CN204480049U - A kind of automatic ship anchoring system - Google Patents
A kind of automatic ship anchoring system Download PDFInfo
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- CN204480049U CN204480049U CN201520217170.5U CN201520217170U CN204480049U CN 204480049 U CN204480049 U CN 204480049U CN 201520217170 U CN201520217170 U CN 201520217170U CN 204480049 U CN204480049 U CN 204480049U
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Abstract
The utility model relates to a kind of automatic ship anchoring system.Information acquisition module, comprise and be arranged in the ultrasonic distance-measuring sensor of boats and ships surrounding and the image acquiring sensor of stern, ultrasonic distance-measuring sensor is for gathering the range data of boats and ships and peripheral obstacle, and image acquiring sensor is for gathering the Surface Picture information of stern when boats and ships retreat; Information transmission modular, for transmitting after the range data of real-time reception information acquisition module collection and image information; Message processing module, for receiving range data and image information, described message processing module is connected with the communication of boats and ships master controller and is used for accepting enabling signal; Message output module, it comprises powered actuation mechanism, and powered actuation mechanism is connected with the output terminal of message processing module; To moor a boat action according to the information and executing that message processing module exports.The utility model device is simple, and all devices are all arranged on boats and ships surrounding, without the need to transforming bank.
Description
Technical field
The utility model relates to ship control field, particularly a kind of automatic ship anchoring system, is more particularly that one is arranged on boats and ships, can utilizes the system of sensor automatic ship anchoring.
Background technology
Along with people more and more improve the concern of environment, there is the middle-size and small-size autonomous ship of environmental monitoring.This kind of ship, without the need to artificial manipulation, monitors task at the waters execution environment of setting automatically.Due to unmanned, boats and ships cannot be stopped automatically, so in the urgent need to researching and developing a kind of system that can realize automatic ship anchoring.
Current spitkit ship time on the berth is all wait boats and ships after harbour, and manually by rope, ship is pulled to fixed position, this method wastes time and energy, and often the situation of hull accident collision can occur.Such as middle-size and small-size pleasure-boat, usual visitor does not possess the ability oneself controlling rope, so need bank to need staff on duty.
Existing correlation technique at present, if boats and ships are automatically near the magnetic mooring apparatus system of harbour, this system realizes the automatic ship anchoring of boats and ships by the absorption of magnetic force, reduce the labour intensity of operating personnel, the very high requirement but magnetic force is adjusted the distance, need boats and ships to have positioning system very accurately, fore wants aligned magnetic power apparatus, increase the technical requirement of driver, and required energy consumption is comparatively large, at present only for large ship.In the world, have one turret mooring floating watercraft system, in this system, capstan head has a draw-gear, and for applying a power on mooring chain cable or standpipe, same energy consumption is high, and required device is large, and needs custom-designed harbour or king-post.
Utility model content
Technical problem to be solved in the utility model is to overcome defect that the existing manually mode of mooring a boat wastes time and energy and magnetic force berthing device to driver requested height, energy consumption is high and cost is high problem.A kind of automatic ship anchoring system is provided.
The utility model is achieved in that a kind of automatic ship anchoring system, comprises
Information acquisition module, comprise: be arranged in the ultrasonic distance-measuring sensor of boats and ships surrounding and the image acquiring sensor of stern, wherein, ultrasonic distance-measuring sensor is for gathering the range data of boats and ships and peripheral obstacle, and described image acquiring sensor is for gathering the Surface Picture information of stern when boats and ships retreat;
Information transmission modular, its input end is connected with the output terminal of information acquisition module, for transmitting after the range data of information acquisition module collection described in real-time reception and image information;
Message processing module, its input end is connected with the output terminal of information transmission modular, and for receiving range data and image information, described message processing module is connected with the communication of boats and ships master controller and is used for accepting enabling signal;
Message output module, it comprises powered actuation mechanism, and described powered actuation mechanism is connected with the output terminal of message processing module; To moor a boat action according to the information and executing that message processing module exports.
Further preferably, described message output module also includes display module, and described display module is connected with the output terminal of message processing module; Show according to the image that message processing module exports.Further preferably, state message output module and also include voice module, described voice module is connected with the output terminal of message processing module and carries out speech play.
Further preferably, the quantity being arranged in the described ultrasonic distance-measuring sensor of boats and ships surrounding is 8, the quantity of described image acquiring sensor is 1.
Further preferably, above the bow extreme draft line that described ultrasonic sensor is arranged at boats and ships respectively, above ship right extreme draft line, above ship starboard extreme draft line, above ship side right extreme draft line, above stern extreme draft line, above ship side left extreme draft line, above port extreme draft line, above the left extreme draft line of ship; Described image acquiring sensor is arranged at the stern main deck top of boats and ships.
Further preferably, what described message processing module adopted is model is the ARM microcontroller of MK60DN512ZVLQ10.
Further preferably, described information transmission modular adopts integrated PCB plate, for reducing the use of wire, reduces electric leakage risk.
Compared with prior art, beneficial effect is the utility model: the utility model device is simple, and all devices are all arranged on boats and ships surrounding, without the need to transforming bank; System is simply efficient, adjusts system data when only need install according to dimension of ship; Boats and ships surrounding eight orientation are provided with ultrasonic sensor, can 360 degree of Distance geometry attitude angular relationships precisely measuring marine and barrier, path planning of reasonably mooring a boat.Save time and moor a boat accurately.
Accompanying drawing explanation
Fig. 1 is the circuit system module frame chart that the utility model embodiment provides;
Fig. 2 is the arrangement schematic diagram of information acquisition module on boats and ships that the utility model embodiment provides.
Embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
See Fig. 1, the utility model provides a kind of automatic ship anchoring system, and this system comprises: information acquisition module, information transmission modular, message processing module and message output module.
Information acquisition module, comprise: be arranged in eight ultrasonic distance-measuring sensors of boats and ships surrounding and the image acquiring sensor of stern, wherein, ultrasonic distance-measuring sensor is for gathering the range data of boats and ships and peripheral obstacle, and image acquiring sensor is for gathering the Surface Picture information of boats and ships afterbody.Wherein, ultrasonic distance-measuring sensor and the image acquiring sensor distributing position on boats and ships as shown in Figure 2, above the bow extreme draft line that ultrasonic sensor is arranged at boats and ships respectively 2, above ship right extreme draft line 1, above ship starboard extreme draft line 8, above ship side right extreme draft line 7, above stern extreme draft line 6, above ship side left extreme draft line 5, above port extreme draft line 4, above the left extreme draft line of ship 3; Described image acquiring sensor is arranged at the stern main deck top 9 of boats and ships.
Information transmission modular, its input end is connected with the output terminal of information acquisition module, and the range data gathered for real-time reception information acquisition module and image information, be transferred to the range data received, image information in message processing module.
Message processing module, its input end is connected with the output terminal of information transmission modular, for receiving range data and image information, described message processing module is connected range data, image information and the enabling signal transmitted for receiving information transmission modular for accepting enabling signal with the communication of boats and ships master controller.After receiving enabling signal, start automatic ship anchoring system, according to the described range data of the described boats and ships received with peripheral obstacle, select mode of mooring a boat and plan path of mooring a boat.Start to carry out automatic ship anchoring.In automatic ship anchoring process, by the boats and ships of information acquisition module Real-time Obtaining information transmission modular transmission and the range data of peripheral obstacle and image information, to mooring a boat, path adjusts in real time; The ARM microcontroller of to be model the be MK60DN512ZVLQ10 that message processing module adopts.
Message output module, comprise powered actuation mechanism, voice module and display module, for receiving image information that message processing module sends to display module, activation bit is to ship power topworks, and boats and ships moor a boat progress information to described voice module send voice reminder.
Display module by image information display on boat-carrying or ground display screen.
Powered actuation mechanism is ship power motor, exports PWM digital signal by D/A converting circuit, signal amplification circuit by arm processor, and the high voltage of the corresponding steering order obtained, big current signal are controlled boats and ships and carry out corresponding change in location.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (7)
1. an automatic ship anchoring system, is characterized in that: comprise
Information acquisition module, comprise: be arranged in the ultrasonic distance-measuring sensor of boats and ships surrounding and the image acquiring sensor of stern, wherein, ultrasonic distance-measuring sensor is for gathering the range data of boats and ships and peripheral obstacle, and described image acquiring sensor is for gathering the Surface Picture information of stern when boats and ships retreat;
Information transmission modular, its input end is connected with the output terminal of information acquisition module, for transmitting after the range data of information acquisition module collection described in real-time reception and image information;
Message processing module, its input end is connected with the output terminal of information transmission modular, and for receiving range data and image information, described message processing module is connected with the communication of boats and ships master controller and is used for accepting enabling signal;
Message output module, it comprises powered actuation mechanism, and described powered actuation mechanism is connected with the output terminal of message processing module; To moor a boat action according to the information and executing that message processing module exports.
2. according to automatic ship anchoring system according to claim 1, it is characterized in that: described message output module also includes display module, described display module is connected with the output terminal of message processing module; Show according to the image that message processing module exports.
3. according to automatic ship anchoring system according to claim 1, it is characterized in that: described message output module also includes voice module, described voice module is connected with the output terminal of message processing module and carries out speech play.
4. according to automatic ship anchoring system according to claim 1, it is characterized in that: the quantity being arranged in the described ultrasonic distance-measuring sensor of boats and ships surrounding is 8, the quantity of described image acquiring sensor is 1.
5. according to the automatic ship anchoring system described in claim 1 or 4, it is characterized in that: above the bow extreme draft line that described ultrasonic sensor is arranged at boats and ships respectively, above ship right extreme draft line, above ship starboard extreme draft line, above ship side right extreme draft line, above stern extreme draft line, above ship side left extreme draft line, above port extreme draft line, above the left extreme draft line of ship; Described image acquiring sensor is arranged at the stern main deck top of boats and ships.
6. according to automatic ship anchoring system according to claim 1, it is characterized in that: what described message processing module adopted is model is the ARM microcontroller of MK60DN512ZVLQ10.
7. according to automatic ship anchoring system according to claim 1, it is characterized in that: described information transmission modular adopts integrated PCB plate, for reducing the use of wire, reducing electric leakage risk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520217170.5U CN204480049U (en) | 2015-04-13 | 2015-04-13 | A kind of automatic ship anchoring system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520217170.5U CN204480049U (en) | 2015-04-13 | 2015-04-13 | A kind of automatic ship anchoring system |
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| CN204480049U true CN204480049U (en) | 2015-07-15 |
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| CN201520217170.5U Expired - Fee Related CN204480049U (en) | 2015-04-13 | 2015-04-13 | A kind of automatic ship anchoring system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105159296A (en) * | 2015-09-09 | 2015-12-16 | 广州睿航电子科技有限公司 | Unmanned ship anti-wave cruise control method and system |
| CN105785990A (en) * | 2016-02-26 | 2016-07-20 | 江苏科技大学 | Ship parking system based on panoramic viewing and barrier identification method |
| CN106896815A (en) * | 2017-03-16 | 2017-06-27 | 南京信息工程大学 | A kind of automatic mooring system of unmanned boat and method |
| CN107045344A (en) * | 2017-01-20 | 2017-08-15 | 武汉理工大学 | A kind of intelligent ship mooring arrangement |
| CN107065878A (en) * | 2017-05-12 | 2017-08-18 | 大连海事大学 | A kind of automatic docking system of ship and method |
| CN109739238A (en) * | 2019-01-16 | 2019-05-10 | 大连海事大学 | A kind of ship automatic berthing system and its working method |
| CN109733537A (en) * | 2018-12-19 | 2019-05-10 | 智慧航海（青岛）科技有限公司 | A kind of unmanned ship independently casts anchor control method and system |
| CN110927728A (en) * | 2019-12-12 | 2020-03-27 | 南通中远海运船务工程有限公司 | Automatic berthing system for ship |
| CN115214866A (en) * | 2016-03-29 | 2022-10-21 | 梅德Ip控股有限公司 | Automatic positioning and placing system |
-
2015
- 2015-04-13 CN CN201520217170.5U patent/CN204480049U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105159296A (en) * | 2015-09-09 | 2015-12-16 | 广州睿航电子科技有限公司 | Unmanned ship anti-wave cruise control method and system |
| CN105785990A (en) * | 2016-02-26 | 2016-07-20 | 江苏科技大学 | Ship parking system based on panoramic viewing and barrier identification method |
| CN105785990B (en) * | 2016-02-26 | 2019-01-11 | 江苏科技大学 | Ship mooring system and obstacle recognition method based on panoramic looking-around |
| CN115214866A (en) * | 2016-03-29 | 2022-10-21 | 梅德Ip控股有限公司 | Automatic positioning and placing system |
| CN115214866B (en) * | 2016-03-29 | 2024-01-12 | 梅德Ip控股有限公司 | Automatic positioning and placing system |
| CN107045344A (en) * | 2017-01-20 | 2017-08-15 | 武汉理工大学 | A kind of intelligent ship mooring arrangement |
| CN106896815A (en) * | 2017-03-16 | 2017-06-27 | 南京信息工程大学 | A kind of automatic mooring system of unmanned boat and method |
| CN106896815B (en) * | 2017-03-16 | 2023-08-22 | 南京信息工程大学 | Automatic berthing system and method for unmanned ship |
| CN107065878A (en) * | 2017-05-12 | 2017-08-18 | 大连海事大学 | A kind of automatic docking system of ship and method |
| CN109733537A (en) * | 2018-12-19 | 2019-05-10 | 智慧航海（青岛）科技有限公司 | A kind of unmanned ship independently casts anchor control method and system |
| CN109739238A (en) * | 2019-01-16 | 2019-05-10 | 大连海事大学 | A kind of ship automatic berthing system and its working method |
| CN110927728A (en) * | 2019-12-12 | 2020-03-27 | 南通中远海运船务工程有限公司 | Automatic berthing system for ship |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Qiu Chunling Inventor after: Bai Yuxin Inventor after: Yu Zining Inventor after: Gu Jiayue Inventor after: Wang Kai Inventor before: Qiu Chunling Inventor before: Bai Yuxin Inventor before: Yu Zining Inventor before: Gu Jiayue Inventor before: Wang Kai |
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| COR | Change of bibliographic data | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150715 Termination date: 20160413 |
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| CF01 | Termination of patent right due to non-payment of annual fee |