CN202177801U - Remote control device for ship anchoring - Google Patents
Remote control device for ship anchoring Download PDFInfo
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- CN202177801U CN202177801U CN2011203407596U CN201120340759U CN202177801U CN 202177801 U CN202177801 U CN 202177801U CN 2011203407596 U CN2011203407596 U CN 2011203407596U CN 201120340759 U CN201120340759 U CN 201120340759U CN 202177801 U CN202177801 U CN 202177801U
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Abstract
The utility model provides a remote control device for ship anchoring. The remote control device for the ship anchoring comprises a main control module part, a controlled end and a wireless communication module, wherein the controlled end is arranged on a ship and comprises a ship position and an anchor gear environmental parameter detecting module, an image acquisition module and an anchor gear driving module. In the remote control device for the ship anchoring, a proper modulating mode and a proper transmission power are selected to realize the anchoring control over 1km away, and an effective distance can be flexibly regulated according to the distance of a target, therefore, an operator does not need to board the ship to control the anchoring operation; the working state and the working environment of the abovewater part of an anchoring system are collected in real time through a digital camera, and the information of the working conditions of the anchor gear at the controlled end is monitored by the digital camera, therefore, the proper regulation can be performed for the anchoring operation according to specific conditions such as wind direction, wind speed, wave, etc.
Description
Technical field
The utility model relates to boats and ships support equipment and technical field, particularly, relates to a kind of Ship Anchoring remote control.
Background technology
Anchorage, China marine site is numerous, and the Ship Anchoring automatic control level is not high in the anchorage, and when extreme weathers such as typhoon lands took place, the safety issue of boats and ships was faced with baptism.Operation such as cast anchor at present, weigh anchor is undertaken by manual work basically by rule of thumb, to the research of anchoring Long-distance Control and security still blank out almost.But the Dragging and the bridge accident that crashes, hits that causes thus are on the increase in recent years, for address the above problem at all, need exploitation and use anchoring operation remote control.
Anchoring operation remote control for example one Chinese patent application number be a kind of such structure that " anchor system is thrown, risen in unmanned barge remote control " of CN200710045667.3 discloses: a kind of unmanned barge remote control is thrown, an anchor system; Comprise diesel generator set, switchboard, throwing, anchor windlass; PLC control system and Digiplex; It is characterized in that operating personnel are through the instruction of Digiplex emission related work, receiver is through after accepting antenna and receiving signal; Processing is reduced into the relevant work instruction; To instruct to pass to the PLC control system with signal wire, the PLC control system is controlled diesel generator set and throwing, anchor windlass with control program according to instruction, thereby the receipts anchor of startup, operation, parking and the windlass of realization Remote diesel-driven generator, puts anchor.But this patent only is adapted at the control of anchoring of inland river environment, and since the working environment of marine ships to be characteristics such as wind, wave, stream complicated more than the inland river, therefore very big with the control difference of the unmanned barge in inland river.The unmanned barge in inland river; The distance of controlled target is near, accomplishes remote control by range estimation, and marine ships cast anchor, the weigh anchor distance that controls is far away; Usually need outside 1km, operate; So can't carry out Direct observation, must adopt other equipment that mooring system is kept watch on, and need special equipment contingent fault and safe class in the anchoring process are reminded and reported to the police to operating personnel through naked eyes.
The utility model content
The problem that the utility model will solve is: the Ship Anchoring remote control that a kind of practical, safe and reliable more, suitable long distance control anchoring is provided to the problem of above-mentioned existence.
The technical scheme that the utility model adopted is: a kind of Ship Anchoring remote control; It comprises main control module part, controlled module part and with main control module part and controlled module part wireless connections wireless communication module together; Controlled module partly is arranged on the boats and ships; And include the windlass driver module at least, it is characterized in that described controlled module part also includes accommodation and windlass environmental parameter detection module and image capture module.
Preferably, described accommodation and windlass environmental parameter detection module include GPS locating device, wind speed and direction monitoring device and wave monitoring device, are convenient to vessel's position, wind speed, wave are monitored.
As improvement, described accommodation and windlass environmental parameter detection module also include warning device, and undesirable when vessel's position, perhaps wind speed, wave are excessive, in time reminding alarm.
Preferably; Described windlass driver module comprises an electric windlass; The windlass driver module can be according to the command information of said main control module part like this; Working time and operating rate to electric windlass are controlled, thereby make the utility model can realize the correlation function of control boats and ships windlass work.
Further improve, described main control module partly comprises flush bonding processor chip, display and input media, the input end of the output terminal connection processing device chip of input media, and the output terminal of the input end connection processing device chip of display.
Like this; When said main control module partly sends querying command information; Said windlass driver module is according to this querying command information; The duty of current Ship Anchoring system is sent to said main control module part as feedback information, and said main control module part shows as information to be displayed this feedback information, thereby makes the utility model can realize inquiring about the correlation function of the duty of Ship Anchoring system as Ship Anchoring Long-distance Control correlation parameter through display.
Particularly; The information to be displayed that the display of said main control module part shows comprises work information and warning message, the environmental information of said image capture module collection and the duty of the boats and ships windlass that said windlass driver module feeds back of command information, said accommodation and the transmission of windlass environmental parameter detection module that main control module is partly imported; Thereby, make anchoring control safer reliable for the operator provides detailed information.
As preferably, described wireless communication module comprises two wireless communication chips, is integrated in respectively in main control module part and the controlled module part, makes main control module part and controlled module partly carry out two-way communication through wireless communication module; Said windlass driver module receives and carries out each command information that said main control module is partly sent through said wireless communication module, and control boats and ships windlass carries out the work of folding and unfolding anchor, and the rotating speed of detection windlass turns to.
As preferably, described image capture module comprises digital camera, makes the operating personnel of main control module part can observe the environment around the boats and ships like this, and safe ready more operates.
At last, said main control module also comprises reservoir, and said reservoir is stored the command information of said main control module input, thereby makes the utility model can realize the function of black box.
Compared with prior art; The advantage of the utility model is: can realize the anchoring control outside the 1km through selecting suitable modulating mode and emissive power; And can adjust coverage flexibly according to the target distance; Making operating personnel need not to climb up boats and ships is may command anchoring operation, thereby has improved anchoring operating efficiency and security, has also reduced labour intensity; Through digital camera, combination sensor; Can gather above-water duty of mooring system and working environment in real time; And the windlass work information of supervision controlled module part; Can make in good time adjustment to the anchoring operation according to concrete conditions such as wind direction, wind speed, waves, thus significant to improving anchoring operation automation and security; Abandoning the traditional design scheme based on special IC, is main hardware with flush bonding processor and wireless communication chips, based on programmable processor the anchoring control device is designed; Have advantages such as strong, the easy upgrading of dirigibility; Under the constant prerequisite of hardware, just can the imparting system different functions through update routine, thereby the different anchoring of different ships classifications are had bigger adaptability; Reduce design cost, also had the potential advantages that are prone to popularization.
Description of drawings
Fig. 1 shows the overall construction drawing of the Ship Anchoring Long-distance Control dress that provides among the utility model embodiment 1.
Fig. 2 shows the schematic appearance of the main control module part that provides among the utility model embodiment 1.
Fig. 3 shows the hardware configuration synoptic diagram of the main control module part that provides among the utility model embodiment 1.
Fig. 4 shows accommodation and the structural representation of windlass environmental parameter detection module among the utility model embodiment 1.
Fig. 5 shows the structural representation of the image capture module among the utility model embodiment 1.
Fig. 6 shows the workflow synoptic diagram of the image capture module among the utility model embodiment 1.
Fig. 7 shows the synoptic diagram of the windlass driver module among the utility model embodiment 1.
Embodiment
Embodiment describes in further detail the utility model below in conjunction with accompanying drawing:
Embodiment 1: extremely shown in Figure 7 like Fig. 1; Ship Anchoring remote control in the present embodiment, this device is a main hardware with flush bonding processor chip and wireless communication module, makes the windlass operator need not to climb up boats and ships; Can accomplish the anchoring operation at control end through the utility model; In disasteies such as typhoon, tsunami, need not sending someone goes on board carries out scene anchoring operation, gathers the above-water working environment of mooring system in real time through digital camera; Keep watch on the windlass work information of controlled end through accommodation and windlass environmental parameter detection module; Thereby it is according to concrete conditions such as wind direction, wind speed, waves in good time adjustment is made in the anchoring operation, and can also be fed back the duty of boats and ships windlass, thereby significant to improving anchoring operation automation and security through the windlass driver module.
The Ship Anchoring remote control comprises main control module part, controlled module part and with main control module part and controlled module part wireless connections wireless communication module together; The controlled module part includes the windlass driver module at least; Controlled module partly is arranged on the boats and ships, and its key is that described controlled module part also includes accommodation and windlass environmental parameter detection module and image capture module.
Wherein accommodation and windlass environmental parameter detection module, windlass driver module and image capture module are arranged on the boats and ships, thereby form controlled end; Main control module part then is installed to the land, thereby forms control end, for example in the harbour, in the beacon, on the automobile or carry, thereby conveniently carries out the work of Ship Anchoring Long-distance Control in different places.And wireless communication module comprises two wireless communication chips, is integrated in respectively in main control module part and the controlled module part.
Particularly, main control module partly comprises flush bonding processor chip, display, reservoir and input media, the input end of the output terminal connection processing device chip of input media, and the output terminal of the input end connection processing device chip of display.The controlled module part also includes accommodation and windlass environmental parameter detection module and image capture module.Accommodation and windlass environmental parameter detection module include GPS locating device, wind speed and direction monitoring device and wave monitoring device.Accommodation and windlass environmental parameter detection module can further include a warning device.The windlass driver module comprises an electric windlass.Image capture module comprises digital camera.Wireless communication module with main control module part with the controlled module part wireless connections be in the same place, wireless communication module comprises two wireless communication chips, be integrated in respectively main control module part and controlled module partly in, intercom mutually.At last, the main control module part also comprises reservoir.
Outward appearance and hardware configuration such as Fig. 2 and shown in Figure 3 of main control module part (main control computer) see on the structure by the partially embedded processor chips S3C2440A of main control module, LCD display, clock chip DS12887, button (being input media), reservoir and reset circuit etc. and form.Have corresponding Ship Anchoring remote control program in the main control module part, can in programs menu, select corresponding order to export through the button that is arranged on the main control module part.LCD display display routine menu list, through button can the switching displayed time, the content of windlass operation and the information such as operating mode picture of controlled end windlass.Main control module part provides standard time clock by clock chip DS12887, and input end of clock and sheet select port all by the port controlling of main control computer.The main control module part can start the windlass work information of digital camera, collection and the receiving slave end of controlled end, and under suitable windlass operating mode, sends the anchoring telecommand through button.Input media also can be other devices, for example device such as touch-screen or mouse.
Main control module partly through starting the power supply of accommodation and windlass environmental parameter detection module, makes the sensor of accommodation and windlass environmental parameter detection module gather and transmit information such as vessel position and wind speed, and reads and discern the warning message that warning device sends.Under suitable windlass environmental baseline, main control module partly sends the anchoring telecommand through button, and control windlass driver module carries out anchoring work.Start the controlled end image capture module, the pictorial information that receiving slave end image capture module sends, and decompress(ion), read and drive LCD display and show the windlass picture.Main control module part after the entering program, at first through button command information such as in the main control module part, select to cast anchor, weigh anchor, is stored into this command information in the reservoir in use again, thereby plays the effect of black box registering instrument; The main control module part sends through wireless communication module after command informations such as this casts anchor, weighs anchor are handled then, and whole process is shown by LCD display, with handled easily.For example can show, select needed function through upwards or downward button through the LCD display information of carrying out, press confirm key after, function just is selected, and sends and carry out function corresponding information then.The information to be displayed that the LCD display of main control module part mainly shows comprises the work information of command information, accommodation and the detection of windlass environmental parameter detection module that main control module is partly imported, the environmental information of image capture module collection and the duty of the boats and ships windlass that the windlass driver module feeds back.Wherein, the command information that main control module is partly imported shows through LCD display when operating personnel operate at any time, with handled easily.The work information of accommodation and the detection of windlass environmental parameter detection module just shows after startup in real time, and warning message is given prominence to demonstration and carried out audible alarm on LCD display.The working environment information of the mooring system that image capture module is gathered; Then need main control module partly to send querying command to image capture module through wireless communication module; Image capture module is by this querying command; The environmental information of the boats and ships windlass of digital camera collection is sent to the main control module part, and on LCD display, show.The duty of the boats and ships windlass of windlass driver module feedback then shows when work in real time; With control boats and ships windlass start, rotating speed control, stall realize the operation of receiving anchor and putting anchor; And the main control module part can be monitored the parameter or the duty of boats and ships windlass; When breaking down, can carry out alarm.
Accommodation and windlass environmental parameter detection module comprise a plurality of sensors and warning device, and its principle of work is as shown in Figure 4.Particularly; These sensors can be GPS alignment sensor and wind speed wind direction sensor, wave sensor etc.; Respectively with boats and ships on GPS locating device and wind speed and direction monitoring device, wave monitoring device link to each other, thereby detect the required work information of Ship Anchoring.
This work information comprises near the information such as wind direction, wind speed and wave the boats and ships windlass.Accommodation and windlass environmental parameter detection module come identification automatically to judge whether current windlass operating mode is fit to the operation of anchoring according to the detected various information of the sensor, and this work information is sent to main control module partly show.When sensor to windlass work information be not suitable for anchoring when operation, warning device partly sends warning message to main control module, main control module partly shows that through display above-mentioned warning message supplies operating personnel's reference; The operation of can anchoring of main control module part is then notified in the operation if work information is fit to anchor,
The hardware configuration of image capture module is as shown in Figure 5, and the workflow of image capture module is as shown in Figure 6.Image capture module is made up of embedded chip S3C2440A, cmos digital camera, FLASH storer, USB controller CY7C68013A, radio transmitting and receiving chip nRF2401 etc.The cmos digital camera can be gathered the above-water working environment of mooring system in real time; Near thereby concrete working environment such as wind direction, wave and windlass position etc. the auxiliary judgment boats and ships; Thereby this information is transferred to the main control module part through wireless communication module; The situation that the LCD display of main control module part is taken the cmos digital camera shows; Landform made the order indication to anchoring and mooring system near operating personnel just can judge boats and ships according to this display frame, the anchor and control its speed, two anchors of perhaps when typhoon or narrow channel, dishing out of for example dishing out.
Particularly; After image capture module receives the anchoring operational order of main control module part; At first carry out initialization, comprise, load camera and USB controller driver the initialization of linux operating system in the initialization of USB controller and radio transmitting and receiving chip and the embedded chip.After initialization is accomplished, take a frame PPM format-pattern by application program control camera, and be kept among the Flash.For ease of wireless transmission; After reading unpressed PPM format-pattern data; By the JPEG program in the embedded chip PPM format picture is compressed and to form the JPG formatted file, read the end points impact damper that JPG format picture file cocurrent is given the USB2.0 controller then.At last, USB2.0 controller control radio transmitting and receiving chip is given the image data transmission in the end points impact damper wireless transceiver of main control module part.After view data is received, read the end points impact damper that JPG format picture file cocurrent is given the USB2.0 controller more again.The wireless transceiver of main control module part is based on the radio receiver of a kind of similar wireless network card of PC; Accomplish the reception and the demonstration of pictorial information; Hardware configuration is the same with the nRF2401 wireless transmitter module, all is to carry out wireless transmission with USB2.0 controller CY7C68013A control nRF2401.USB2.0 controller CY7C68013A control nRF2401 wireless receiving view data, the function reading in the application call USB2.0 controller drives on the PC receives image data and preserves then, at last picture is presented on the LCD.
Wireless communication module comprises two wireless communication chips; The a pair of radio-frequency apparatus that it is based on the similar wireless network card of flush bonding processor is integrated in the inside of main control end (main control module part) and controlled end (the controlled module part that comprises image capture module, windlass driver module and accommodation and windlass environmental parameter detection module) respectively.Wireless communication module sends and reception information through radio-frequency apparatus.In the main control module part; The order of radio communication mold block transfer main control module part work request, read and show controlled module part testing result, transmit the anchoring telecommand, start the digital camera of controlled module part and transmit the windlass image data, for example the command informations such as casting anchor, weigh anchor with the main control module part sends to the windlass driver module.In controlled end, wireless communication module can also start the remote controlled end sensor and upload the windlass pictorial information, and the environmental information of windlass and the duty of windlass driver module are sent to the main control module part.The hardware of wireless communication module realizes adopting wireless transmitter module nRF2401, and nRF2401 carries out wireless transmission with USB2.0 controller CY7C68013A control.
As shown in Figure 7; The windlass driver module adopts optoelectronic isolating element, Hall element and FET etc. to be connected to form control circuit with windlass; Its feedback fraction is through the rotating speed of Hall element detection windlass, and magnet steel whenever turns around, low level of Hall component output output; Can measure the rotating speed of current electric windlass through detecting this low level, and this rotary speed information is transferred to main control module through wireless communication module partly supplies operating personnel's reference.
Windlass driver module control boats and ships windlass starts, rotating speed control, stall realize the operation of receiving anchor and putting anchor; And the anchoring work under particular surroundings; For example a dish out anchor and control its speed, two anchors of perhaps when typhoon or narrow channel, dishing out, and the rotating speed that detects windlass turns to.Behind main control module part basis the windlass work information and environmental information that receive, after affirmation can be anchored and operated, the boats and ships windlass is carried out straighforward operation through the button input.Wherein, Because the boats and ships windlass is an electric windlass; The rotating speed control of electric windlass is the PWM ripple of exporting certain dutycycle through the pin of the processor chips S3C2440A of main control module part, and the windlass driver module is recently confirmed the rotating speed of electric windlass according to the duty of the PWM ripple that receives.
Ship Anchoring remote control in the present embodiment is at first partly sent the order of query request by main control module; Send to accommodation and environmental parameter detection module through wireless communication module; Open the latter's power supply, let environmental informations such as the current accommodation of its fast detecting, wind speed, wind direction.If environmental parameter is unusual, close the windlass power supply immediately, partly send the sound and light alarm signal through wireless communication module to main control module simultaneously; If environmental parameter in normal range, is then notified the operation of can anchoring of main control module part, start image capture module simultaneously, promptly start digital camera the working environment of windlass is taken pictures, view data is transferred to the main control module part after compression.In addition, in the anchoring operating process, main control module part regularly detects and uploads the running parameter of windlass through the windlass driver module, for example the rotating speed of windlass, parameter such as turn to.
Particularly; Can carry out the Ship Anchoring Long-distance Control as follows: query steps: main control module partly sends querying command through wireless communication module to accommodation and environmental parameter detection module, and accommodation and environmental parameter detection module detect environmental informations such as current accommodation, wind speed, wind direction by this querying command; Determining step: accommodation and environmental parameter detection module judge according to environmental informations such as detected current accommodation, wind speed, wind directions whether current environmental parameter is unusual; Close step: if environmental parameter is unusual, close the windlass power supply immediately, partly send the sound and light alarm signal through wireless communication module to main control module simultaneously; Anchoring step:, then partly send the signal of the operation of can anchoring to main control module through wireless communication module if environmental parameter is normal; Acquisition step: main control module partly starts image capture module; Promptly starting digital camera takes pictures to the windlass working environment; View data is transferred to the main control module part after compression, and the environmental information of the boats and ships windlass of digital camera collection is sent to the main control module part; Step display: the LCD display of main control module part demonstrates the environmental information of above-mentioned boats and ships windlass; Set-up procedure: the current required running parameter of boats and ships windlass is confirmed in environmental information and duty adjustment according to the boats and ships windlass; Input step:, and partly import command information such as cast anchor, weigh anchor through main control module according to the current required running parameter of boats and ships windlass; Forwarding step: each command information that the main control module part will be imported is handled, and sends through the windlass driver module of wireless communication module to the controlled module part; Receiving step: the windlass driver module receives the command information that main control module partly sends through wireless communication module; Controlled step: the windlass driver module is according to the work of the command information control boats and ships windlass that receives; Feedback step: the windlass driver module is gathered the running parameter of boats and ships windlass, and this running parameter is fed back to main control module partly shows; Execution in step: the boats and ships windlass is carried out the work such as casting anchor, weigh anchor of corresponding time and speed according to the control of windlass driver module.
Claims (8)
1. Ship Anchoring remote control; It comprises main control module part, controlled module part and with main control module part and controlled module part wireless connections wireless communication module together; Controlled module partly is arranged on the boats and ships; And the controlled module part includes the windlass driver module at least, it is characterized in that described controlled module part also includes accommodation and windlass environmental parameter detection module and image capture module.
2. Ship Anchoring remote control according to claim 1 is characterized in that described accommodation and windlass environmental parameter detection module include GPS locating device, wind speed and direction monitoring device and wave monitoring device.
3. Ship Anchoring remote control according to claim 2 is characterized in that described accommodation and windlass environmental parameter detection module also include warning device.
4. Ship Anchoring remote control according to claim 1 is characterized in that described windlass driver module comprises an electric windlass.
5. Ship Anchoring remote control according to claim 1 is characterized in that described image capture module comprises digital camera.
6. according to the described Ship Anchoring remote control of any claim of claim 1～5; It is characterized in that described main control module partly comprises flush bonding processor chip, display and input media; The input end of the output terminal connection processing device chip of input media, and the output terminal of the input end connection processing device chip of display.
7. Ship Anchoring remote control according to claim 6 is characterized in that described wireless communication module comprises two wireless communication chips, is integrated in respectively in main control module part and the controlled module part, intercoms mutually.
8. Ship Anchoring remote control according to claim 7 is characterized in that described main control module part also comprises reservoir.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203407596U CN202177801U (en) | 2011-02-24 | 2011-08-31 | Remote control device for ship anchoring |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120050574.1 | 2011-02-24 | ||
| CN201120050574 | 2011-02-24 | ||
| CN2011203407596U CN202177801U (en) | 2011-02-24 | 2011-08-31 | Remote control device for ship anchoring |
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| CN202177801U true CN202177801U (en) | 2012-03-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011203407596U Expired - Fee Related CN202177801U (en) | 2011-02-24 | 2011-08-31 | Remote control device for ship anchoring |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104881056A (en) * | 2015-05-29 | 2015-09-02 | 中国海洋石油总公司 | Semisubmersible platform anchoring automatic control system |
| CN110498028A (en) * | 2019-08-15 | 2019-11-26 | 王静波 | Inland river electrification transportation system and its implementation |
-
2011
- 2011-08-31 CN CN2011203407596U patent/CN202177801U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104881056A (en) * | 2015-05-29 | 2015-09-02 | 中国海洋石油总公司 | Semisubmersible platform anchoring automatic control system |
| CN110498028A (en) * | 2019-08-15 | 2019-11-26 | 王静波 | Inland river electrification transportation system and its implementation |
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Granted publication date: 20120328 Termination date: 20120831 |