CN212624425U - Ship-shore collaborative simulation system for safe navigation - Google Patents

Abstract

The utility model provides a ship bank collaborative simulation system for navigation safety, the system comprises a model ship body and a bank-based server, the bank-based server is arranged on a bank base, a propulsion motor and a steering engine module are arranged in the model ship body, and a self-state sensing module, a navigation environment sensing module, a hydrological information sensing module and a motion control module are arranged on the model ship body; the self-state sensing module comprises a GPS module, an attitude sensor and a rudder angle sensor; the navigation environment sensing module comprises a laser radar, an AIS ship automatic identification system terminal and a camera; the hydrologic information perception module includes: the device comprises a wind speed and direction sensor, a temperature and humidity sensor, a light intensity sensor and an air pressure sensor; the motion control module comprises a circuit board, and the circuit board is provided with an STM32F407VET6 main chip, a DAC module and a GPRS module; coastal water area information can be obtained in advance through the model ship, and safety guarantee is provided for ship navigation.

Description

Ship-shore collaborative simulation system for safe navigation

Technical Field

The utility model relates to a boats and ships navigation technical field, especially a ship bank collaborative simulation system of navigation safety.

Background

With the development of technologies such as internet of things, cloud computing and big data and the expanded application of the technologies in the shipping field, inland river shipping intelligent information services in China are rapidly developed, and an intelligent service mode combined with innovative technologies such as cloud computing and big data is a development trend of inland river shipping in the future.

The cargo turnover and the number of transport ships are increased in the existing coastal water area, and the number of the ships in the coastal water area is large, so that the ship traffic flow is complex, the navigation path is narrow and interlaced, and various navigation and navigation obstruction buildings are made of star chess cloth, so that the coastal water area is a water area with multiple traffic accidents on water; the safety of ship navigation and the emergency level of lifting need to be guaranteed. However, the existing research on the demand of the water traffic information service is relatively less, and the concept of demand-oriented navigation information service is also proposed in recent years. The method comprises the steps that abnormal events are extracted and dangerous situations are identified by a ship and a shore base under the intelligent navigation condition of the ship, particularly, an optimal processing strategy is needed by a triggering mechanism of the ship from a normal intelligent navigation state to an emergency state, and the perception of a monitoring system on the shore base side to the dangerous situations and intervention means in different stages.

Disclosure of Invention

In order to overcome the problems, the utility model aims to provide a ship bank collaborative simulation system of navigation safety can realize the information connection of model boats and ships and bank base to can acquire coastal waters information in advance through model boats and ships, provide the safety guarantee for the boats and ships navigation.

The utility model discloses a following scheme realizes: a ship-shore collaborative simulation system for safe navigation comprises a model ship body and a shore-based server, wherein the shore-based server is arranged on a shore base, a propulsion motor and a steering engine module are arranged in the model ship body, and a self-state sensing module, a navigation environment sensing module, a hydrological information sensing module and a motion control module are arranged on the model ship body; the self-state sensing module comprises a GPS module, an attitude sensor and a rudder angle sensor; the navigation environment sensing module comprises a laser radar, an AIS ship automatic identification system terminal and a camera; the hydrologic information perception module includes: the device comprises a wind speed and direction sensor, a temperature and humidity sensor, a light intensity sensor and an air pressure sensor; the motion control module comprises a circuit board, and the circuit board is provided with an STM32F407VET6 main chip, a DAC module and a GPRS module; DAC module, steering wheel module, GPS module, GPRS module, attitude sensor, rudder angle sensor, laser radar, AIS boats and ships automatic identification system terminal, camera, wind speed and direction sensor, temperature and humidity sensor, illuminance sensor, baroceptor all with STM32F407VET6 main chip connects, propulsion motor warp the DAC module with STM32F407VET6 main chip connects, the bank base server carries out wireless network communication through GPRS module and model hull.

Furthermore, the steering engine module adopts an SG90 steering engine module.

Further, the DAC module adopts a dual operational amplifier LMV 358.

Further, an RS485 module, an RS232 module, an ADC module, a PWM module and a DC-DC power module are also arranged on the circuit board; and the RS485 module, the RS232 module, the ADC module, the PWM module and the DC-DC power supply module are all connected with the STM32F407VET6 main chip.

The beneficial effects of the utility model reside in that: the utility model discloses a true hull of model hull simulation sails in following the sea water territory, and through self state perception module, navigation environment perception module, hydrology information perception module acquires the module and acquires boats and ships self state information, navigation environment information, hydrology information, thereby on feeding back information feedback to the bank base server of bank base, model boats and ships navigation comes through the bank base server, thereby can acquire coastal waters information in advance through model boats and ships, provide safety guarantee for the boats and ships navigation, realize that the bank is in coordination with the safety navigation of intelligent boats and ships and verification of algorithm is kept away to intelligence, promote towards the development of the navigation guarantee technical system that intelligent boats and ships used. The ship and shore-based information connection is realized, and the purposes of high-efficiency communication, improvement of working efficiency and reduction of cost can be achieved.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic diagram of a circuit structure involved in the model hull of the present invention.

Fig. 3 is a schematic diagram of the design of the circuit board of the present invention.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings.

Referring to fig. 1, the utility model provides a ship-shore collaborative simulation system for safe navigation, which comprises a model ship body and a shore-based server, wherein the shore-based server is arranged on a shore base, a propulsion motor and a steering engine module are arranged in the model ship body, and as shown in fig. 2, a self-state sensing module (not shown), a navigation environment sensing module (not shown), a hydrological information sensing module (not shown) and a motion control module (not shown) are arranged on the model ship body; the self-state sensing module comprises a GPS module, an attitude sensor and a rudder angle sensor; the navigation environment sensing module comprises a laser radar, an AIS ship automatic identification system terminal and a camera; the hydrologic information perception module includes: the device comprises a wind speed and direction sensor, a temperature and humidity sensor, a light intensity sensor and an air pressure sensor; the motion control module comprises a circuit board, and the circuit board is provided with an STM32F407VET6 main chip, a DAC module and a GPRS module; DAC module, steering wheel module, GPS module, GPRS module, attitude sensor, rudder angle sensor, laser radar, AIS boats and ships automatic identification system terminal, camera, wind speed and direction sensor, temperature and humidity sensor, illuminance sensor, baroceptor all with STM32F407VET6 main chip connects, propulsion motor warp the DAC module with STM32F407VET6 main chip connects, the bank base server carries out wireless network communication through GPRS module and model hull.

In practical application, the steering engine module adopts an SG90 steering engine module. The DAC module employs a dual operational amplifier LMV 358.

Referring to fig. 3, the circuit board is further provided with an RS485 module, an RS232 module, an ADC module, a PWM module, and a DC-DC power module; and the RS485 module, the RS232 module, the ADC module, the PWM module and the DC-DC power supply module are all connected with the STM32F407VET6 main chip.

Wherein, the model hull comprises three watertight chambers, a counterweight space is arranged in the cabin, the model ship is fully loaded with water for 0.2m, and the water displacement is 272 Kg;

the GPS module adopts an NEO-M8N GPS chip module of UBLOX company, and has the advantages of high sensitivity, low power consumption, small size and the like. The GPS module is powered by 3.3V voltage, and realizes 1.5s short-time hot start and 10HZ position updating frequency while ensuring conventional positioning accuracy and RF radio frequency signals.

The attitude sensor combines the requirement of course tracking precision and selects a BW-AH200 module of north micro-sensing. The module adopts a high-quality and reliable MEMS accelerometer, a gyroscope and a magnetometer, the course measurement precision is 1 degree, the resolution is 0.01 degree, the attitude parameter pitching is 1 degree, and the resolution is 0.01 degree.

The rudder angle sensor has high requirement on the measurement precision of the rudder angle of a model ship, a Hall type non-contact 0-360-degree full-angle sensor is selected, the power supply voltage is 5V, and the precision of the angle sensor is 0.088 degrees.

On the basis of considering ship model sailing resistance, a brushless direct current motor with the rated power of 800W is adopted as a propelling motor, and the rated rotating speed is 3000 rpm.

In order to meet the accurate sensing requirement of the navigation environment of the intelligent ship, a 16-line three-dimensional laser radar with the model of Velodyne VLP16 is selected as a main sensing device;

the AIS ship automatic identification system terminal adopts a ZY-1000-6B ship-borne automatic identification system provided by Wuhan central plains electrons;

the camera selects a Haikangwei video DS-2CD3T45DP1-I type camera;

the wind speed and direction sensor, the temperature and humidity sensor, the illuminance sensor and the air pressure sensor are respectively a JXBS-3001-FSFX type ultrasonic wind speed and direction meter with smooth Weihai precision communication, a JXBS-3001-TH type temperature and humidity sensor, a JXBS-3001-GZ type illuminance sensor and a JXBS-3001-QY type air pressure transmitter. The sensors are in data communication by adopting an RS485 protocol, and are powered by 12V DC.

The GPRS module selects a small GL868-V3 chip and adopts a surface-mounted packaging technology for data communication between a circuit board and a shore-based server. The energy consumption is small, the current during dormancy is 1.5mA, the current during work is 21mA, and the current during emission is 360 mA.

The RS485 module adopts an MAX3485 module, and SMBJ7.5CA and common-mode inductor protection are selected for interface protection.

The RS232 module adopts MAX3232, and SMBJ15CA and magnetic bead protection are adopted for interface protection. The method is used for communication between the control panel and the industrial personal computer and online debugging of control panel programs.

The ADC module adopts precision resistor voltage division, and is connected to an STM32ADC interface after PESD3.3V protection. The device is used for collecting parameters such as working voltage, working current and steering engine angle.

The DAC module amplifies and isolates 0-5V output by adopting LMV358 and is used for controlling a main propulsion motor.

The DC-DC power supply module adopts the LM2596DC-DC module to reduce 12V to 5V, and supplies power for the system.

In the aspect of power protection, a single-direction and bidirectional 15V transient voltage diode and a 1mh common mode inductor are connected to a power interface to prevent pulse current, and a ss34 Schottky diode is adopted to prevent reverse connection of a power supply. And 2A self-recovery fuse is connected in series at the power supply inlet for overcurrent protection. 1 annular inductor of 1mH is connected in series behind the self-recovery fuse, and 1 large capacitor of 1000uF/35V is connected in parallel for restraining forward pulse current.

In the aspect of hardware, in order to ensure the reliability of a communication system, a 2.4G +4G multimode communication mode is selected for the overall communication architecture of the system, wherein the 2.4G adopts an integrated directional antenna wireless network bridge base station, the effective communication distance can reach 500m, and the signal full coverage of an experimental area can be realized through a networking mode; the shipborne 4G communication and wireless communication module can realize the transmission of data information with low power consumption, and ensures the effective connection between the model ship and the shore-based online data scene driving system. The wireless bridge base station consists of a bridge antenna and a base station, the waterproof grade is IP67 grade, POE network cables are adopted for supplying power, the gain of the antenna frequency is 14dBi under 2.4G, and the coverage range can reach 400 m.

The working principle of the utility model is as follows:

the utility model discloses a real hull of model hull simulation sails in following the sea water territory, and acquire boats and ships self state information, navigation environmental information, hydrology information through self state perception module, navigation environment perception module, hydrology information perception module acquisition module to on feeding back information to the bank base server of bank base, wherein, the GPS module acquires the positional information of model hull, attitude sensor acquires the three-dimensional gesture position data of model hull, rudder angle sensor acquires rudder angle information or the screw angle information of model hull; the laser radar can provide a scene real-time three-dimensional point cloud with high resolution, long distance measurement and strong anti-interference capability, and the state of a scene obstacle target can be obtained by processing the three-dimensional point cloud, so that a reliable navigation environment perception means can be provided for the intelligent ship. The AIS ship automatic identification system terminal can transmit and receive data and information related to safety of navigation between ships and ports by the ships in real time; the camera captures image information of ship navigation; the wind speed and direction information, the temperature and humidity information, the illuminance information and the air pressure information of water surface navigation are respectively obtained by the wind speed and direction sensor, the temperature and humidity sensor, the illuminance sensor and the air pressure sensor. The shore-based server models ship navigation through the uploaded information, so that coastal water area information can be obtained in advance through the model ship, safety guarantee is provided for ship navigation, safety navigation of the intelligent ship under the cooperation of the ship and the shore and verification of an intelligent collision avoidance algorithm are achieved, and development of a navigation guarantee technical system for intelligent ship application is promoted.

The above is only the preferred embodiment of the present invention, and all the equivalent changes and modifications made according to the claims of the present invention should be covered by the present invention.

Claims (4)

1. The utility model provides a ship bank collaborative simulation system of navigation safety which characterized in that: the system comprises a model hull and a shore-based server, wherein the shore-based server is arranged on a shore base, a propulsion motor and a steering engine module are arranged in the model hull, and a self-state sensing module, a navigation environment sensing module, a hydrological information sensing module and a motion control module are arranged on the model hull; the self-state sensing module comprises a GPS module, an attitude sensor and a rudder angle sensor; the navigation environment sensing module comprises a laser radar, an AIS ship automatic identification system terminal and a camera; the hydrologic information perception module includes: the device comprises a wind speed and direction sensor, a temperature and humidity sensor, a light intensity sensor and an air pressure sensor; the motion control module comprises a circuit board, and the circuit board is provided with an STM32F407VET6 main chip, a DAC module and a GPRS module; DAC module, steering wheel module, GPS module, GPRS module, attitude sensor, rudder angle sensor, laser radar, AIS boats and ships automatic identification system terminal, camera, wind speed and direction sensor, temperature and humidity sensor, illuminance sensor, baroceptor all with STM32F407VET6 main chip connects, propulsion motor warp the DAC module with STM32F407VET6 main chip connects, the bank base server carries out wireless network communication through GPRS module and model hull.

2. The ship-shore collaborative simulation system for safe sailing according to claim 1, wherein: the steering engine module adopts an SG90 steering engine module.

3. The ship-shore collaborative simulation system for safe sailing according to claim 1, wherein: the DAC module employs a dual operational amplifier LMV 358.

4. The ship-shore collaborative simulation system for safe sailing according to claim 1, wherein: the circuit board is also provided with an RS485 module, an RS232 module, an ADC module, a PWM module and a DC-DC power supply module; and the RS485 module, the RS232 module, the ADC module, the PWM module and the DC-DC power supply module are all connected with the STM32F407VET6 main chip.

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