CN209000234U - A kind of craft tug intelligent Collision Avoidance device - Google Patents
A kind of craft tug intelligent Collision Avoidance device Download PDFInfo
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- CN209000234U CN209000234U CN201821735981.4U CN201821735981U CN209000234U CN 209000234 U CN209000234 U CN 209000234U CN 201821735981 U CN201821735981 U CN 201821735981U CN 209000234 U CN209000234 U CN 209000234U
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- laser scanner
- craft tug
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Abstract
The utility model discloses a kind of craft tug intelligent Collision Avoidance device and control systems.The utility model anticollision device is made of laser scanner, motor push-pull device at fixed, pedestal, bracket and annulus cutting ferrule, laser scanner is fixed on the push-pull shaft front end of motor push-pull device at fixed by annulus cutting ferrule, motor push-pull device at fixed is fixedly mounted on bracket by pedestal, and bracket is fixed on craft tug.The utility model greatly strengthens tugboat functional reliability, improves work efficiency, and avoids admiralty dispute, also can be used as the voyageable important component of craft tug intelligence.
Description
Technical field
The utility model belongs to ship equipment technical field, more particularly to a kind of craft tug intelligent Collision Avoidance device and control
System processed.
Background technique
Craft tug mainly operation in port, such as assist large ship berthing manoeuver, go out docking.Craft tug has
The advantages that hull is smaller, and main engine power is high, and rate controlling is flexible is widely used.This process relies on pilot to craft tug mostly
Safe pilotage is carried out, and in harsh environment, for example there will certainly be security risk in narrow water, the lower situation of visibility
And the events such as ship collision occur so as to cause admiralty dispute.
Utility model content
First purpose of the utility model is to provide a kind of port work for capableing of automatic measurement and output safety range data
Tugboat intelligent Collision Avoidance device.
Second purpose of the utility model is to provide a kind of utilization craft tug intelligent Collision Avoidance device output safety distance
Data carry out the control system for effectively evading collision.
The utility model is that the technical solution of first purpose of realization is: intelligent Collision Avoidance device part includes laser scanning
Instrument, motor push-pull device at fixed, pedestal, bracket, annulus cutting ferrule, the laser scanner are fixed on motor push-and-pull dress by annulus cutting ferrule
The front end of axis is set, motor push-pull device at fixed is fixedly mounted on bracket by pedestal, and craft tug intelligent Collision Avoidance device can be by bracket
Be mounted on the suitable position of tugboat carry out using.Wherein laser scanner model SICK S300 series, scanning range are
270 degree of angles, can not only measure range information can also show that measurement pulls the profile diagram of hull, and enhance its environment
Sensing capability, the anticollision device and regulator control system constituted can be used as the voyageable important component of port tug intelligence.Wherein
The flexible stroke of 5m may be implemented in motor push-pull device at fixed, effectively laser scanner can be driven to be moved forward and backward.Furthermore anticollision device
Can be flexibly mounted on by bracket tugboat any suitable location carry out using.
Including two sets of anticollision devices, the bracket of a set of anticollision device is mounted on the projection top of craft tug, another set of
The bracket of anticollision device is mounted on the side of craft tug.
The motor push-pull device at fixed is made of motor and the telescopic shaft being driven by motor, the flexible stroke of motor push-pull device at fixed
For 5m, laser scanner is driven to be moved forward and backward, motor push-pull device at fixed is by power supply power supply on tugboat, by STM32 embedded controller
The instruction of sending controls.
The model SICK S300 series of the laser scanner, scanning range is 270 degree of angles.
The utility model is that the technical solution of second purpose of realization is: intelligent Collision Avoidance control system system, including STM32
Embedded controller, communication module, alarm module and PC machine, the STM32 embedded controller be separately connected laser scanner,
Alarm module and communication module, the communication module connect PC machine.
The display screen of the PC machine is touch screen, touches the sweep parameter and safe distance parameter of setting laser scanner.
The distance and profile information for pulling hull periphery are collected by laser scanner, by STM32 embedded controller root
Determine that tugboat, can be with real-time display and dangerous report whether under safety work or navigation environment according to the threshold range of setting
It is alert；Wherein the sweep parameter of laser scanner and safe distance parameter are all set by touch screen.When tugboat or its protrusion
When object is in non-security setting range, danger warning is carried out by SYM32 embedded controller controls alarm module.Laser scanning
The distance and profile information that instrument obtains can be sent to PC machine through communication module by STM32 embedded controller and be shown in real time
Show.When tugboat projection and device tugboat pull and the pushing tow course of work in, according to the range of safety operation of setting and
It is hit in the presence of braking buffering section, dragged or pushing tow hull recoil, can not only collide to avoid tugboat projection and may be used also
It drives laser scanner effectively to evade by motor push-pull device at fixed itself to be collided.Furthermore it when narrow water, needs
When close-in measurement, the moving distance of the adjustable laser scanner of motor push-pull device at fixed.
The beneficial effects of the utility model are:
The method that the craft tug device of the utility model is combined using mechanical device and automatic technology.Due to setting
Trouble free service distance, avoids tugboat projection from colliding, and there is braking buffering or by the impact of pushing tow hull
It is dangerous.Laser scanner will be regulated and controled to dragged or pushing tow hull distance by motor push-pull device at fixed, realizes that effective safety is kept away
It touches.Laser scanner technique is used in information collection, can be realized under night, the severe weather conditions such as haze to pulling or push boat
The distance of body and the precise acquisition of profile information.Furthermore the system enhances the environment sensing ability of intelligent towboat, can be used as port
Make the voyageable important component of towboat intelligence.Laser scanner is responsible for acquiring ambient condition information, and embedded controller is responsible for
Processing data information simultaneously controls motor push-pull device at fixed drive laser scanner progress safety moving, can also be sent by communication module
Emergency alert function is realized to PC machine real-time display distance and profile information, and under dangerous situation.The ginseng of laser scanner
Several and safe distance parameter is all set by touch screen.This tug device can be mounted on any appropriate position of tugboat by bracket
It sets, so that intelligent craft tug device is portable flexibly, adapts to bad weather circumstances, and can be realized automatically working, significantly
Tugboat functional reliability is enhanced, is improved work efficiency, admiralty dispute is avoided, it is voyageable heavy also to can be used as craft tug intelligence
Want component part.
Detailed description of the invention
Fig. 1 is the schematic device of the utility model,
Fig. 2 is the regulator control system schematic diagram of the utility model.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments.
The utility model craft tug intelligent Collision Avoidance apparatus and system regulates and controls method, by mechanical device and automatic technology knot
It is combined, two sets of intelligent craft tug devices is used cooperatively, enhances its environment sensing ability, efficiently solves craft tug
Operation safety and intelligence navigation integrity problem.
A kind of craft tug intelligent Collision Avoidance device is made of two sets of anticollision devices, every set anticollision device by laser scanner,
Motor push-pull device at fixed, pedestal, bracket and annulus cutting ferrule composition, laser scanner are fixed on motor push-pull device at fixed by annulus cutting ferrule
Push-pull shaft front end, motor push-pull device at fixed is fixedly mounted on bracket by pedestal, and the bracket of a set of anticollision device is mounted on port
Make the projection top of tugboat, the bracket of another set of anticollision device is mounted on the side of craft tug；As shown in Figure 1, being located at port
Make the anticollision device on 6 top of projection of tugboat 7 by laser scanner 1, motor push-pull device at fixed 1, pedestal 1, bracket 1
It is formed with annulus cutting ferrule 1, the anticollision device positioned at craft tug side is by laser scanner 2 12, motor push-pull device at fixed two
10, pedestal 29, bracket 28 and annulus cutting ferrule 2 11 form.
As shown in Fig. 2, a kind of craft tug intelligent Collision Avoidance control system, including it is STM32 embedded controller, PC machine, logical
News module, alarm module and laser scanner, STM32 embedded controller control motor push-pull device at fixed, communication module, report respectively
Alert module and laser scanner, PC machine are communicated with communication module；Dragged or pushing tow is collected by laser scanner
Whether the distance and profile information of hull periphery 13 determine tugboat 7 according to the threshold range of setting by STM32 embedded controller
Under safety work or intelligent navigation environment, and PC machine is sent to by communication module and carries out real-time display and alarm module
Carry out danger warning.Furthermore the sweep parameter of laser scanner and safe distance parameter are all flexibly set by touch screen.
The operation principle and process of the utility model is as follows:
Touch screen carries out laser scanner parameter and safe distance parameter setting, and control system starts laser scanner and carries out
Information collection, STM32 embedded controller carry out data processing immediately, and are sent to PC machine through communication module simultaneously and show in real time
Show, alarms at once under dangerous situation.
The craft tug anticollision device for being mounted on projection top acquires distance dragging or push boat by laser scanner one
The distance and profile information of the upper periphery of body, and by PC machine real-time display；It is mounted on the craft tug collision prevention of craft tug side
Device is acquired the distance and profile information of the lower periphery of distance dragging or pushing tow hull by laser scanner two, and real-time by PC machine
Display.Two sets of anticollision devices are used cooperatively the security reliability that craft tug work may be implemented, and enhance its environment sensing ability,
Also it can be used as the voyageable important component of craft tug intelligence.
Craft tug intelligent Collision Avoidance apparatus and system regulates and controls method, first convex by being mounted on according to setting minimum safe distance L
The craft tug device acquisition distance and profile information on object top out, obtains minimum range Xn and carries out processing ratio by embedded
Compared with, when distance Xn be less than minimum safe distance when alarm at once, and immediately driving motor push-pull device at fixed drive laser scanning
Instrument is mobile toward separate dragged or pushing tow hull direction, until meeting minimum safe distance.When distance Xn meets minimum safe
Apart from when, the craft tug device for being mounted on tugboat side can be driven laser scanner toward close dragged from motor push-pull device at fixed
Or pushing tow hull direction is mobile, and obtains minimum range Yn, in the case where Xn meets minimum safe distance, towboat is in safe model
Enclose it is interior can be further towards dragged or pushing tow hull.Further, since it is slow to there is braking in unlimited close dragged hull
Situations such as punching, delay and impact of dragged hull, this just needs STM32 embedded controller to handle range information rapidly
And be compared, it under dangerous situation, alarms at once, and drive laser scanner to be dragged toward separate from motor push-pull device at fixed
The direction for dragging hull is mobile.This not only avoids tugboats to collide, and also can guarantee craft tug device inherently safe collision prevention.
The craft tug device of the utility model use auto-control measurement method, realize to pull or pushing tow hull away from
From the precise acquisition with profile information and ambient enviroment, the security reliability of tugboat work not only may be implemented, but also can have
The Safe Avoidance of collision of effect protection craft tug device itself, and the environment sensing ability of towboat itself is enhanced, it can be used as port and drag
The voyageable important component of ship intelligence.Furthermore craft tug plant bulk is smaller, and lighter in weight is flexible for installation, easy to maintain,
It is reliable for operation, efficiency is higher.
In addition to the implementation, the utility model can also have other embodiments, all to use equivalent replacement or equivalent change
The technical solution to be formed is changed, is all fallen in the protection scope of the requires of the utility model.
Claims (4)
1. a kind of craft tug intelligent Collision Avoidance device, it is characterised in that: anticollision device by laser scanner, motor push-pull device at fixed,
Pedestal, bracket and annulus cutting ferrule composition, laser scanner are fixed on the push-pull shaft front end of motor push-pull device at fixed by annulus cutting ferrule,
Motor push-pull device at fixed is fixedly mounted on bracket by pedestal, and bracket is fixed on craft tug.
2. a kind of craft tug intelligent Collision Avoidance device according to claim 1, it is characterised in that: filled including two sets of collision preventions
It sets, the bracket of a set of anticollision device is mounted on the projection top of craft tug, and the bracket of another set of anticollision device is mounted on port
Make the side of tugboat.
3. a kind of craft tug intelligent Collision Avoidance device according to claim 1, it is characterised in that: the motor push-pull device at fixed
It is made of motor and the telescopic shaft being driven by motor, the flexible stroke of motor push-pull device at fixed is 5m.
4. a kind of craft tug intelligent Collision Avoidance device according to claim 1, it is characterised in that: the laser scanner
Model SICK S300 series, scanning range are 270 degree of angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821735981.4U CN209000234U (en) | 2018-10-25 | 2018-10-25 | A kind of craft tug intelligent Collision Avoidance device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821735981.4U CN209000234U (en) | 2018-10-25 | 2018-10-25 | A kind of craft tug intelligent Collision Avoidance device |
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| Publication Number | Publication Date |
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| CN209000234U true CN209000234U (en) | 2019-06-18 |
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| CN201821735981.4U Active CN209000234U (en) | 2018-10-25 | 2018-10-25 | A kind of craft tug intelligent Collision Avoidance device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109191918A (en) * | 2018-10-25 | 2019-01-11 | 天津港轮驳有限公司 | A kind of craft tug intelligent Collision Avoidance device and control system |
| AU2019100960B4 (en) * | 2019-08-27 | 2020-04-30 | Terlick, Glen Mr | Collision warning system for a boat |
-
2018
- 2018-10-25 CN CN201821735981.4U patent/CN209000234U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109191918A (en) * | 2018-10-25 | 2019-01-11 | 天津港轮驳有限公司 | A kind of craft tug intelligent Collision Avoidance device and control system |
| AU2019100960B4 (en) * | 2019-08-27 | 2020-04-30 | Terlick, Glen Mr | Collision warning system for a boat |
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