acquiring longitude and latitude coordinates, heading and ground speed of the ship;
the AIS unit is used for acquiring longitude and latitude coordinates, heading and ground speed of other ships around the ship;
the log is used for acquiring the water-facing navigational speed of the ship;
the electric compass is used for acquiring the heading angle of the ship;
the navigation radar is used for acquiring longitude and latitude coordinates, heading, ground speed and distance and azimuth of other ships around the ship;
the inertial navigator and the panoramic vision system are connected with the switch in an adaptive manner through a first gateway of the cab arranged in the cab, and the GPS unit, the AIS unit, the log, the electronic compass and the navigation radar are connected with the switch in an adaptive manner through a second gateway of the cab arranged in the cab.
The control performance sensing and collecting unit comprises a rudder angle sensor group, a shaft power instrument group and a shaft thrust instrument group, wherein,
the rudder angle sensor group comprises at least one rudder angle sensor for measuring the actual rudder angle, and the rudder angle sensor is arranged around the rudder stock;
the shaft power instrument set comprises at least one shaft power instrument, and the shaft power instrument is deployed on an intermediate shaft of the ship and is used for measuring the rotating speed, steering, shaft torque and shaft power of the ship;
the shaft thrust instrument set comprises at least one shaft thrust instrument, wherein the shaft thrust instrument is deployed on an intermediate shaft of the ship and is used for measuring the thrust of the ship shaft.
The ship equipment state sensing and collecting unit comprises a propeller intelligent integrated propulsion device monitoring system, an intelligent deep sea winch monitoring system and/or a wind power boosting rotor long-term monitoring system, wherein,
the system for monitoring the intelligent integrated propeller device of the propeller is deployed in the engine room of the ship and is used for monitoring the temperature, the operating current frequency, the operating voltage, the operating phase current, the operating electric power, the operating power factor and/or the rotating speed of the propeller of the intelligent integrated propeller device of the propeller;
the intelligent deep sea winch monitoring system is deployed on a main deck of a ship, and is used for monitoring current and temperature of a cable storage roller motor, current and temperature of a tractor motor, cooling oil temperature of a cable storage roller, cooling oil temperature of a tractor, current and temperature of a cable discharging device motor, cooling oil pump outlet pressure of a winch, cooling oil pump station liquid level of the winch, winch brake oil pump outlet pressure, winch brake oil temperature, winch cabin temperature and humidity, variable frequency control room temperature and humidity and/or linear acceleration, angular speed and cable tension of a winch laying object;
the wind power boosting rotor long-term monitoring system is deployed on the wind power boosting rotor and is used for monitoring rotor rotating speed, rotor steering, motor rotating speed, motor steering, internal tower structure strain, base vibration acceleration, motor vibration acceleration, rotor energy consumption, barrel internal temperature, motor surface temperature, bearing temperature and/or limiting wheel temperature.
The main controller and the switch are both arranged in a cab of the ship.
A deployment method of a ship end data acquisition system for dynamic test, which deploys a main controller and a dynamic test data acquisition unit which is adaptively connected with the main controller on any ship, wherein,
the dynamic test data acquisition unit comprises an environment sensing acquisition unit for sensing the ship navigation environment, a navigation situation sensing acquisition unit for sensing the ship situation and the ship navigation state, a control performance sensing acquisition unit for sensing the ship control performance and/or a ship equipment state sensing acquisition unit for sensing the ship equipment state;
the environment sensing acquisition unit, the navigation situation sensing acquisition unit, the control performance sensing acquisition unit and the ship equipment state sensing acquisition unit are deployed on the ship to form a distributed acquisition state.
The environment sensing acquisition unit, the navigation situation sensing acquisition unit, the control performance sensing acquisition unit and the ship equipment state sensing acquisition unit are connected with the main controller in an adapting way through the intelligent gateway and the switch connected with the intelligent gateway in an adapting way,
and the main controller performs data interaction with the ship base station through the ship communication module.
The invention has the advantages that: the data acquisition system is deployed on the ship, so that corresponding data of intelligent devices, equipment and systems on the ship in the real sea dynamic environment can be served by the deployed data acquisition system, and the acquired corresponding data are utilized to realize testing and verification of required functions, performances and performances, thereby helping equipment vendors to collect performance data and running state data of marine products in the real sea dynamic environment and being used for verifying and improving the dynamic performances, reliability and intelligent performances of the products.
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Fig. 1 is a block diagram illustrating an embodiment of a data acquisition system according to the present invention.
FIG. 2 is a schematic diagram of an embodiment of the data acquisition system of the present invention on a vessel.
Reference numerals illustrate: 1-main controller, 2-inertial navigator, 3-panorama vision system, 4-visibility meter, 5-radar wave meter, 6-comprehensive meteorological instrument, 7-bow laser range finder, 8-stern laser range finder, 9-rudder angle sensor, 10-axle power meter, 11-axle thrust meter, 12-oar intelligent integrated propulsion device monitoring system, 13-intelligent deep sea winch monitoring system, 14-wind power boosting rotor long-term monitoring system, 15-switch, 16-cabin first intelligent gateway, 17-cabin intelligent gateway, 18-data first collector, 19-main deck first intelligent gateway, 20-main deck second intelligent gateway, 21-main deck third intelligent gateway, 22-data second collector, 23-cabin second intelligent gateway, 24-shore communication module, 25-GPS unit, 26-AIS unit, 27-log meter, 28-electric compass, 29-sounding instrument and 30-navigation radar.
Detailed Description
The invention will be further described with reference to the following specific drawings and examples.
In order to effectively realize the collection and interaction of the ship end data, meet the requirement of dynamic test, improve the intellectualization of the ship, and for the ship end data collection system for dynamic test, in one embodiment of the invention, the system comprises a main controller 1 and a dynamic test data collection unit which is adaptively connected with the main controller 1, wherein,
the dynamic test data acquisition unit comprises an environment sensing acquisition unit for sensing the ship navigation environment, a navigation situation sensing acquisition unit for sensing the ship situation and the ship navigation state, a control performance sensing acquisition unit for sensing the ship control performance and/or a ship equipment state sensing acquisition unit for sensing the ship equipment state;
the ship comprises an environment sensing and collecting unit, a navigation situation sensing and collecting unit, a control performance sensing and collecting unit and a ship equipment state sensing and collecting unit, wherein the ship equipment state sensing and collecting unit is in a distributed collecting state.
Specifically, the main controller 1 and the dynamic test data acquisition unit are both deployed on the ship, so as to realize the acquisition of the dynamic test data of the ship. Fig. 1 and 2 show an embodiment of a main controller 1, a dynamic test data acquisition unit, and a deployment situation on a ship, wherein the environment-aware acquisition unit is used for acquiring a navigation environment of the ship, the navigation-aware acquisition unit is used for acquiring a situation and a navigation state of the ship when the ship is navigated, the maneuvering performance-aware acquisition unit is used for acquiring maneuvering performance data of the ship, and the ship equipment state-aware acquisition unit is used for acquiring a working state of equipment installed on the ship.
In one embodiment of the invention, the environment sensing acquisition unit, the navigation situation sensing acquisition unit, the control performance sensing acquisition unit and the ship equipment state sensing acquisition unit are connected with the main controller 1 in an adapting way through the intelligent gateway and the switch 15 connected with the intelligent gateway in an adapting way,
the main controller 1 performs data interaction with the ship base station through the ship communication module 24.
In specific implementation, the main controller 1 and the switch 15 are disposed in the cab of the ship, and the main controller 1 may use the existing common computer equipment to mainly obtain the monitoring data in real time through the main controller 1, and wirelessly transmit the data to the shore data center through the shore communication module 24. The main controller 1 is connected with the environment sensing acquisition unit, the navigation situation sensing acquisition unit, the control performance sensing acquisition unit and the ship equipment state sensing acquisition unit in an adapting way through the switch 15, the switch 15 can adopt the existing common interaction equipment, and the type of the switch 15 can be selected according to actual needs. The shore communication module 24 may be in a conventional wireless communication manner, and specifically, it is capable of satisfying wireless transmission of data to a shore base station.
In one embodiment of the invention, the ambient sensing acquisition unit comprises a radar wave meter 5, an integrated weather meter 6, a visibility meter 4 and/or a depth meter 29, wherein,
the visibility meter 4 is used for measuring the atmospheric visible distance, wherein the visibility meter 4 is deployed on a compass deck of a ship where the visibility meter is located;
the radar wave meter 5 is used for acquiring marine power environment data of a marine environment where the ship is located, wherein the marine power environment data comprise wave height, wave period, wave direction, flow speed or flow direction, a server of the radar wave meter 5 is deployed in a cab of the ship where the ship is located, and an antenna of the radar wave meter 5 is deployed on a compass deck of the ship where the ship is located;
the comprehensive weather instrument 6 is used for acquiring weather information of a marine environment where the ship is located, wherein the acquired weather information of the marine environment comprises atmospheric pressure, atmospheric temperature and/or atmospheric humidity, and the comprehensive weather instrument 6 is deployed on a mast of the ship where the comprehensive weather instrument is located;
a depth gauge 29 for measuring the depth of water at the location of the vessel.
In specific implementation, the radar wave meter 5, the comprehensive weather meter 6 and the visibility meter 4 can adopt the existing common forms, and particularly, the requirements of sensing and collecting the environment where the ship is located can be met. In order to meet the adaptive connection with the switch 15, the radar wave meter 5, the comprehensive weather meter 6 and the visibility meter 4 are in adaptive connection with the first intelligent gateway 16 of the cab, so as to be in adaptive connection with the switch 15 through the first intelligent gateway 16 of the cab, and further realize the adaptive connection with the main controller 1.
Further, the environment-aware collecting unit further comprises a laser range finder set, wherein,
the laser rangefinder set comprises a bow laser rangefinder 7 for measuring bow-to-berth distance and a stern laser rangefinder 8 for measuring stern-to-berth distance,
the bow laser range finder 7 is arranged at the bow of the ship, and the stern laser range finder 8 is arranged at the stern of the ship;
the bow laser rangefinder 7, the stern laser rangefinder 8 utilize the main deck third intelligent gateway 2 that deploys on the main deck to be connected with switch 15 adaptation.
During implementation, the laser range finder group can further comprise more laser range finders, and the bow laser range finders 7 and the stern laser range finders 8 can adopt the conventional common mode, and specifically can meet the requirement of laser range finding. The laser rangefinder in the laser rangefinder group is connected with data secondary collector 22 adaptation to through data secondary collector 22 and switch 15 adaptation connection, data secondary collector 22 can adopt current common form, and generally, data secondary collector 22 deploys on the main deck.
In one embodiment of the invention, the navigation situation awareness acquisition units include an inertial navigator 2, a panoramic vision system 3, a GPS unit 25, an AIS unit 26, a log 27, an electronic compass 28 and/or a navigation radar 30, wherein,
the inertial navigator 2 and the panoramic vision system 3 are connected with the switch 15 in an adaptive manner through a first gateway 16 disposed in a cab, and the GPS unit 25, the AIS unit 26, the odometer 27, the electric compass 28 and the navigation radar 30 are connected with the switch 15 in an adaptive manner through a second gateway 23 disposed in the cab.
Specifically, the inertial navigator 2 is configured to obtain a navigational speed, a heading, a longitude and latitude coordinate, a heading angle, a pitch angle, a roll angle, a pitch angle speed, a roll angle speed, a linear acceleration and/or an angular speed of a ship, where a host of the inertial navigator 2 is deployed in a cab of the ship, and an antenna of the inertial navigator 2 is deployed on a compass deck of the ship;
the panoramic vision system 3 is used for detecting and identifying moving or static obstacles around the ship, wherein a server of the panoramic vision system 3 is deployed in a cab of the ship, and a panoramic vision host is deployed on a compass deck of the ship;
the inertial navigator 2 and the panoramic vision system 3 can take the existing common forms, and the inertial navigator 2 and the panoramic vision system 3 are adaptively connected with the switch 15 through a first gateway 16 deployed in a cab. The GPS unit 25, the AIS unit 26, the log 27, the electronic compass 28 and the navigation radar 30 in the navigation situation awareness acquisition unit are connected with the switch 15 in an adaptive manner through the second intelligent gateway 23 of the cab.
The GPS (Global Positioning System, GPS) unit 25, AIS (Automatic Identification System) unit 26, odometer 27, electronic compass 28, sounding instrument 29 and navigation radar 30 may take the form of conventional methods, wherein the GPS unit 25 is used to obtain longitude and latitude coordinates, heading and speed to ground of the ship; acquiring longitude and latitude coordinates, heading and speed to ground of surrounding ships of the ship by using the AIS unit 26; obtaining the water-facing navigational speed of the ship by using the log 27; acquiring the heading angle of the ship by using the electric compass 28; the longitude and latitude coordinates, heading, speed to ground and distance and azimuth thereof relative to the ship are acquired by using the navigation radar 30.
In practice, the GPS unit 25, AIS unit 26, odometer 27, depth finder 29, electric compass 28 and navigation radar 30 connected to the second intelligent gateway 23 are typically installed on the vessel. The inertial navigator 2, the panoramic vision system 3, the radar wave meter 5, the comprehensive weather meter 6 and the visibility meter 4 are connected with the first intelligent gateway 23 of the cab in an adaptive manner so as to be capable of being connected with the switch 15 in an adaptive manner through the intelligent gateway.
In one embodiment of the invention, the control performance sensing and collecting unit comprises a rudder angle sensor group, a shaft power instrument group and a shaft thrust instrument group, wherein,
the rudder angle sensor group comprises at least one rudder angle sensor 9 for measuring the actual rudder angle, and the rudder angle sensor 9 is arranged around the rudder stock;
the shaft power instrument set comprises at least one shaft power instrument 10, wherein the shaft power instrument 10 is deployed on an intermediate shaft of a ship and is used for measuring the rotating speed, steering, shaft torque and shaft power of the ship;
the shaft thrust instrument group comprises at least one shaft thrust instrument 11, wherein the shaft thrust instrument 11 is arranged on an intermediate shaft of the ship and is used for measuring the thrust of the ship shaft.
In specific implementation, the rudder angle sensor group, the shaft power instrument group and the shaft thrust instrument group are connected with the cabin intelligent gateway 17 in an adaptive manner through the data first collector 18, and then are connected with the switch 15 in an adaptive manner through the cabin intelligent gateway 17. The first data collector 18 is deployed within the nacelle of the vessel in which it is located.
In one embodiment of the invention, the ship equipment state sensing and collecting unit comprises a propeller intelligent integrated propulsion device monitoring system 12, an intelligent deep sea winch monitoring system 13 and/or a wind power boosting rotor long-term monitoring system 14, wherein,
the system 12 for monitoring the intelligent integrated propeller of the propeller is deployed in the cabin of the ship and is used for monitoring the temperature, the operating current frequency, the operating voltage, the operating phase current, the operating electric power, the operating power factor and/or the rotating speed of the propeller of the intelligent integrated propeller of the propeller;
the intelligent deep sea winch monitoring system 13 is deployed on the main deck of the ship, and is used for monitoring the current and temperature of a cable storage roller motor, the current and temperature of a tractor motor, the cooling oil temperature of a cable storage roller, the cooling oil temperature of a tractor, the current and temperature of a cable discharging device motor, the cooling oil pump outlet pressure of a winch, the liquid level of a cooling oil pump station of the winch, the outlet pressure of a winch brake oil pump, the temperature of a winch brake oil, the temperature and humidity of a winch cabin, the temperature and humidity of a variable frequency control room and/or the linear acceleration, the angular velocity and the cable tension of a winch laying object;
the wind power rotor long-term monitoring system 14 is deployed on the wind power rotor for monitoring rotor speed, rotor steering, motor speed, motor steering, internal tower structural strain, base vibration acceleration, motor vibration acceleration, rotor energy consumption, in-cylinder temperature, motor surface temperature, bearing temperature, and/or spacing wheel temperature.
In specific implementation, the system 12 for monitoring the intelligent integrated propulsion device of the propeller can be used for monitoring the intelligent integrated propulsion device of the propeller in the existing common mode, the system 13 for monitoring the intelligent deep-sea winch can be used for monitoring the intelligent deep-sea winch in the existing common mode, and the system 14 for monitoring the wind power-assisted rotor for a long time can be used for monitoring the wind power-assisted rotor in the existing common mode.
The intelligent integrated propulsion device monitoring system 12 of the propeller is connected with the switch 15 in an adaptive manner through the cabin intelligent gateway 17, the intelligent deep sea winch monitoring system 13 is connected with the switch 15 in an adaptive manner through the first intelligent gateway 19 of the main deck, and the long-term monitoring system 14 of the wind power boosting rotor is connected with the switch 15 in an adaptive manner through the second intelligent gateway 20 of the main deck.
The first intelligent gateway 19 and the second intelligent gateway 20 are disposed on the main deck of the ship. The intelligent gateway and the data collector can adopt the existing common forms, and the data interaction and the data collection can be realized.
In summary, a deployment method of a ship end data acquisition system for dynamic testing is obtained, in one embodiment of the present invention, for any ship, a main controller 1 and a dynamic test data acquisition unit adaptively connected with the main controller 1 are deployed on the ship,
the dynamic test data acquisition unit comprises an environment sensing acquisition unit for sensing the ship navigation environment, a navigation situation sensing acquisition unit for sensing the ship situation and the ship navigation state, a control performance sensing acquisition unit for sensing the ship control performance and/or a ship equipment state sensing acquisition unit for sensing the ship equipment state;
the environment sensing acquisition unit, the navigation situation sensing acquisition unit, the control performance sensing acquisition unit and the ship equipment state sensing acquisition unit are deployed on the ship to form a distributed acquisition state.
Specifically, the specific implementation of the main controller 1, the dynamic test data acquisition unit, and the deployment on the ship may refer to fig. 1, 2, and the above description, and will not be repeated herein.
Claims (2)
1. A ship end data acquisition system for dynamic test is characterized by comprising a main controller (1) and a dynamic test data acquisition unit which is adaptively connected with the main controller (1), wherein,
the dynamic test data acquisition unit comprises an environment sensing acquisition unit for sensing the ship navigation environment, a navigation situation sensing acquisition unit for sensing the ship situation and the ship navigation state, a control performance sensing acquisition unit for sensing the ship control performance and/or a ship equipment state sensing acquisition unit for sensing the ship equipment state;
the ship equipment comprises an environment sensing and collecting unit, a navigation situation sensing and collecting unit, a control performance sensing and collecting unit and a ship equipment state sensing and collecting unit, wherein the environment sensing and collecting unit, the navigation situation sensing and collecting unit, the control performance sensing and collecting unit and the ship equipment state sensing and collecting unit are in a distributed collecting state on a ship;
the environment sensing acquisition unit, the navigation situation sensing acquisition unit, the control performance sensing acquisition unit and the ship equipment state sensing acquisition unit are connected with the main controller (1) in an adapting way through the intelligent gateway and the switch (15) connected with the intelligent gateway in an adapting way,
the main controller (1) performs data interaction with a ship base station through a ship communication module (24);
the environment perception acquisition unit comprises a radar wave detector (5), a comprehensive weather detector (6), a visibility detector (4) and/or a sounding instrument (29), wherein,
the visibility meter (4) is used for measuring the atmospheric visible distance, wherein the visibility meter (4) is deployed on a compass deck of a ship where the visibility meter is positioned;
the radar wave meter (5) is used for acquiring marine power environment data of a marine environment where the ship is located, wherein the marine power environment data comprise wave height, wave period, wave direction, flow speed or flow direction, a server of the radar wave meter (5) is deployed in a cab of the ship where the ship is located, and an antenna of the radar wave meter (5) is deployed on a compass deck of the ship where the ship is located;
the comprehensive weather instrument (6) is used for acquiring weather information of a marine environment where the ship is located, wherein the acquired weather information of the marine environment comprises atmospheric pressure, atmospheric temperature and/or atmospheric humidity, and the comprehensive weather instrument (6) is deployed on a mast of the ship where the ship is located;
a depth finder (29) for measuring the depth of water at the location of the vessel;
the environment-aware acquisition unit further comprises a laser range finder set, wherein,
the laser range finder group comprises a bow laser range finder (7) for measuring the relative berth distance of the bow and a stern laser range finder (8) for measuring the relative berth distance of the stern,
the bow laser range finder (7) is arranged at the bow of the ship, and the stern laser range finder (8) is arranged at the stern of the ship;
the bow laser range finder (7) and the stern laser range finder (8) are connected with the switch (15) in an adaptive manner by using a third intelligent gateway (21) of the main deck which is arranged on the main deck;
the navigation situation sensing acquisition unit comprises an inertial navigator (2), a panoramic vision system (3), a GPS unit (25), an AIS unit (26), a log (27), an electronic compass (28) and/or a navigation radar (30), wherein,
the inertial navigator (2) is used for acquiring the navigational speed, the heading, the longitude and latitude coordinates, the heading angle, the pitching angle, the rolling angle, the pitching angular speed, the rolling angular speed, the linear acceleration and/or the angular speed of the ship, wherein a host of the inertial navigator (2) is deployed in a cab of the ship, and an antenna of the inertial navigator (2) is deployed on a compass deck of the ship;
the panoramic vision system (3) is used for detecting and identifying moving or static obstacles around the ship, wherein a server of the panoramic vision system (3) is deployed in a cab of the ship, and the panoramic vision host is deployed on a compass deck of the ship;
the GPS unit (25) is used for acquiring longitude and latitude coordinates, heading and ground speed of the ship;
the AIS unit (26) is used for acquiring longitude and latitude coordinates, heading and ground speed of other ships around the ship;
a log (27) for acquiring the speed of the ship;
an electric compass (28) for acquiring the heading angle of the ship;
the navigation radar (30) is used for acquiring longitude and latitude coordinates, heading, ground speed and distance and azimuth of other ships around the ship;
the inertial navigator (2) and the panoramic vision system (3) are connected with the switch (15) in an adaptive manner through a first gateway (16) of the cab arranged in the cab, and the GPS unit (25), the AIS unit (26), the log (27), the electronic compass (28) and the navigation radar (30) are connected with the switch (15) in an adaptive manner through a second gateway (23) of the cab arranged in the cab;
the control performance sensing and collecting unit comprises a rudder angle sensor group, a shaft power instrument group and a shaft thrust instrument group, wherein,
the rudder angle sensor group comprises at least one rudder angle sensor (9) for measuring an actual rudder angle, and the rudder angle sensor (9) is arranged around a rudder stock;
the shaft power instrument set comprises at least one shaft power instrument (10), wherein the shaft power instrument (10) is deployed on an intermediate shaft of a ship and is used for measuring the rotating speed, steering, shaft torque and shaft power of the ship;
the shaft thrust instrument set comprises at least one shaft thrust instrument (11), wherein the shaft thrust instrument (11) is deployed on an intermediate shaft of a ship and is used for measuring the thrust of the ship shaft;
the ship equipment state sensing and collecting unit comprises a propeller intelligent integrated propulsion device monitoring system (12), an intelligent deep-sea winch monitoring system (13) and/or a wind power boosting rotor long-term monitoring system (14), wherein,
the system for monitoring the intelligent integrated propeller device of the propeller (12) is deployed in the engine room of the ship, and is used for monitoring the temperature, the operating current frequency, the operating voltage, the operating phase current, the operating electric power, the operating power factor and/or the rotating speed of the propeller of the intelligent integrated propeller device of the propeller;
the intelligent deep sea winch monitoring system (13) is deployed on a main deck of a ship, and is used for monitoring current and temperature of a cable storage roller motor, current and temperature of a tractor motor, cooling oil temperature of a cable storage roller, cooling oil temperature of a tractor, current and temperature of a cable discharging device motor, cooling oil pump outlet pressure of a winch, cooling oil pump station liquid level of the winch, winch brake oil pump outlet pressure, winch brake oil temperature, winch cabin temperature and humidity, variable frequency control room temperature and humidity and/or wire acceleration, angular speed and cable tension of a winch laying object;
the wind power-assisted rotor long-term monitoring system (14) is deployed on the wind power-assisted rotor and is used for monitoring rotor rotating speed, rotor steering, motor rotating speed, motor steering, internal tower structure strain, base vibration acceleration, motor vibration acceleration, rotor energy consumption, barrel temperature, motor surface temperature, bearing temperature and/or limiting wheel temperature.
2. The ship end data acquisition system for dynamic testing according to claim 1, wherein: the main controller (1) and the switch (15) are both arranged in the cab of the ship.
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