CN213535007U - Intelligent mast system - Google Patents
Intelligent mast system Download PDFInfo
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- CN213535007U CN213535007U CN202022432363.6U CN202022432363U CN213535007U CN 213535007 U CN213535007 U CN 213535007U CN 202022432363 U CN202022432363 U CN 202022432363U CN 213535007 U CN213535007 U CN 213535007U
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Abstract
The utility model provides an intelligent mast system, which comprises a hydraulic lifting mast, a mast main body, a mast support and a hydraulic telescopic rod; the mast support is arranged on a ship deck, and the mast main body is hinged with the mast support; one end of the hydraulic telescopic rod is hinged with a ship deck, the other end of the hydraulic telescopic rod is hinged with the mast main body, and the hydraulic telescopic rod is suitable for controlling the mast main body to rotate around a hinged point between the mast main body and the mast support; the intelligent sensing module comprises a functional unit and an electric control unit; the functional unit is suitable for collecting data; the electric control unit is suitable for controlling the hydraulic lifting mast to move according to the collected data. Intelligence mast system, gather graphical information control hydraulic pressure lift mast through intelligent sensing module and go up and down to realize the intelligent lift of mast, improve the intelligent degree of boats and ships in river navigation process.
Description
Technical Field
The utility model belongs to the intelligent ship field, concretely relates to intelligence mast system.
Background
With the development of social economy and ship technology, inland ships tend to be large-sized. The ship masts are generally used for installing antennas or installed on the ship ceiling and are limited by the clear height of the channel bridge, and with the development of social economy and bridge construction, more and more bridges are built on the channel. When the ship passes through the bridge bottom, if the height of the mast is not timely reduced or the judgment of a shipman is wrong, the mast and the bridge are possibly collided, and the shipping safety is threatened. Mast weight is great, however current mast reduces the height of mast through manpower manually operation mostly, and inefficiency and cost the manpower, and whole process all needs the timely operation cooperation of manpower, can't accomplish automation and the intellectuality of mast altitude mixture control, and then reduces the efficiency of ship operation.
Mast height adjustment, or manual-mechanical height adjustment, is inefficient and labor intensive. Or the bridge feeds back the height signal of the ship to carry out manual timely operation and matching. Although the safety that can boats and ships pass through the bridge to a certain extent, it is inefficient, needs crewman in time to operate the cooperation, has reduced the intelligent operation degree of boats and ships. How to build an intelligent adjusting mast based on image recognition on a ship, and when the ship approaches a bridge, the mast automatically identifies the bridge based on the image recognition and carries out safety judgment; when the mast is in collision risk, the mast is automatically lowered; when the ship sails away from the bridge, the mast is automatically lifted, the intelligent lifting of the mast is realized, and the problem to be solved at the present stage is solved.
In view of this, it is desirable to provide an intelligent mast system and a control method for controlling the height of a mast based on image recognition.
SUMMERY OF THE UTILITY MODEL
Therefore, the utility model aims to solve the technical problem that an intelligent mast system based on image recognition carries out safe judgement with control mast lift is provided.
The utility model discloses an intelligence mast system, include:
the hydraulic lifting mast comprises a mast main body, a mast support and a hydraulic telescopic rod; the mast support is arranged on the ship deck. The mast main body is hinged with the mast support; two ends of the hydraulic telescopic rod are respectively hinged with a ship deck and the mast main body and are suitable for controlling the mast main body to rotate around a hinge point between the mast main body and the mast support;
the intelligent sensing module comprises a functional unit and an electric control unit which are electrically connected with each other; the functional unit is suitable for collecting data; the electronic control unit is adapted to process data and control the movement of the hydraulic lifting mast.
Further, the functional unit includes:
the infrared camera shoots in a time period to acquire image information;
the image recognition module is used for receiving the image information acquired by the infrared camera, processing the image information, recognizing the inland river bridge and sending the information to the electronic control unit;
the distance measuring sensor is used for acquiring distance data from the hydraulic lifting mast to the inland river bridge and sending the distance data to the electric control unit;
the inclination angle sensor is used for acquiring angle data from the hydraulic lifting mast to the inland river bridge and sending the angle data to the electric control unit;
and the rotatable module platform is suitable for installing the distance measuring sensor and the inclination angle sensor and adjusting the distance measuring direction and the distance measuring angle of the distance measuring sensor and the inclination angle sensor.
Further, the rotatable modular platform comprises:
the pair of fixed supports are arranged on the deck of the ship;
the rotating platform is rotatably connected between the pair of fixed supports and is suitable for mounting the distance measuring sensor and the inclination angle sensor;
the gear set is arranged on one side of the fixed support and is connected with the rotating platform;
and the driving assembly is in meshed connection with the gear set and is suitable for driving the rotating platform to rotate.
Further, the gear set comprises a rotating shaft gear and a duplicate gear; the rotating shaft of the rotating shaft gear is connected with the rotating platform; one end of the duplicate gear is meshed with the rotating shaft gear, and the other end of the duplicate gear is connected with the driving assembly.
Furthermore, the mast also comprises a pair of inclined hinge supporting rods and inclined hinge supports which are arranged at two sides of the mast main body; one end of the inclined hinge supporting rod is hinged with the mast main body, and the other end of the inclined hinge supporting rod is connected with the mast main body; the mast support is arranged on the ship deck.
Furthermore, a connecting line from the hydraulic telescopic rod to the mast main body in the overlooking direction is a perpendicular bisector of a connecting line between the pair of inclined hinged supports.
Further, the device comprises a support connecting section and a mast connecting section which are integrally connected; the support connecting section is connected with the inclined hinged support; the mast connecting section is connected with the mast main body; the length of the support connecting section is greater than that of the mast connecting section, and an included angle between the support connecting section and the mast connecting section is greater than 90 degrees.
Furthermore, the bottoms of the inclined hinged support and the mast support are provided with reinforcing rib plates.
Above-mentioned technical scheme of the utility model, compare prior art and have following advantage:
intelligent mast system and control method, collect the bridge information in the inland river transportation through infrared camera to calculate the safe distance that boats and ships navigated by water to the bridge through range sensor, inclination sensor, and then control the rising and the decline of hydraulic pressure lift mast, realized the boats and ships intellectuality in the inland river transportation.
Drawings
Fig. 1 is a first schematic structural diagram of a hydraulic lifting mast provided by an embodiment of the present invention;
fig. 2 is a schematic structural diagram ii of a hydraulic lifting mast provided in the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a rotatable module platform according to an embodiment of the present invention;
fig. 4 is a schematic block diagram of an intelligent mast system provided by an embodiment of the present invention;
fig. 5 is a schematic flow chart of a control method of an intelligent mast system according to an embodiment of the present invention;
fig. 6 is a schematic view of an intelligent mast system provided by the embodiment of the present invention during operation.
Wherein, 1, a mast support; 2. a mast main body; 3. a hydraulic telescopic rod; 4. obliquely hinging a support rod; 5. an inclined hinged support; 6. a servo motor; 7. a fixed support; 8. rotating the platform; 9. a rotating shaft gear; 10. a duplicate gear; 11. a distance sensor; 12. a tilt sensor; 61. a motor shaft; 91. and rotating the shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The intelligent mast system of the present embodiment, as shown in fig. 1-4, includes a hydraulic lifting mast and an intelligent sensing module.
The hydraulic lifting mast comprises a mast main body 2, a mast support 1 and a hydraulic telescopic rod 3, wherein the mast support 1 is integrally cylindrical and is arranged on a ship deck along the vertical direction. The end of the mast main body 2 is hinged with the mast support 1 and rotates along a hinge point. One end of the hydraulic telescopic rod 3 is hinged with a ship deck, the other end of the hydraulic telescopic rod is hinged with the mast main body 2, the mast main body 2 is controlled to rotate around a hinged point between the mast main body 2 and the mast support 1 through the telescopic motion of the hydraulic telescopic rod 3, and then the lifting function of the hydraulic lifting mast is achieved.
The two sides of the mast main body 2 are respectively provided with an inclined hinged support rod 4 and an inclined hinged support 5, and the two ends of the inclined hinged support rod 4 are respectively hinged with the mast main body 2 and the inclined hinged support 5. The inclined hinged support 5 is integrally cylindrical and is fixed on a ship deck. The pair of inclined hinged supports 5 are symmetrically distributed along the top view projection of the mast support 1, and the connecting line of the inclined hinged supports and the mast support 1 passes through the center of the top view projection of the mast support 1.
Furthermore, the hydraulic telescopic rod 3, the mast support 1 and the mast support 1 are in a position relationship in a top view direction, and a connecting line from the hydraulic telescopic rod 3 to the mast main body 2 in the top view direction is a perpendicular bisector of a connecting line between top view projection circle centers of the pair of inclined hinged supports 5, so that a supporting effect of the inclined hinged supports on the mast main body 2 is ensured, and the hydraulic lifting mast is prevented from being inclined due to non-resistance to external force.
Further, in order to realize the rotation of the inclined hinged support rod 4, the inclined hinged support rod 4 is in an L shape and comprises a support connecting section and a mast connecting section which are integrally connected; the support connecting section is connected with the inclined hinged support 5, and the mast connecting section is connected with the mast main body 2. The length of the support connecting section is greater than that of the mast connecting section, and an included angle between the support connecting section and the mast connecting section is greater than 90 degrees.
As a further preferable mode of the present embodiment, in order to increase the fixing effect of the oblique hinge support 5 and the mast support 1, reinforcing ribs (not shown) are provided at the bottoms of the oblique hinge support 5 and the mast support 1.
The intelligent sensing module comprises a functional unit and an electric control unit; the functional unit is suitable for collecting data; the electronic control unit is adapted to process data and control the movement of the hydraulic lifting mast.
As a further preferable mode of the present embodiment, the functional units include an infrared camera, an image recognition module, a distance sensor 11, a tilt sensor 12, and a rotatable module platform.
The infrared camera is used for identifying the inland river bridge, acquiring the graphic information and then sending the graphic information to the image sensing module, and the image sensing module is used for processing the graphic information of the inland river bridge and sending the graphic information to the electronic control unit. Collecting distance data from the hydraulic lifting mast to the inland river bridge through a distance sensor 11 and sending the distance data to an electric control unit; and the inclination angle sensor 12 is used for acquiring angle data from the hydraulic lifting mast to the inland river bridge and sending the angle data to the electronic control unit.
And the rotatable module platform is suitable for installing the distance sensor 11 and the inclination angle sensor 12 and controlling the distance measuring direction and the distance measuring angle of the distance sensor and the inclination angle sensor 12. The electronic control unit obtains the data of the tilt sensor 12 and the distance sensor 11 and controls the movement of the rotatable module platform to carry out the next measurement.
As a further preferred mode of this embodiment, the rotatable modular platform comprises a fixed support 7, a rotatable platform 8, a gear set and a drive assembly.
On the boats and ships deck was located to a pair of fixing support 7 parallel, rotating platform 8 rotates to be connected in a pair of between the fixing support 7, and in rotating platform 8's fixed surface installation distance sensor and inclination sensor 12, rotating platform 8 is connected with drive assembly through the gear train of locating fixing support 7 one side, drive assembly be suitable for with the gear train meshing is connected, under drive assembly's effect, drives gear train and rotating platform 8 move to adjustment distance sensor with inclination sensor 12's range finding direction and range finding angle.
As a further preferable mode of the present embodiment, in order to realize the transmission of the gear set, as shown in fig. 3, the gear set includes a rotating shaft gear 9 and a duplicate gear 10; the rotating shaft 91 of the rotating shaft gear 9 is connected with the rotating platform 8; one end of the duplicate gear 10 is meshed with the rotating shaft gear 9, and the other end of the duplicate gear is connected with the driving component. The driving component in this embodiment is a servo motor 6, and as shown in fig. 3, one end of the dual gear 10 is connected to a motor shaft 61 of the servo motor 6.
The utility model discloses a control method control of following intelligent mast system, as shown in fig. 5 and fig. 6, include following step:
and S1, acquiring the graphic information of the ship during navigation by the infrared camera.
S2, the image recognition module sends information to the electronic control unit after recognizing that the image information collected by the infrared camera comprises the image information of the inland river bridge;
s3, the electric control unit receives the information and controls the rotatable module to control the distance measuring direction and the distance measuring angle of the distance sensor 12 to measure the distance from the ship to the bottom of the bridge, controls the distance measuring direction and the distance measuring angle of the inclination angle sensor 13 to measure the inclination angle from the horizontal direction to the bottom of the bridge, and calculates the horizontal distance from the ship to the bottom of the bridge according to the following formula:
D1＝L1×cosα；
wherein D1 is the horizontal distance from the ship to the bottom of the bridge, L1 is the distance from the ship to the bottom of the bridge, and alpha is the inclination angle from the horizontal direction to the bottom of the bridge;
and S4, judging the sailing state of the ship and the working state of the mast according to the horizontal distance from the ship to the bottom of the bridge in the step S3.
Further, the determination process in step S4 specifically includes: calculating a ship risk distance;
if the ship risk distance is smaller than the horizontal distance from the ship to the bottom of the bridge, the ship is in a safe distance, the hydraulic lifting mast keeps running vertically, the electric control unit controls the rotatable module platform, the distance sensor 11 and the inclination angle sensor 12 to record in a period of T, wherein T is 10S, and the electric control unit controls the distance sensor 11 and the inclination angle sensor 12 to record in a fixed period of 10 seconds;
if the ship risk distance is larger than or equal to the horizontal distance from the ship to the bottom of the bridge, the ship is in the risk distance, and the electric control unit calculates the vertical height from the position of the distance sensor 11 to the bottom of the bridge according to the following formula:
H1＝L1×sinα，
h1 is the vertical height from the distance sensor 11 to the bottom of the bridge;
the electronic control unit calculates the comparison mast height according to the following formula:
H3＝H2×n，n>1，
h3 is the height of the contrast mast, H2 is the actual height of the hydraulic lifting mast, and n is a safety coefficient;
if H1 is greater than H3, the electric control unit continues to enable the hydraulic lifting mast to keep vertical operation, and the ship continues to sail;
if H1< H3, the electric control unit controls the hydraulic telescopic rod 3 to contract, the mast main body 2 is lifted along the telescopic direction of the hydraulic telescopic rod 3, and the lifting of the hydraulic lifting mast is realized.
Further, the ship risk distance in step S4 is calculated according to the following formula:
D2＝L/V×k，k＞10，
wherein D2 is the ship risk distance; l is the ship length; v is the ship sailing speed; k is the risk factor.
Further, step S4 includes that the electronic control unit determines and controls the hydraulic lifting mast to rise again after the ship sails away from the inland river bridge.
Further, the specific process of judging and controlling the hydraulic lift mast in step S4 is as follows: when the inclination angle sensor 12 measures that the included angle alpha between the ship and the bottom of the inland river bridge is larger than or equal to 90 degrees, the electric control unit judges that the ship drives away from the inland river bridge and controls the hydraulic telescopic rod 3 to realize the lifting of the hydraulic adjusting mast.
Further, the embodiment further provides a specific process for determining and controlling the hydraulic lifting mast, the electronic control unit controls the hydraulic lifting mast to lift again after t1 seconds, and the t1 is determined according to the following formula:
t1＝(L+D1)/V，
wherein L is the length of the ship, D1 is the horizontal distance from the ship to the bottom of the bridge, and V is the sailing speed of the ship.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.
Claims (8)
1. A smart mast system, comprising:
the hydraulic lifting mast comprises a mast main body, a mast support and a hydraulic telescopic rod; the mast support is arranged on a ship deck, and the mast main body is hinged with the mast support; one end of the hydraulic telescopic rod is hinged with a ship deck, the other end of the hydraulic telescopic rod is hinged with the mast main body, and the hydraulic telescopic rod is suitable for controlling the mast main body to rotate around a hinged point between the mast main body and the mast support;
the intelligent sensing module comprises a functional unit and an electric control unit; the functional unit is suitable for collecting data; the electric control unit is suitable for controlling the hydraulic lifting mast to move according to the collected data.
2. An intelligent mast system according to claim 1, wherein the functional unit comprises:
the infrared camera shoots in a time period to acquire image information;
the image recognition module is used for receiving the image information acquired by the infrared camera, processing the image information, recognizing the inland river bridge and sending the information to the electronic control unit;
the distance measuring sensor is used for acquiring distance data from the hydraulic lifting mast to the inland river bridge and sending the distance data to the electric control unit;
the inclination angle sensor is used for acquiring angle data from the hydraulic lifting mast to the inland river bridge and sending the angle data to the electric control unit;
and the rotatable module platform is suitable for installing the distance measuring sensor and the inclination angle sensor and adjusting the distance measuring direction and the distance measuring angle of the distance measuring sensor and the inclination angle sensor.
3. A smart mast system according to claim 2, wherein the rotatable modular platform comprises:
the pair of fixed supports are arranged on the deck of the ship;
the rotating platform is rotatably connected between the pair of fixed supports and is suitable for mounting the distance measuring sensor and the inclination angle sensor;
the gear set is arranged on one side of the fixed support and is connected with the rotating platform;
and the driving assembly is in meshed connection with the gear set and is suitable for driving the rotating platform to rotate.
4. A smart mast system according to claim 3, wherein the gear set includes a rotating shaft gear and a duplicate gear; the rotating shaft of the rotating shaft gear is connected with the rotating platform; one end of the duplicate gear is meshed with the rotating shaft gear, and the other end of the duplicate gear is connected with the driving assembly.
5. An intelligent mast system according to claim 4, further comprising a pair of diagonal hinge struts and diagonal hinge supports disposed on either side of the mast body; one end of the inclined hinge supporting rod is hinged with the mast main body, and the other end of the inclined hinge supporting rod is connected with the mast main body; the mast support is arranged on the ship deck.
6. An intelligent mast system according to claim 5, wherein a line connecting the hydraulic telescoping rod to the mast body in a top view is a perpendicular bisector of a line connecting the pair of the angled braces.
7. An intelligent mast system according to claim 6, wherein the diagonal hinge strut is L-shaped and comprises an integrally connected support link and mast link; the support connecting section is connected with the inclined hinged support; the mast connecting section is connected with the mast main body; the length of the support connecting section is greater than that of the mast connecting section, and an included angle between the support connecting section and the mast connecting section is greater than 90 degrees.
8. An intelligent mast system according to claim 7, wherein the bottom of the diagonal hinge support and the bottom of the mast support are provided with reinforcing ribs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022432363.6U CN213535007U (en) | 2020-10-28 | 2020-10-28 | Intelligent mast system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022432363.6U CN213535007U (en) | 2020-10-28 | 2020-10-28 | Intelligent mast system |
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| CN213535007U true CN213535007U (en) | 2021-06-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114033050A (en) * | 2021-08-20 | 2022-02-11 | 北京市机械施工集团有限公司 | Method for adjusting inclined mast attitude in large-span space structure |
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2020
- 2020-10-28 CN CN202022432363.6U patent/CN213535007U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114033050A (en) * | 2021-08-20 | 2022-02-11 | 北京市机械施工集团有限公司 | Method for adjusting inclined mast attitude in large-span space structure |
| CN114033050B (en) * | 2021-08-20 | 2023-02-17 | 北京市机械施工集团有限公司 | Method for adjusting inclined mast attitude in large-span space structure |
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